Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s)

We present the coordinate-free dynamics of three different quadrotor systems : (a) single quadrotor with a point-mass payload suspended through a flexible cable; (b) multiple quadrotors with a shared point-mass payload suspended through flexible cables; and (c) multiple quadrotors with a shared rigid-body payload suspended through flexible cables. We model the flexible cable(s) as a finite series of links with spherical joints with mass concentrated at the end of each link. The resulting systems are thus high-dimensional with high degree-of-underactuation. For each of these systems, we show that the dynamics are differentially-flat, enabling planning of dynamically feasible trajectories. For the single quadrotor with a point-mass payload suspended through a flexible cable with five links (16 degrees-of-freedom and 12 degrees-of-underactuation), we use the coordinate-free dynamics to develop a geometric variation-based linearized equations of motion about a desired trajectory. We show that a finite-horizon linear quadratic regulator can be used to track a desired trajectory with a relatively large region of attraction

Remotely sensed mid-channel bar dynamics in downstream of the Three Gorges Dam, China

The downstream reach of the Three Gorges Dam (TGD) along the Yangtze River (1560 km) hosts numerous mid-channel bars (MCBs). MCBs dynamics are crucial to the river’s hydrological processes and local ecological function. However, a systematic understanding of such dynamics and their linkage to TGD remains largely unknown. Using Landsat-image-extracted MCBs and several spatial-temporal analysis methods, this study presents a comprehensive understanding of MCB dynamics in terms of number, area, and shape, over downstream of TGD during the period 1985−2018. On average, a total of 140 MCBs were detected and grouped into four types representing small ( 2 km2), middle (2 km2 − 7 km2), large (7 km2 − 33 km2) and extra-large size (>33 km2) MCBs, respectively. MCBs number decreased after TGD closure but most of these happened in the lower reach. The area of total MCBs experienced an increasing trend (2.77 km2/yr, p-value 0.01) over the last three decades. The extra-large MCBs gained the largest area increasing rate than the other sizes of MCBs. Small MCBs tended to become relatively round, whereas the others became elongate in shape after TGD operation. Impacts of TGD operation generally diminished in the longitudinal direction from TGD to Hankou and from TGD to Jiujiang for shape and area dynamics, respectively. The quantified longitudinal and temporal dynamics of MCBs across the entire Yangtze River downstream of TGD provides a crucial monitoring basis for continuous investigation of the changing mechanisms affecting the morphology of the Yangtze River system

Ensembles of multiple spectral water indices for improving surface water classification

Mapping surface water distribution and its dynamics over various environments with robust methods is essential for managing water resources and supporting water-related policy design. Thresholding Single Water Index image (TSWI) with a fixed threshold is a common way of using water index (WI) for mapping water for it is easy to use and could obtain acceptable accuracies in many applications. As more and more WIs are available and each has its distinct merits, the real-world application of TSWI, however, often face two practical concerns: (1) selection of an appropriate WI, and (2) determination of an optimal threshold for a given WI. These two issues are problematic for many users who rely either on trial-and-error procedures that are time-consuming or on their personal preferences that are somewhat subjective. To better deal with these two practical concerns, an alternative way of using WIs is suggested here by transforming the current paradigm into a simple but robust ensemble approach called Collaborative Decision-making with Water Indices (CDWI). A total of 145 subsite images (900 900 m) from 22 Landsat-8 OLI scenes that covering various water-land environments around the world were used to assess the performance of TSWI and the CDWI. Five benchmark WIs were adopted in five TSWI methods and CDWI method: Normalized Difference Water Index (NDWI), the Modified NDWI (MNDWI), the Automated Water Extraction Indices without considering (AWEI0) and with considering (AWEI1) shadows, and the state-of-the-art 2015 water index (WI2015). Two aspects of performance were analyzed: comparing their accuracies (indicated by both F1-scores and Youden’s Index) over various environments and comparing their accuracy sensitivities to threshold. The results demonstrate that CDWI produced higher accuracies than the other five TSWI methods for most application cases. Particularly, more samples (indicated by percentage) produced higher F1-scores by CDWI than the other five TSWI methods, i.e. 67% (CDWI) vs. 15% (TSWINDWI), 54% (CDWI) vs. 22% (TSWIMNDWI), 42% (CDWI) vs. 12% (TSWIAWEI0), 57% (CDWI) vs. 17% (TSWIAWEI1), and 34% (CDWI) vs. 12% (TSWIWI2015). Moreover, the F1-score of the CDWI is much less sensitive to the change of thresholds compared with that of the other five TSWI methods. These important benefits of CDWI make it a robust approach for mapping water. The uncertainty of CDWI method was thoroughly discussed and a general guidance (or look-up-table) for selecting WIs was also suggested. The underlying framework of CDWI could be readily generalizable and applicable to other satellite sensor images, such as Landsat TM/ETM+, MODIS, and Sentinel-2 images

Genome-wide and single-base resolution DNA methylomes of the Pacific oyster <i>Crassostrea gigas</i> provide insight into the evolution of invertebrate CpG methylation

BACKGROUND: Studies of DNA methylomes in a wide range of eukaryotes have revealed both conserved and divergent characteristics of DNA methylation among phylogenetic groups. However, data on invertebrates particularly molluscs are limited, which hinders our understanding of the evolution of DNA methylation in metazoa. The sequencing of the Pacific oyster Crassostrea gigas genome provides an opportunity for genome-wide profiling of DNA methylation in this model mollusc. RESULTS: Homologous searches against the C. gigas genome identified functional orthologs for key genes involved in DNA methylation: DNMT1, DNMT2, DNMT3, MBD2/3 and UHRF1. Whole-genome bisulfite sequencing (BS-seq) of the oyster’s mantle tissues revealed that more than 99% methylation modification was restricted to cytosines in CpG context and methylated CpGs accumulated in the bodies of genes that were moderately expressed. Young repeat elements were another major targets of CpG methylation in oysters. Comparison with other invertebrate methylomes suggested that the 5’-end bias of gene body methylation and the negative correlation between gene body methylation and gene length were the derived features probably limited to the insect lineage. Interestingly, phylostratigraphic analysis showed that CpG methylation preferentially targeted genes originating in the common ancestor of eukaryotes rather than the oldest genes originating in the common ancestor of cellular organisms. CONCLUSIONS: Comparative analysis of the oyster DNA methylomes and that of other animal species revealed that the characteristics of DNA methylation were generally conserved during invertebrate evolution, while some unique features were derived in the insect lineage. The preference of methylation modification on genes originating in the eukaryotic ancestor rather than the oldest genes is unexpected, probably implying that the emergence of methylation regulation in these 'relatively young’ genes was critical for the origin and radiation of eukaryotes. ELECTRONIC SUPPLEMENTARY MATERIAL: The online version of this article (doi:10.1186/1471-2164-15-1119) contains supplementary material, which is available to authorized users

The oyster genome reveals stress adaptation and complexity of shell formation

The Pacific oyster Crassostrea gigas belongs to one of the most species-rich but genomically poorly explored phyla, the Mollusca. Here we report the sequencing and assembly of the oyster genome using short reads and a fosmid-pooling strategy, along with transcriptomes of development and stress response and the proteome of the shell. The oyster genome is highly polymorphic and rich in repetitive sequences, with some transposable elements still actively shaping variation. Transcriptome studies reveal an extensive set of genes responding to environmental stress. The expansion of genes coding for heat shock protein 70 and inhibitors of apoptosis is probably central to the oyster's adaptation to sessile life in the highly stressful intertidal zone. Our analyses also show that shell formation in molluscs is more complex than currently understood and involves extensive participation of cells and their exosomes. The oyster genome sequence fills a void in our understanding of the Lophotrochozoa. © 2012 Macmillan Publishers Limited. All rights reserved

Juxtaposing BTE and ATE – on the role of the European insurance industry in funding civil litigation

One of the ways in which legal services are financed, and indeed shaped, is through private insurance arrangement. Two contrasting types of legal expenses insurance contracts (LEI) seem to dominate in Europe: before the event (BTE) and after the event (ATE) legal expenses insurance. Notwithstanding institutional differences between different legal systems, BTE and ATE insurance arrangements may be instrumental if government policy is geared towards strengthening a market-oriented system of financing access to justice for individuals and business. At the same time, emphasizing the role of a private industry as a keeper of the gates to justice raises issues of accountability and transparency, not readily reconcilable with demands of competition. Moreover, multiple actors (clients, lawyers, courts, insurers) are involved, causing behavioural dynamics which are not easily predicted or influenced. Against this background, this paper looks into BTE and ATE arrangements by analysing the particularities of BTE and ATE arrangements currently available in some European jurisdictions and by painting a picture of their respective markets and legal contexts. This allows for some reflection on the performance of BTE and ATE providers as both financiers and keepers. Two issues emerge from the analysis that are worthy of some further reflection. Firstly, there is the problematic long-term sustainability of some ATE products. Secondly, the challenges faced by policymakers that would like to nudge consumers into voluntarily taking out BTE LEI

Penilaian Kinerja Keuangan Koperasi di Kabupaten Pelalawan

This paper describe development and financial performance of cooperative in District Pelalawan among 2007 - 2008. Studies on primary and secondary cooperative in 12 sub-districts. Method in this stady use performance measuring of productivity, efficiency, growth, liquidity, and solvability of cooperative. Productivity of cooperative in Pelalawan was highly but efficiency still low. Profit and income were highly, even liquidity of cooperative very high, and solvability was good

Severe early onset preeclampsia: short and long term clinical, psychosocial and biochemical aspects

Preeclampsia is a pregnancy specific disorder commonly defined as de novo hypertension and proteinuria after 20 weeks gestational age. It occurs in approximately 3-5% of pregnancies and it is still a major cause of both foetal and maternal morbidity and mortality worldwide1. As extensive research has not yet elucidated the aetiology of preeclampsia, there are no rational preventive or therapeutic interventions available. The only rational treatment is delivery, which benefits the mother but is not in the interest of the foetus, if remote from term. Early onset preeclampsia (<32 weeks’ gestational age) occurs in less than 1% of pregnancies. It is, however often associated with maternal morbidity as the risk of progression to severe maternal disease is inversely related with gestational age at onset2. Resulting prematurity is therefore the main cause of neonatal mortality and morbidity in patients with severe preeclampsia3. Although the discussion is ongoing, perinatal survival is suggested to be increased in patients with preterm preeclampsia by expectant, non-interventional management. This temporising treatment option to lengthen pregnancy includes the use of antihypertensive medication to control hypertension, magnesium sulphate to prevent eclampsia and corticosteroids to enhance foetal lung maturity4. With optimal maternal haemodynamic status and reassuring foetal condition this results on average in an extension of 2 weeks. Prolongation of these pregnancies is a great challenge for clinicians to balance between potential maternal risks on one the eve hand and possible foetal benefits on the other. Clinical controversies regarding prolongation of preterm preeclamptic pregnancies still exist – also taking into account that preeclampsia is the leading cause of maternal mortality in the Netherlands5 - a debate which is even more pronounced in very preterm pregnancies with questionable foetal viability6-9. Do maternal risks of prolongation of these very early pregnancies outweigh the chances of neonatal survival? Counselling of women with very early onset preeclampsia not only comprises of knowledge of the outcome of those particular pregnancies, but also knowledge of outcomes of future pregnancies of these women is of major clinical importance. This thesis opens with a review of the literature on identifiable risk factors of preeclampsia

Measurement of associated W plus charm production in pp collisions at √s=7 TeV

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