Spacecraft formation-flying using potential functions

A group of small spacecraft able to change their relative position and attitude through the use of the potential function method is discussed. The spacecraft shapes, sizes and manoeuvring capabilities are not identical, although all are assumed to manoeuvre using continuous thrusters. A hyperbolic form of the attractive potential function is used to reduce actuator effort by using natural orbital motion to approaching the goal configuration. A superquadric repulsive potential with 3D a rigid object representation is then used to provide an accurate representation of the shape of spacecraft in the potential function. As the spacecraft start away from their goal, a parabolic attractive potential is inefficient as the control force increases with distance from the goal. Using a hyperbolic attractive potential, the control force is independent of the distance to goal, ensuring smooth manoeuvring towards the goal with a bound actuator effort

On-Orbit Manoeuvring Using Superquadric Potential Fields

On-orbit manoeuvring represents an essential process in many space missions such as orbital assembly, servicing and reconfiguration. A new methodology, based on the potential field method along with superquadric repulsive potentials, is discussed in this thesis. The methodology allows motion in a cluttered environment by combining translation and rotation in order to avoid collisions. This combination reduces the manoeuvring cost and duration, while allowing collision avoidance through combinations of rotation and translation. Different attractive potential fields are discussed: parabolic, conic, and a new hyperbolic potential. The superquadric model is used to represent the repulsive potential with several enhancements. These enhancements are: accuracy of separation distance estimation, modifying the model to be suitable for moving obstacles, and adding the effect of obstacle rotation through quaternions. Adding dynamic parameters such as object translational velocity and angular velocity to the potential field can lead to unbounded actuator control force. This problem is overcome in this thesis through combining parabolic and conic functions to form an attractive potential or through using a hyperbolic function. The global stability and convergence of the solution is guaranteed through the appropriate choice of the control laws based on Lyapunov's theorem. Several on-orbit manoeuvring problems are then conducted such as on-orbit assembly using impulsive and continuous strategies, structure disassembly and reconfiguration and free-flyer manoeuvring near a space station. Such examples demonstrate the accuracy and robustness of the method for on-orbit motion planning

Conditional cash transfer in Egypt: the need for proper financial and administrative controls

Conditional cash transfer (CCT) programs, as one of the most efficient social protection programs, use large amount of public resources. Such programs are prone to leakage of public resources due to risks from error, fraud, and corruption. Countries in Latin America have implemented CCT programs since the early 1980\u27s and they have experienced leakages from error, fraud, and corruption (EFC) which requires use of mechanisms and a control system to tackle the risks of EFC. These mechanisms have been introduced in the World Bank toolkit on tackling error, fraud, and corruption. The recommended strategies to mitigate EFC address risks through three main strategies: prevention, detection strategies, and deterrence. This study answers the main research question of what guidance does Egyptian and global experience provide as to what constitutes a proper control system for the implementation of conditional cash transfer programs to prevent error, fraud, and corruption? It provides a vision of what proper controls could be useful for implementing CCT in Egypt and other countries that share similar characteristics. This broader perspective of protection mechanisms has been investigated through contacting global experts from different countries and local social inspectors who worked in the pilot project in Egypt. This combination takes advantage of global and local experiences recommend what could enable Egypt to have a proper control system to reduce EFC. The study findings demonstrate that Egypt can apply proper administration and financial controls in its CCT program at each of its three main stages: eligibility, compliance, and cash disbursing. Recommended control mechanisms are developed around three building blocks of prevention; detection; and deterrence. Other recommendations are provided for CCT program in Egypt regarding interministerial cooperation, the required political support to CCT for program success, use of computerized systems in the verification processes, and a reconsideration of economic, political, and administrative challenges to CCT programs in Egypt

On-orbit assembly using superquadric potential fields

The autonomous on-orbit assembly of a large space structure is presented using a method based on superquadric artificial potential fields. The final configuration of the elements which form the structure is represented as the minimum of some attractive potential field. Each element of the structure is then considered as presenting an obstacle to the others using a superquadric potential field attached to the body axes of the element. A controller is developed which ensures that the global potential field decreases monotonically during the assembly process. An error quaternion representation is used to define both the attractive and superquadric obstacle potentials allowing the final configuration of the elements to be defined through both relative position and orientation. Through the use of superquadric potentials, a wide range of geometric objects can be represented using a common formalism, while collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process

Autonomous structure assembly using potential field functions

The work in this paper aims to introduce a new technique for artificial potential field methods based on a superquadric representation of the obstacle shapes, and a quaternion representation of the object orientation. The superquadric functions facilitate the representation of the actual shape of the obstacles to provide additional free space for the motion of the maneuvering objects, consequently reducing maneuvering effort for these objects. The quaternion representation overcomes the singularities produced when using Euler angles and is more convenient for real time implementation. Potential field methods provide a robust means of generating distributed controls for mobile robots (terrestrial or space) to enable automated assembly tasks. The problem of local minimum formation when dealing with objects having straight edges is also addressed in this paper through changing the superquadric function shape simultaneously in accordance with the relative position and orientation of the objects. The proposed potential function enables maneuvering objects to decide which motion, both in translation and rotation, leads to the quickest descent of the artificial potential most effectively. These coupled translation/rotation manoeuvres show significant benefits over de-coupled translation maneuvers

Design of an E-learning system using semantic information and cloud computing technologies

Humanity is currently suffering from many difficult problems that threaten the life and survival of the human race. It is very easy for all mankind to be affected, directly or indirectly, by these problems. Education is a key solution for most of them. In our thesis we tried to make use of current technologies to enhance and ease the learning process. We have designed an e-learning system based on semantic information and cloud computing, in addition to many other technologies that contribute to improving the educational process and raising the level of students. The design was built after much research on useful technology, its types, and examples of actual systems that were previously discussed by other researchers. In addition to the proposed design, an algorithm was implemented to identify topics found in large textual educational resources. It was tested and proved to be efficient against other methods. The algorithm has the ability of extracting the main topics from textual learning resources, linking related resources and generating interactive dynamic knowledge graphs. This algorithm accurately and efficiently accomplishes those tasks even for bigger books. We used Wikipedia Miner, TextRank, and Gensim within our algorithm. Our algorithm‘s accuracy was evaluated against Gensim, largely improving its accuracy. Augmenting the system design with the implemented algorithm will produce many useful services for improving the learning process such as: identifying main topics of big textual learning resources automatically and connecting them to other well defined concepts from Wikipedia, enriching current learning resources with semantic information from external sources, providing student with browsable dynamic interactive knowledge graphs, and making use of learning groups to encourage students to share their learning experiences and feedback with other learners.Programa de Doctorado en Ingeniería Telemática por la Universidad Carlos III de MadridPresidente: Luis Sánchez Fernández.- Secretario: Luis de la Fuente Valentín.- Vocal: Norberto Fernández Garcí

SELECTION FOR OVULATION RATE AND LITTER SIZE IN RABBITS

Tesis por compendio[EN] The aim of this thesis was to evaluate the productive performance of a rabbit line (OR-LS) selected by ovulation rate during first 6 generations (period 1), and later by ovulation rate (OR) and litter size (LS) during 11 generations using independent culling levels (Period 2). Genetic parameters, direct response for OR and LS and the correlated response for embryo (ES), foetal (FS) and prenatal survival (PS) were estimated. Also, the correlated response on growth rates (GR), weaning (WW) and marketing weight (MW) were estimated. The objective of chapter 3 was to estimate the genetic parameters of the productive traits and the response to selection by OR and LS of OR-LS line. For traits analysis, Bayesian methods were used. Heritability values of litter size traits were low, 0.10, 0.07, 0.07 and 0.07 for litter size, number of born alive (NBA), number of kits at weaning (NW) and marketing (NM), respectively. Heritability for OR was moderate (0.25), while it was low (0.13 and 0.14) for number of implanted embryos (IE) and number of live foetuses at 12 days of gestation (LF12), respectively. Low heritability values for survival traits were found, 0.09 for embryo survival (ES), 0.16 for foetal survival (FS) and 0.14 for prenatal survival (PS). In the second period, after 11 generations of selection by OR and LS, a genetic response of 0.17 kits per generation for LS was achieved. This response was higher than the obtained in period 1 (0.07 kits per generation), in which just selection by OR was performed. The opposite effect was found for OR; the highest response for OR appeared in the first period (0.24 ova per generation) versus the second period (0.17 ova per generation). This reduction in OR response can be due to the decrease in selection differential during the second period of selection. Since high genetic correlations were obtained for LS and other litter size traits, a positive correlated response was observed for NBA, NW and NM (0.12, 0.12 and 0.11 kits per generation, respectively) in the second period. In the first period, no correlated response on ES was observed and a decrease in FS (-0.04) was found. Nevertheless, in the second period a correlated response on PS appeared due to an improvement in both ES (0.04) and FS (0.03). Summarizing, the improvement in litter size in the second period is due to an increase in ovulation rate as well as an increase in prenatal survival. The objective of chapter 4 was to study the correlated response on growth traits in the OR-LS line in both periods of selection, the selection by OR during six generations and the selection by independent levels by OR and LS during 11 generations. The heritability estimates were low for weaning weight (WW), marketing weight (MW) and growth rate (GR), 0.09, 0.13 and 0.14, respectively. The estimated genetic correlations of WW, GR and MW with LS were around zero and with OR were positive and from low (0.19) to moderate (0.38). The positive moderate genetic correlation estimated between OR and MW could explain the correlated response found in MW. Correlated response on WW could be explained by positive and high genetic correlation between MW and WW. The aim of chapter 5 was to investigate magnitude and timing of embryo and early foetal survival in females with high OR using hormonal treatment as a model for selection by OR. Two groups of females (treated and untreated) were used. Treated females were injected with 50 IU eCG 48 hours before mating. Females were slaughtered at day 18 of gestation. OR, IE, LF12 and LF18 were recorded. Besides, ES (IE/OR), FSLF18 (LF18/IE), FSLF18/LF12 (LF18/LF12) and PSLF18 (LF18/OR) were estimated. Treated females had a higher OR than untreated females. According to the previous results for OR and LF18, treated females showed a lower survival rate from ovulation to 18 d of gestation. Treated females also had lower embryo and foetal survival. Main difference in foetal survival appeared from day 12 to 18 of gestation.[ES] El objetivo de esta tesis fue evaluar el tamaño de camada de una línea de conejo seleccionada por tasa de ovulación durante las primeras seis generaciones (periodo 1) y después por tasa de ovulación (OR) y tamaño de camada (LS) durante 11 generaciones mediante el método de niveles independientes (periodo 2). Se estimaron los parámetros genéticos, así como la respuesta en OR y LS y la respuesta correlacionada en los caracteres reproductivos (capítulo 3). Además, se evaluó la respuesta correlacionada en los caracteres de crecimiento (capítulo 4); peso al destete (WW), peso al sacrificio (MW) y ganancia de peso entre el destete y el sacrificio (GR). Para el análisis de los caracteres se utilizaron métodos bayesianos. El objetivo del capítulo 3 fue estimar los parámetros genéticos de los caracteres reproductivos y la respuesta a la selección. Los valores de heredabilidad de los caracteres del tamaño de camada fueron bajos (alrededor de 0.10). La heredabilidad estimada para OR fue moderada (0.25), mientras que fue baja para el número de embriones implantados (IE) y el número de fetos vivos a los 12 días de gestación (LF12). Se obtuvieron valores bajos de heredabilidad; 0.09 para la supervivencia embrionaria (ES), 0.16 para la supervivencia fetal (FS) y 0.14 para la supervivencia prenatal (PS). En el periodo 2, se obtuvo una respuesta genética de 0.17 gazapos por generación para LS. Esta respuesta fue mayor que la obtenida en el periodo 1. En el caso de la tasa de ovulación, la mayor respuesta en OR se obtuvo en el periodo 1 (0.24 óvulos por generación) versus (0.17 óvulos por generación) en el periodo 2. Esta reducción en la respuesta de OR se puede atribuir a la disminución del diferencial de selección durante el período 2 de selección. De acuerdo con la alta correlación genética entre LS y otros caracteres del tamaño de camada, también se observó una respuesta correlacionada positiva en el número de nacidos vivos (NBA), destetados (NW) y comercializados (NM); 0.12, 0.12 y 0.11 gazapos por generación, respectivamente, en el segundo periodo. En el primer periodo no se observa respuesta correlacionada en la SE y se produce una disminución de la SF (-0.04). Sin embargo, en el segundo periodo se produce una respuesta correlacionada positiva en la SP que se debe a una mejora de la SE (0.04) y SF (0.03). En resumen, la mejora del tamaño de camada en el segundo periodo se debe tanto a un aumento de la tasa de ovulación como a un aumento de la supervivencia prenatal. El objetivo del capítulo 4 fue estudiar la respuesta correlacionada en los caracteres de crecimiento en esta línea. Las estimas de heredabilidad fueron bajas para los caracteres WW (0.09), MW (0.13) y GR (0.14). Las correlaciones genéticas estimadas de LS con WW, MW y GR fueron cercanas a cero; con la tasa de ovulación, las correlaciones fueron positivas y variaban de bajas a moderadas (de 0.19 a 0.38). La correlación genética moderada entre OR y MW podría explicar la respuesta correlacionada observada en MW. La alta correlación entre MW y WW podría explicar la respuesta correlacionada obtenida para WW. Finalmente, el objetivo de capítulo 5 fue estudiar en hembras con alta tasa de ovulación en qué momento se producen las mayores pérdidas fetales y cómo se ve afectado el desarrollo fetal. Para ello, de un total de 51 hembras, 24 hembras fueron pinchadas con 50 UI de eCG 48 horas antes de la cubrición para aumentar la tasa de ovulación. Las hembras fueron sacrificadas a los 18 días de gestación. Se registró OR, IE y el número de fetos vivos a los 12 y 18 días de gestación (LF18). Las hembras tratadas tuvieron una tasa de ovulación mayor que las no tratadas. De acuerdo con los resultados obtenidos para OR y LF18, las hembras tratadas mostraron una supervivencia más baja desde la ovulación hasta los 18 días de gestación y tuvieron una menor supervivencia embrionaria y fetal. Las principales diferencias en l[CA] L'objectiu d'esta tesi va ser avaluar la millora de la grandària de ventrada d'una línia de conill seleccionada per tasa d'ovulació durant les primeres sis generacions (període 1) i després per tasa d'ovulació (OR) i la grandària de ventrada (LS) durant 11 generacions per mitjà del mètode de nivells independents (període 2). Es van estimar els paràmetres genètics, així com la resposta en OR i LS i la resposta correlacionada en caràcters reproductius (capítol 3). A més, es va estudiar la resposta correlacionada en els caràcters de creixement (capítol 4); pes al deslletament (WW), pes al sacrifici (MW) i guany de pes entre el deslletament y el sacrifici (GR). Per a l'anàlisi dels caràcters es van utilitzar mètodes bayesians. L'objectiu del capítol 3 va ser estimar els paràmetres genètics dels caràcters reproductius i la resposta a la selecció. Els valors d'heretabilitat dels caràcters de la grandària de ventrada van ser baixos (al voltant de 0.10). L'heretabilitat estimada per a OR va ser moderada (0.25), mentres que va ser baixa per al nombre d'embrions implantats (IE) i el nombre de fetus vius als 12 dies de gestació (LF12). Es van obtindre valors baixos d'heretabilitat; 0.09 per a ES, 0.16 per a FS i 0.14 per a PS. En el període 2, es va obtindre una resposta genètica de 0.17 llorigons per generació per a LS. Esta resposta va ser major que l'obtinguda en el període 1. En el cas de la tasa d'ovulació, la major resposta per a OR va ser en el primer període (0.24 òvuls per generació) versus (0.17 òvuls per generació) en el període 2. Esta reducció en la resposta d'OR es pot atribuir a la disminució del diferencial de selecció durant el període 2 de selecció. Donada l'alta correlació genètica entre LS i altres caràcters de la grandària de ventrada, també es va observar una resposta correlacionada positiva en el nombre de nascuts vius (NBA), deslletats (NW) i comercialitzats (NM); 0.12, 0.12 i 0.11 llorigons per generació, respectivament, en el segon període. En el primer període no s'observa resposta correlacionada en la SE i es produeix una disminució de la SF (-0.04). No obstant això, en el segon període es produeix una resposta correlacionada en la SP que es deu a una millora de la SE (0.04) i SF (0.03). En resum, la millora de la grandària de ventrada en el segon període es deu tant a un augment de la tasa d'ovulació com a un augment de la supervivència prenatal. L'objectiu del capítol 4 va ser estudiar la resposta correlacionada en els caràcters de creixement en aquesta línia. Les estimes d'heretabilitat van ser baixes per als caràcters WW (0.09), MW (0.13) i GR (0.14). Les correlacions genètiques estimades de LS amb WW, MW i GR van ser pròximes a zero; amb la tasa d'ovulació, les correlacions van ser positives i variaven de baixes a moderades (de 0.19 a 0.38). La correlació genètica moderada entre OR i MW podria explicar la resposta correlacionada trobada per a MW. D'altra banda, l'alta correlació entre MW i WW podria explicar la resposta correlacionada obtinguda per a WW. Finalment. l'objectiu del capítol 5 va ser estudiar en femelles amb alta tasa d'ovulació en quin moment es van produir les majors pèrdues fetals i com es veu afectat el desenvolupament fetal. Per a això, d'un total de 51 femelles, 24 femelles van ser punxades amb 50 UI d'eCG 48 hores abans del cobriment per a augmentar la tasa d'ovulació. Les femelles van ser sacrificades al 18 dies de gestació. Es va registrar OR, IE i el nombre de fetus vius al 12 i 18 dies de gestació (LF18). Les femelles tractades van tindre una tasa d'ovulació major que les no tractades. D¿acord als resultats obtinguts per OR i LF18, les femelles tractades van mostrar una supervivència més baixa des de l'ovulació fins als 18 dies de gestació i van tindre una menor supervivència embrionària i fetal. Les principals diferències en la supervivència fetal van aparèixer entre els dies 12 i 18 de gestaciYehia Badawy Elmoghazy, A. (2016). SELECTION FOR OVULATION RATE AND LITTER SIZE IN RABBITS [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/73265TESISCompendi

Treatment options for polycystic ovary syndrome

Polycystic ovary syndrome (PCOS) is the most common endocrine disorder in women. The clinical manifestation of PCOS varies from a mild menstrual disorder to severe disturbance of reproductive and metabolic functions. Management of women with PCOS depends on the symptoms. These could be ovulatory dysfunction-related infertility, menstrual disorders, or androgen-related symptoms. Weight loss improves the endocrine profile and increases the likelihood of ovulation and pregnancy. Normalization of menstrual cycles and ovulation could occur with modest weight loss as little as 5% of the initial weight. The treatment of obesity includes modifications in lifestyle (diet and exercise) and medical and surgical treatment. In PCOS, anovulation relates to low follicle-stimulating hormone concentrations and the arrest of antral follicle growth in the final stages of maturation. This can be treated with medications such as clomiphene citrate, tamoxifen, aromatase inhibitors, metformin, glucocorticoids, or gonadotropins or surgically by laparoscopic ovarian drilling. In vitro fertilization will remain the last option to achieve pregnancy when others fail. Chronic anovulation over a long period of time is also associated with an increased risk of endometrial hyperplasia and carcinoma, which should be seriously investigated and treated. There are androgenic symptoms that will vary from patient to patient, such as hirsutism, acne, and/or alopecia. These are troublesome presentations to the patients and require adequate treatment. Alternative medicine has been emerging as one of the commonly practiced medicines for different health problems, including PCOS. This review underlines the contribution to the treatment of different symptoms

On the Performance of Quickest Detection Spectrum Sensing: The Case of Cumulative Sum

Quickest change detection (QCD) is a fundamental problem in many applications. Given a sequence of measurements that exhibits two different distributions around a certain flipping point, the goal is to detect the change in distribution around the flipping point as quickly as possible. The QCD problem appears in many practical applications, e.g., quality control, power system line outage detection, spectrum reuse, and resource allocation and scheduling. In this paper, we focus on spectrum sensing as our application since it is a critical process for proper functionality of cognitive radio networks. Relying on the cumulative sum (CUSUM), we derive the probability of detection and the probability of false alarm of CUSUM based spectrum sensing. We show the correctness of our derivations using numerical simulations.Comment: This paper is accepted for publication in IEEE Communication Letters Jan 202