Vehicle to Vehicle (V2V) Communication for Collision Avoidance for Multi-Copters Flying in UTM -TCL4

NASAs UAS Traffic management (UTM) research initiative is aimed at identifying requirements for safe autonomous operations of UAS operating in dense urban environments. For complete autonomous operations vehicle to vehicle (V2V) communications has been identified as an essential tool. In this paper we simulate a complete urban operations in an high fidelity simulation environment. We design a V2V communication protocol and all the vehicles participating communicate over this system. We show how V2V communication can be used for finding feasible, collision-free paths for multi agent systems. Different collision avoidance schemes are explored and an end to end simulation study shows the use of V2V communication for UTM TCL4 deployment

Real-Time Path Planning for Multi-copters flying in UTM -TCL4

NASA's UAS Traffic management (UTM) -TCL-4 focuses on safely enabling large scale small UAS oper- ations in low altitude airspace in dense urban regions. This paper presents an operational architecture of an autonomous unmanned aerial vehicle operating in TCL4. An on-line path planning scheme is proposed which can effectively plan for feasible paths in real time with TCL-4 constraints. An end to end system is designed and tested in high fidelity Reflection architecture which demonstrates the feasibility of the approach

Spectral and temporal changes associated with flux enhancement in 4U 1626-67

4U 1626-67 is an accretion powered X-ray pulsar that shows remarkably stable X-ray luminosity above hours timescale and gradual intensity variation on a few years timescale. Here we report a significant increase in the X-ray intensity in the long term RXTE-ASM light curve of 4U 1626-67. Similar enhancement in the X-ray flux has also been detected in the Swift-BAT light curve. The increase in the X-ray flux took place over a long period of about 100 days and there appears to be two episodes of flux enhancement. We have investigated the spectral and timing features of 4U 1626-67 during its current state of enhanced flux emission with data obtained from the Proportional Counter Array and the High-Energy X-ray Timing Explorer on board the Rossi X-ray Timing Explorer. The source has entered a new spin-up phase with a spin-up rate of 4.02(5) $\times$ 10$^{-13}$ Hz s$^{-1}$. The present spin-up rate is almost half of the earlier spin-up and spin-down trends. A significant excess in soft X-ray photon emission is observed during the enhanced flux state, which is similar to the energy spectrum obtained during the spin-up era of the pulsar before 1990. We also report detection of a significant broadening in the wings of the 130 mHz peak and a change in the shape of the continuum of the power spectrum.Comment: 7 pages, accepted for publication in MNRAS with minor change

SAFE50 Reference Design Study for Large-Scale High-Density Low-Altitude UAS Operations in Urban Areas

Enabling safe, routine, and high-density flight operations of small UAS at low-altitude over heavily populated urban centers presents a difficult challenge for emerging UAS Traffic Management (UTM) system concepts. Urban operations by definition involve flight over people, property, and infrastructure. Low-altitude urban environments - such as urban canyons are one of the most difficult areas for UTM to consider. Mission concepts require routine operations in a cluttered radio-frequency (RF) environment with degraded or denied Global Positioning System (GPS) reception. Flights with any appreciable distance will be beyond visual and communications line-of-sight from ground operators. Timely detection and response to emergencies and onboard failures, which is critical for safe aircraft operation, will be difficult. This work seeks to establish a feasible reference autonomy architecture for autonomous vehicles in an urban UTM system, then verifying and validating this architecture within a complete UTM concept point-design and systems analysis study. In this paper, we present the results from the NASA SAFE50 conceptual design and systems study that investigates the trade-space of urban UTM operations. This advanced conceptual design study develops a feasible, verified, validated point-design solution. The SAFE50 point-design concept places emphasis on advanced, highly-autonomous, and highly-capable vehicles that favors intelligent onboard autonomy over direct human control with today's technologies and operating in today's urban environments. This paper focuses on an general overview of the design study, highlighting decisions made in the architectural solution. This paper will presents a summary of the study, architectures, and requirements. We present an overview of the architecture designs as derived from the top-level UTM system. The point-design has been implemented in both simulation and through flight testing of hardware design prototypes. The results from simulation and flight testing as part of the verification and validation process of the reference design study

Unfolding of hemoglobin variants-insights from urea gradient gel electrophoresis photon correlation spectroscopy and zeta potential measurements

The unfolding pattern of crystal human hemoglobin and variants of hemoglobin obtained from hemolysate were studied using transverse urea gradient gel electrophoresis (TUGGE). A smooth sigmoid like increase of electrophoretic mobility was observed with increasing urea concentrations. A decrease in electrophoretic mobility resulted, if the protein was unfolded with guanidium hydrochloride (GdnHCl). The anomaly was resolved after the Stoke's radii (obtained using the photon correlation spectroscopy) and zeta potential (measured using laser Doppler velocimetry) measurements were made at different denaturant concentrations. Addition of denaturant led to formation of extended structure, irrespective of the nature of the denaturant, as indicated by increase in Stoke's radii in both cases (urea and GdnHCl). The unexpected increase in electrophoretic mobility in case of urea could be explained in terms of a critical redistribution of negative charge at intermediate stages of the unfolding process. In case of GdnHCl, the higher ionic strength masked the charge effect. The mobility, being solely dependent on size, decreased at higher denaturant concentration. Incidentally, folding loci of other hemoglobin variants (e.g. HbE) or that of post-translationally modified hemoglobin (e.g. HbA1c) could be determined by studying the charge distribution and hydrodynamic radius at varying denaturing stress and in each case the gel migration profile could be approximately scaled by the ratio of charge and hydrodynamic diameter of the protein. While unfolding induced charge effect was most pronounced in HbA0 (and crystal ferrous hemoglobin), the unfolding induced aggregation (manifested by the increase in Stoke's radii) was predominantly observed in the variant forms HbE and HbA1c. Representing the proteins by a plot, in which charge and hydrodynamic diameter are on independent axes, may be a useful way of characterizing protein variants having similar migration profiles on native gels, but differing in their folding behavior

Validation of "Signs of Inflammation in Children that Kill" (SICK) score for immediate non-invasive assessment of severity of illness

Abstract Objective To validate the SICK scoring system's ability to differentiate between individuals with higher and lower probabilities of death Method We performed a one year two-centre prospective evaluation of all children aged between one month and 12 years referred to the Paediatric team at St Stephens Hospital in Delhi and admitted to the Paediatric Department at West Middlesex University Hospital in London. We calculated SICK scores at presentation and correlated them with subsequent in-hospital mortality. We used discrimination by areas under receiver operating characteristic (ROC) curves to measure performance. Results We prospectively evaluated 3895 children in Delhi and 1473 children in London. The areas under the ROC curves were 84.8% in Delhi, 81.0% in London and 84.1% (95% CI 77.4 - 90.8%) for combined data. Hosmer-Lemeshow goodness of fit for the combined data was good (Hosmer-Lemeshow Chi-square = 2.13 (p = 0.345). Conclusions We propose the SICK score as a useful triage tool at initial presentation and highlight its particular suitability for resource poor settings.</p