A prototype of an autonomous controller for a quadrotor UAV

The paper proposes a complete real-time control algorithm for autonomous collision-free operations of the quadrotor UAV. As opposed to fixed wing vehicles the quadrotor is a small agile vehicle which might be more suitable for the variety of specific applications including search and rescue, surveillance and remote inspection. The developed control system incorporates both trajectory planning and path following. Using a differential flatness property the trajectory planning is posed as a constrained optimization problem in the output space (as opposed to the control space), which simplifies the problem. The trajectory and speed profile are parameterized to reduce the problem to a finite dimensional problem. To optimize the speed profile independently of the trajectory a virtual argument is used as opposed to time. A path following portion of the proposed algorithm uses a standard linear multi-variable control technique. The paper presents the results of simulations to demonstrate the suitability of the proposed control algorithm

Exercise intensity while hooked is associated with physiological status of longline-captured sharks

Some shark populations face declines owing to targeted capture and by-catch in longline fisheries. Exercise intensity during longline capture and physiological status may be associated, which could inform management strategies aimed at reducing the impacts of longline capture on sharks. The purpose of this study was to characterize relationships between exercise inten- sity and physiological status of longline-captured nurse sharks (Ginglymostoma cirratum) and Caribbean reef sharks (Carcharhinus perezi). Exercise intensity of longline-captured sharks was quantified with digital cameras and accelerometers, which was paired with blood-based physiological metrics from samples obtained immediately post-capture. Exercise intensity was associated with physiological status following longline capture. For nurse sharks, blood pH increased with capture dur- ation and the proportion of time exhibiting low-intensity exercise. Nurse sharks also had higher blood glucose and plasma potassium concentrations at higher sea surface temperatures. Associations between exercise intensity and physiological sta- tus for Caribbean reef sharks were equivocal; capture duration had a positive relation with blood lactate concentrations and a negative relationship with plasma chloride concentrations. Because Caribbean reef sharks did not appear able to influence blood pH through exercise intensity, this species was considered more vulnerable to physiological impairment. While both species appear quite resilient to longline capture, it remains to be determined if exercise intensity during capture is a useful tool for predicting mortality or tertiary sub-lethal consequences. Fisheries management should consider exercise during cap- ture for sharks when developing techniques to avoid by-catch or reduce physiological stress associated with capture

Stem diameter growth rates in a fire-prone savanna correlate with photosynthetic rate and branch-scale biomass allocation, but not specific leaf area

Plant growth rates strongly determine ecosystem productivity and are a central element of plant ecological strategies. For laboratory and glasshouse‐grown seedlings, specific leaf area (SLA; ratio of leaf area to mass) is a key driver of interspecific variation in growth rate (GR). Consequently, SLA is often assumed to drive GR variation in field‐grown adult plants. However, there is an increasing evidence that this is not the general case. This suggests that GR – SLA relationships (and perhaps those for other traits) may vary depending on the age or size of the plants being studied. Here we investigated GR – trait relationships and their size dependence among 17 woody species from an open‐canopy, fire‐prone savanna in northern Australia. We tested the predictions that SLA and stem diameter growth rate would be positively correlated in saplings but unrelated in adults while, in both age classes, faster‐GR species would have higher light‐saturated photosynthetic rate (Asat), higher leaf nutrient concentrations, higher branch‐scale biomass allocation to leaf versus stem tissues and lower wood density (WD). SLA showed no relationship to stem diameter GR, even in saplings, and the same was true of leaf N and P concentrations, and WD. However, branch‐scale leaf:stem allocation was strongly related to GR in both age groups, as was Asat. Together, these two traits accounted for up to 80% of interspecific variation in adult GR, and 41% of sapling GR. Asat is rarely measured in field‐based GR studies, and this is the first report of branch‐scale leaf:stem allocation (analogous to a benefit:cost ratio) in relation to plant growth rate. Our results suggest that we may yet find general trait‐drivers of field growth rates, but SLA will not be one

Current- and Wave-Generated Bedforms on Mixed Sand–Clay Intertidal Flats:A New Bedform Phase Diagram and Implications for Bed Roughness and Preservation Potential

The effect of bedforms on frictional roughness felt by the overlying flow is crucial to the regional modelling of estuaries and coastal seas. Bedforms are also a key marker of palaeoenvironments. Experiments have shown that even modest biotic and abiotic cohesion in sand inhibits bedform formation, modifies bedform size, and slows bedform development, but this has rarely been tested in nature. The present study used a comprehensive dataset recorded over a complete spring–neap cycle on an intertidal flat to investigate bedform dynamics controlled by a wide range of wave and current conditions, including the effects of wave–current angle and bed cohesion. A detailed picture of different bedform types and their relationship to the flow, be they equilibrium, non-equilibrium, or relict, was produced, and captured in a phase diagram that integrates wave-dominated, current-dominated, and combined wave–current bedforms. This bedform phase diagram incorporates a substantially wider range of flow conditions than previous phase diagrams, including bedforms related to near-orthogonal wave–current angles, such as ladderback ripples. Comparison with laboratory-derived bedform phase diagrams indicates that washed-out ripples, lunate interference ripples and upper-stage plane beds replace the subaqueous dune field; such bedform distributions may be a key characteristic of intertidal flats. The field data also provide a means of predicting the dimensions of these bedforms, which can be transferred to other areas and grain sizes. We show that an equation for the prediction of equilibrium bedform size is sufficient to predict the roughness, even though the bedforms are highly variable in character and only in equilibrium with the flow for approximately half the time. Whilst the effect of cohesive clay is limited under more active spring conditions, clay does play a role in reducing the bedform dimensions under more quiescent neap conditions. We also investigated which combinations of waves, currents, and bed clay contents in the intertidal zone have the highest potential for bedform preservation in the geological record. This shows that combined wave–current bedforms have the lowest preservation potential and equilibrium current ripples have the highest preservation potential, even in the presence of moderate and storm waves. Hence, the absence of wave ripples and combined-flow bedforms and their primary stratification in sedimentary successions cannot be taken as evidence that waves were absent at the time of deposition

Patterns of emergency admission for IBD patients over the last 10 years in Lothian, Scotland: A retrospective prevalent cohort analysis

OBJECTIVE: It is unclear how the compounding prevalence of inflammatory bowel disease (IBD) has translated into the causes and rates of hospitalisation, particularly in an era of increased biologic prescribing. We aimed to analyse these trends in a population-based IBD cohort over the last 10 years. DESIGN: The Lothian IBD registry is a complete, validated, prevalent database of IBD patients in NHS Lothian, Scotland. ICD-10 coding of hospital discharge letters from all IBD patient admissions to secondary care between 1 January 2010 and 31 December 2019 was interrogated for admission cause, with linkage to local/national data sets on death and prescribed drugs. RESULTS: Fifty-seven per cent (4673/8211) of all IBD patients were admitted to secondary care for >24 h between 1 January 2010 and 31 December 2019. In patients 60 years (19% of admissions). Three per cent (243/8211) of IBD patients accounted for 50% of the total IBD bed-days over the study period. Age-standardised IBD admission rates fell from 39.4 to 25.5 admissions per 100,000 population between 2010 and 2019, an average annual percentage reduction of 3% (95% CI -4.5% to -2.1%, p < 0.0001). Non-IBD admission rates were unchanged overall (145-137 per 100,000 population) and specifically for serious (hospitalisation) and severe (ITU admission or death) infection over the same period. CONCLUSION: Despite compounding prevalence and increased biologic use, IBD admission rates are falling. The cause of admission varies with age, with infection the predominant cause in older patients

Effectiveness and Safety of Adalimumab Biosimilar SB5 in IBD:Outcomes in Originator to SB5 Switch, Double Biosimilar Switch and Bio-Naieve SB5 Observational Cohorts

BACKGROUND AND AIMS: Multiple adalimumab [ADA] biosimilars are now approved for use in inflammatory bowel disease [IBD]; however, effectiveness and safety data remain scarce. We aimed to investigate long-term outcomes of the ADA biosimilar SB5 in IBD patients following a switch from the ADA originator [SB5-switch cohort] or after start of SB5 [SB5-start cohort]. METHODS: We performed an observational cohort study in a tertiary IBD referral centre. All IBD patients treated with Humira underwent an elective switch to SB5. We identified all these patients in a biological prescription database that prospectively registered all ADA start and stop dates including brand names. Data on IBD phenotype, C-reactive protein [CRP], drug persistence, ADA drug and antibody levels, and faecal calprotectin were collected. RESULTS: In total, 481 patients were treated with SB5, 256 in the SB5-switch cohort (median follow-up: 13.7 months [IQR 8.6–15.2]) and 225 in the SB5-start cohort [median follow-up: 8.3 months [4.2–12.8]). Of the SB5-switch cohort, 70.8% remained on SB5 beyond 1 year; 90/256 discontinued SB5, mainly due to adverse events [46/90] or secondary loss of response [37/90]. In the SB5-start cohort, 81/225 discontinued SB5, resulting in SB5-drug persistence of 60.3% beyond 1 year. No differences in clinical remission [p = 0.53], CRP [p = 0.80], faecal calprotectin [p = 0.40] and ADA trough levels [p = 0.55] were found between baseline, week 26 and week 52 following switch. Injection site pain was the most frequently reported adverse event. CONCLUSION: Switching from ADA originator to SB5 appeared effective and safe in this study with over 12 months of follow-up

An ALMA survey of CO in submillimetre galaxies: companions, triggering, and the environment in blended sources

We present ALMA observations of the mid-J 12CO emission from six single-dish selected 870-μm sources in the Extended Chandra Deep Field-South and UKIDSS Ultra-Deep Survey fields. These six single-dish submillimetre sources were selected based on previous ALMA continuum observations, which showed that each comprised a blend of emission from two or more individual submillimetre galaxies (SMGs), separated on 5–10 arcsec scales. The six single-dish submillimetre sources targeted correspond to a total of 14 individual SMGs, of which seven have previously measured robust optical/near-infrared spectroscopic redshifts, which were used to tune our ALMA observations. We detect CO(3–2) or CO(4–3) at z = 2.3–3.7 in 7 of the 14 SMGs, and in addition serendipitously detect line emission from three gas-rich companion galaxies, as well as identify four new 3.3 mm selected continuum sources in the six fields. Joint analysis of our CO spectroscopy and existing data suggests that 64(±18)percent of the SMGs in blended submillimetre sources are unlikely to be physically associated. However, three of the SMG fields (50 per cent) contain new, serendipitously detected CO-emitting (but submillimetre-faint) sources at similar redshifts to the 870 μm selected SMGs we targeted. These data suggest that the SMGs inhabit overdense regions, but that these are not sufficiently overdense on ∼100 kpc scales to influence the source blending given the short lifetimes of SMGs. We find that 21±12percent of SMGs have spatially distinct and kinematically close companion galaxies (∼8–150 kpc and ≲ 300 km s−1), which may have enhanced their star formation via gravitational interactions

Effectiveness of Denitrifying Bioreactors on Water Pollutant Reduction from Agricultural Areas

HighlightsDenitrifying woodchip bioreactors treat nitrate-N in a variety of applications and geographies.This review focuses on subsurface drainage bioreactors and bed-style designs (including in-ditch).Monitoring and reporting recommendations are provided to advance bioreactor science and engineering. Denitrifying bioreactors enhance the natural process of denitrification in a practical way to treat nitrate-nitrogen (N) in a variety of N-laden water matrices. The design and construction of bioreactors for treatment of subsurface drainage in the U.S. is guided by USDA-NRCS Conservation Practice Standard 605. This review consolidates the state of the science for denitrifying bioreactors using case studies from across the globe with an emphasis on full-size bioreactor nitrate-N removal and cost-effectiveness. The focus is on bed-style bioreactors (including in-ditch modifications), although there is mention of denitrifying walls, which broaden the applicability of bioreactor technology in some areas. Subsurface drainage denitrifying bioreactors have been assessed as removing 20% to 40% of annual nitrate-N loss in the Midwest, and an evaluation across the peer-reviewed literature published over the past three years showed that bioreactors around the world have been generally consistent with that (N load reduction median: 46%; mean ±SD: 40% ±26%; n = 15). Reported N removal rates were on the order of 5.1 g N m-3 d-1 (median; mean ±SD: 7.2 ±9.6 g N m-3 d-1; n = 27). Subsurface drainage bioreactor installation costs have ranged from less than $5,000 to$27,000, with estimated cost efficiencies ranging from less than $2.50 kg-1 N year-1 to roughly$20 kg-1 N year-1 (although they can be as high as $48 kg-1 N year-1). A suggested monitoring setup is described primarily for the context of conservation practitioners and watershed groups for assessing annual nitrate-N load removal performance of subsurface drainage denitrifying bioreactors. Recommended minimum reporting measures for assessing and comparing annual N removal performance include: bioreactor dimensions and installation date; fill media size, porosity, and type; nitrate-N concentrations and water temperatures; bioreactor flow treatment details; basic drainage system and bioreactor design characteristics; and N removal rate and efficiency

SoK: Contemporary Issues and Challenges to Enable Cyber Situational Awareness for Network Security

Cyber situational awareness is an essential part of cyber defense that allows the cybersecurity operators to cope with the complexity of today's networks and threat landscape. Perceiving and comprehending the situation allow the operator to project upcoming events and make strategic decisions. In this paper, we recapitulate the fundamentals of cyber situational awareness and highlight its unique characteristics in comparison to generic situational awareness known from other fields. Subsequently, we provide an overview of existing research and trends in publishing on the topic, introduce front research groups, and highlight the impact of cyber situational awareness research. Further, we propose an updated taxonomy and enumeration of the components used for achieving cyber situational awareness. The updated taxonomy conforms to the widely-accepted three-level definition of cyber situational awareness and newly includes the projection level. Finally, we identify and discuss contemporary research and operational challenges, such as the need to cope with rising volume, velocity, and variety of cybersecurity data and the need to provide cybersecurity operators with the right data at the right time and increase their value through visualization