77 research outputs found

    Multi-vehicle Control in a Strong Flowfield with Application to Hurricane Sampling

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    A major obstacle to path-planning and formation-control algorithms in multi-vehicle systems are strong flows in which the ambient flow speed is greater than the vehicle speed relative to the flow. This challenge is espe-cially pertinent in the application of unmanned aircraft used for collecting targeted observations in a hurricane. The presence of such a flowfield may inhibit a vehicle from making forward progress relative to a ground-fixed frame, thus limiting the directions in which it can travel. Using a self-propelled particle model in which each particle moves at constant speed relative to the flow, this paper presents results for motion coordination in a strong, known flowfield. We present the particle model with respect to inertial and rotating reference frames and provide for each case a set of con-ditions on the flowfield that ensure trajectory feasibility. Results from the Lyapunov-based design of decentralized control algorithms are presented for circular, folium, and spirograph trajectories, which are selected for their potential use as hurricane sampling trajectories. The theoretical results are illustrated using numerical simulations in an idealized hurricane model. Nomenclature N Number of particles in the system k Particle index k = 1,..., N rk Position of k th particle with respect to inertial frame r̃k Position of k th particle with respect to rotating fram

    Effect of bath ionic strength on adhesion and tribological properties of pure nickel and nickel composite coatings

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    The effect of electrolytic chemical concentration on wear-resistant, corrosion-resistant, adhesion and wettability properties of pure nickel and nickel-alumina composite coatings has been investigated in this paper. Coatings were electroplated over steel substrates under constant pulse conditions using pulse electrodeposition technique. Corrosion-resistant results show that the anti-corrosion properties are increasing with medium concentration both for pure nickel and nickel-alumina composite coating. For anti-wear properties the medium concentration showed increasing trend in case of pure nickel coatings but decreased in nickel-alumina composite coatings. In composite coating the higher and low concentrations of electrolyte showed the higher wear resistance properties. Furthermore, the influence of electrolyte concentration on changing surface morphologies, mechanical, wettability and adhesion properties have been investigated and reported here. Surface morphologies of the coatings were examined using scanning electron microscopy and energy-dispersive spectroscopy. Surface mapping and wear analyses were conducted through 3D white light interferometry

    Elective cancer surgery in COVID-19-free surgical pathways during the SARS-CoV-2 pandemic: An international, multicenter, comparative cohort study

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    PURPOSE As cancer surgery restarts after the first COVID-19 wave, health care providers urgently require data to determine where elective surgery is best performed. This study aimed to determine whether COVID-19–free surgical pathways were associated with lower postoperative pulmonary complication rates compared with hospitals with no defined pathway. PATIENTS AND METHODS This international, multicenter cohort study included patients who underwent elective surgery for 10 solid cancer types without preoperative suspicion of SARS-CoV-2. Participating hospitals included patients from local emergence of SARS-CoV-2 until April 19, 2020. At the time of surgery, hospitals were defined as having a COVID-19–free surgical pathway (complete segregation of the operating theater, critical care, and inpatient ward areas) or no defined pathway (incomplete or no segregation, areas shared with patients with COVID-19). The primary outcome was 30-day postoperative pulmonary complications (pneumonia, acute respiratory distress syndrome, unexpected ventilation). RESULTS Of 9,171 patients from 447 hospitals in 55 countries, 2,481 were operated on in COVID-19–free surgical pathways. Patients who underwent surgery within COVID-19–free surgical pathways were younger with fewer comorbidities than those in hospitals with no defined pathway but with similar proportions of major surgery. After adjustment, pulmonary complication rates were lower with COVID-19–free surgical pathways (2.2% v 4.9%; adjusted odds ratio [aOR], 0.62; 95% CI, 0.44 to 0.86). This was consistent in sensitivity analyses for low-risk patients (American Society of Anesthesiologists grade 1/2), propensity score–matched models, and patients with negative SARS-CoV-2 preoperative tests. The postoperative SARS-CoV-2 infection rate was also lower in COVID-19–free surgical pathways (2.1% v 3.6%; aOR, 0.53; 95% CI, 0.36 to 0.76). CONCLUSION Within available resources, dedicated COVID-19–free surgical pathways should be established to provide safe elective cancer surgery during current and before future SARS-CoV-2 outbreaks

    Elective Cancer Surgery in COVID-19-Free Surgical Pathways During the SARS-CoV-2 Pandemic: An International, Multicenter, Comparative Cohort Study.

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    PURPOSE: As cancer surgery restarts after the first COVID-19 wave, health care providers urgently require data to determine where elective surgery is best performed. This study aimed to determine whether COVID-19-free surgical pathways were associated with lower postoperative pulmonary complication rates compared with hospitals with no defined pathway. PATIENTS AND METHODS: This international, multicenter cohort study included patients who underwent elective surgery for 10 solid cancer types without preoperative suspicion of SARS-CoV-2. Participating hospitals included patients from local emergence of SARS-CoV-2 until April 19, 2020. At the time of surgery, hospitals were defined as having a COVID-19-free surgical pathway (complete segregation of the operating theater, critical care, and inpatient ward areas) or no defined pathway (incomplete or no segregation, areas shared with patients with COVID-19). The primary outcome was 30-day postoperative pulmonary complications (pneumonia, acute respiratory distress syndrome, unexpected ventilation). RESULTS: Of 9,171 patients from 447 hospitals in 55 countries, 2,481 were operated on in COVID-19-free surgical pathways. Patients who underwent surgery within COVID-19-free surgical pathways were younger with fewer comorbidities than those in hospitals with no defined pathway but with similar proportions of major surgery. After adjustment, pulmonary complication rates were lower with COVID-19-free surgical pathways (2.2% v 4.9%; adjusted odds ratio [aOR], 0.62; 95% CI, 0.44 to 0.86). This was consistent in sensitivity analyses for low-risk patients (American Society of Anesthesiologists grade 1/2), propensity score-matched models, and patients with negative SARS-CoV-2 preoperative tests. The postoperative SARS-CoV-2 infection rate was also lower in COVID-19-free surgical pathways (2.1% v 3.6%; aOR, 0.53; 95% CI, 0.36 to 0.76). CONCLUSION: Within available resources, dedicated COVID-19-free surgical pathways should be established to provide safe elective cancer surgery during current and before future SARS-CoV-2 outbreaks

    Feedback Navigation in an Uncertain Flow Field and Connections with Pursuit Strategies

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    Copyright ©2012 by E. Bakolas and P. Tsiotras. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission.DOI: 10.2514/1.54950This paper presents several classes of control laws for steering an agent, that is, an aerial or marine vehicle, in the presence of a both temporally and spatially varying drift field induced by local winds/currents. The navigation problem is addressed assuming various information patterns about the drift field in the vicinity of the agent. In particular, three cases are considered, namely when the agent has complete information about the local drift, when the drift field is partially known, and when the drift field is completely unknown. By first establishing a duality between the navigation problem and a special class of problems of pursuit of a maneuvering target, several navigation schemes are presented, which are appropriately tailored to the fidelity of the information about the local drift available to the agent. The proposed navigation laws are dual to well-known pursuit strategies, such as pure pursuit, parallel guidance/navigation, line-of-sight guidance, motion camouflage, and pursuit with neutralization. Simulation results are presented to illustrate the theoretical development

    Feedback Guidance in Uncertain Spatiotemporal Wind Using a Vector Backstepping Algorithm

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