Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles

In the first part of this dissertation, we consider tracking control of underactuated systems on the tangent bundle of the six-dimensional Lie group of rigid body motions, SE(3). We formulate both asymptotically and finite-time stable tracking control schemes for underactuated rigid bodies that have one translational and three rotational degrees of freedom actuated, in discrete time. Rigorous stability analyses of the tracking control schemes presented here guarantee the nonlinear stability of these schemes. The proposed schemes here are developed in discrete time as it is more convenient for onboard computer implementation and ensures stability irrespective of the sampling period. A stable convergence of translational and rotational tracking errors to the desired trajectory is guaranteed for both asymptotically and finite-time stable schemes. In the second part, a nonlinear finite-time stable attitude estimation scheme for a rigid body that does not require knowledge of the dynamics is developed. The proposed scheme estimates the attitude and constant angular velocity bias vector from a minimum of two known linearly independent vectors for attitude, and biased angular velocity measurements made in the body-fixed frame. The constant bias in angular velocity measurements is also estimated. The estimation scheme is proven to be almost globally finite-time stable in the absence of measurement errors using a Lyapunov analysis. In addition, the behavior of this estimation scheme is compared with three state-of-the-art filters for attitude estimation, and the comparison results are presented

Ontological Investigation of the Role of Internet in Religious Education

AbstractThe aim of the present study is to investigate the role of Internet in the religious education. For this purpose religious education is considered as the process in which belief, commitment, and worship-related, social and moral behaviors of the learner are formed and developed in an explanatory, critical, and passionate procedure and through using the criteria of evaluating accuracy or inaccuracy of beliefs, commitments, and actions. The applied research methods are hermeneutic phenomenology with qualitative content analysis. Based on the findings of the study the ontological characteristics of virtual experience in relation to face to face experience are: Distantiation of virtual experience; Collapse of place and time borders in virtual experience; Development of virtual relationship; and Expansion of availability to Technological Information. Then the bottlenecks or horizons of the mentioned ontological characteristics in the development of the mentioned characteristics for religious education is analyzed. Internet, for example, has eliminated the limitations caused by place and time as well as the hierarchical authority of teacher in information transfer in the process of religious education; it has provided a more expanded and more liberated context for the exchange of religious ideas and beliefs through disseminating virtual relationships. On the other hand and since in the virtual education there is no complete bodily presence and sensational experience, the development of such aspects like internal motivation, belief, internal experience, internal commitment and action faces some shortcomings. Finally some practical implications for applying internet in religious education are offered

Acute Herpetic Keratitis: What is the Role for Ganciclovir Ophthalmic Gel?

Herpes simplex keratitis (HSK) is a major cause of corneal blindness in the world. Following the primary infection, the virus enters into a latent phase. Recurrent infectious or immune keratitis cause structural damage to the cornea, scarring, and may lead to blindness. Several commercially available topical and oral antiviral drugs for HSK are currently available. However, toxicity and low patient compliance hamper their use in HSK. Further, oral antiviral drugs alone are not always effective in HSK. Thus, there had been a need for safe and effective topical antiviral agents against HSK. Systemic ganciclovir has been in use for the treatment of cytomegalovirus infections. Recently, topical ganciclovir has become available for use in patients with HSK. Ganciclovir 0.15% ophthalmic gel has been shown to be both safe and effective against viruses of the herpes family. Topical ganciclovir ophthalmic gel is well tolerated and does not cause significant toxic effects on the ocular surface. Several multicenter studies have revealed the potential role of ganciclovir ophthalmic gel in the treatment and prophylaxis of epithelial HSK. In this paper, we have reviewed the pharmacology, efficacy, side effects, and the role of ganciclovir ophthalmic gel 0.15% in the treatment of acute herpetic keratitis

Corneal Allograft Rejection: Immunopathogenesis to Therapeutics

Corneal transplantation is among the most successful solid organ transplants. However, despite low rejection rates of grafts in the ‘low-risk’ setting, rejection can be as high as 70% when grafted into ‘high-risk’ recipient beds. Under normal homeostatic conditions, the avascular cornea provides a unique environment that facilitates immune and angiogenic privilege. An imbalance in pro-inflammatory, angiogenic and lymphangiogenic mediators leads to a breakdown in corneal immune privilege with a consequent host response against the donor graft. Recent developments in lamellar and endothelial keratoplasties have reduced the rates of graft rejection even more, while providing improved visual outcomes. The corneal layer against which an immune response is initiated, largely determines reversibility of the acute episode. While epithelial and stromal graft rejection may be treated with topical corticosteroids with higher success, acute endothelial rejection mandates a more aggressive approach to therapy due to the lack of regenerative capacity of this layer. However, current immunosuppressive regimens come with the caveat of ocular and systemic side effects, making prolonged aggressive treatment undesirable. With the advent of biologics, efficacious therapies with a superior side effect profile are on the horizon. In our review we discuss the mediators of ocular immune privilege, the roles of cellular and molecular immune players in graft rejection, with a focus on human leukocyte antigen and antigen presenting cells. Furthermore, we discuss the clinical risk factors for graft rejection and compare rates of rejection in lamellar and endothelial keratoplasties to traditional penetrating keratoplasty. Lastly, we present the current and upcoming measures of therapeutic strategies to manage and treat graft rejection, including an overview of biologics and small molecule therapy

Investigating the principles of psychotherapy based on comparative analysis of views of existence philosophers

AbstractThe purpose of the present study is to inference some principles of psychotherapy based on the investigation and comparative analysis of the ideas of existence philosophers regarding human being and his psyche. The research method used is comparative analysis as well as practical syllogism from the philosophical research methods. As the results indicate, although there are many variations in the ideas of the existence philosophers, all of them focus on similar points in explaining the human essence. With regard to such ground, the psychotherapy principles including self-awareness, freedom and responsibility; search for mean; personality; and authenticity were deduced. The methods for applying and practicing each of the principles by the therapists and the counselors in treating the human psyche are also proposed

METODE QUALITY FUNCTION DEPLOYMENT (QFD) UNTUK INFORMASI PENYEMPURNAAN PERAKITAN VARIETAS MELON

Problems faced by the development of melon fruit in Indonesia are closely related to the domestic availability of seed. Although the government research center as well as private seed producers have been able to produce melon seed, the largest part of the seed supply is still imported. The objectives of this study are to pursue or to identify ideotype of melon that the domestic consumers is willing to consume and to apply QFD methods (to compose HOQ matrix) in developing domestic melon seed breeding.The melon fruit demanded by institutional consumers is the melon fruit without net, and demanded melon fruit by the final consumers is the netted melon fruit. The application of QFD in the planning of the melon varieties is started by composing the HOQ matrix that consisted of the following steps: first, to compose the customers conditions; second, to compose the technical conditions; third, to develop the relationship between the customers and technical condition; fourth, to evaluate the technical competitiveness; fifth, to develop the technical conditions; sixth, to develop the customers condition, and finally, to develop the priority of technical conditions. The recommendation given to the melon seed breeders is to concentrate on the technical conditions with the highest absolute and relative weighted values

METODE QUALITY FUNCTION DEPLOYMENT (QFD) UNTUK INFORMASI PENYEMPURNAAN PERAKITAN VARIETAS MELON

Problems faced by the development of melon fruit in Indonesia are closely related to the domestic availability of seed. Although the government research center as well as private seed producers have been able to produce melon seed, the largest part of the seed supply is still imported. The objectives of this study are to pursue or to identify ideotype of melon that the domestic consumers is willing to consume and to apply QFD methods (to compose HOQ matrix) in developing domestic melon seed breeding.The melon fruit demanded by institutional consumers is the melon fruit without net, and demanded melon fruit by the final consumers is the netted melon fruit. The application of QFD in the planning of the melon varieties is started by composing the HOQ matrix that consisted of the following steps: first, to compose the customers conditions; second, to compose the technical conditions; third, to develop the relationship between the customers and technical condition; fourth, to evaluate the technical competitiveness; fifth, to develop the technical conditions; sixth, to develop the customers condition, and finally, to develop the priority of technical conditions. The recommendation given to the melon seed breeders is to concentrate on the technical conditions with the highest absolute and relative weighted values

Bilateral Posterior Ischemic Optic Neuropathy in a Patient with Severe Diabetic Ketoacidosis

Purpose: To report a case of bilateral posterior ischemic optic neuropathy (PION) in a patient with severe diabetic ketoacidosis (DKA). Design: Observational case report. Participant: A 35-year-old male who suffered bilateral visual loss during a severe episode of DKA. Methods: Neuro-ophthalmological examination, neuroimaging consisting of a CT scan and MRI of the brain and orbits, as well as a MRA of brain vessels. Results: Bilateral PION was diagnosed in a 35-year-old male with no light perception vision, who emerged from a coma caused by severe DKA. The patient developed optic nerve pallor in both eyes 4 weeks after the initial examination. Visual acuity with no light perception in both eyes remained unchanged after 6 months' follow-up. Conclusions: Severe DKA can be complicated by bilateral PION, resulting in total blindness