Multiple Autonomous Systems in Underwater Mine Countermeasures Mission Using Various Information Fusion as Navigation Aid

Autonomous bottom mine neutralization systems have a challenging task of mine reacquisition and navigation in the demanding underwater environment. Even after mine reacquisition, the neutralization payload has to be autonomously deployed near the mine, and before any action the verification (classification) of the existence of a mine has to be determined. The mine intervention vehicle can be an expendable (self-destroyed during the mine neutralization) or a vehicle that deploys the neutralization payload and it is retrieved at the end of the mission. Currently the systems developed by the research community are capable of remotely navigating a mine intervention underwater vehicle in the vicinity of the mine by using remote sonar aided navigation from a master vehicle. However, the task of successfully navigating the vehicle that carries the neutralization payload near the bottom and around the mine remains a challenge due to sea bottom clutter and the target signature interfering with the sonar detection. We seek a solution by introducing navigation via visual processing near the mine location. Using an onboard camera the relative distance to the mine-like object can be estimated. This will improve the overall vehicle navigation and rate of successful payload delivery close to the mine. The paper will present the current navigation system of the mine intervention underwater vehicle and the newly developed visual processing for relative position estimation

High G training profiles in a high performance human centrifuge

U ovom radu predstavljeni su profili za obuku u humanoj centrifugi visokih performansi. Glavni cilj je da se istakne značaj razvoja različitih trening scenarija, kako bi se postigla optimalna spremnost pilota borbenih aviona. Ovo istraživanje bazirano je na standardu NATO STANAG 3827 AMD-a, koji propisuje vrednosti G tolerancija, koju posada treba da podnese. Posada koja ne završi uspešno trening Rapid Onset Rate (ROR) 7G za 15 sekundi sa anti-G odelom i Anti-G Straining maneuver-om (AGSM), smatraće se da ima nizak prag tolerancije na G opterećenje, što je objašnjeno detaljno u ovom radu. Profili za obuku su grafički predstavljeni, kao i ugaona brzina kraka, ugao valjanja i ugao propinjanja-poniranja za svaku vrednost opterećenja. Glavni zahtev humane centrifuge predstavljene u ovom radu, je da se postigne gradijent ubrzanja od 9G/s. Profili koji su prikazani u ovom radu su deo istraživanja Lola Instituta u Beogradu. U radu su dati i primeri scenarija za obuku pilota koji se primenjuju u nekoliko zemalja. G opterećenja koja prouzrokuju gubitak svesti kod pilota (G-LOC) su deo scenarija i neizbežna su tokom treninga u centrifugi. Efektivna obuka AGSM i povećanje G-tolerancija pilota, doprinose bezbednosti leta i na taj način se smanjuje rizik od G-LOC i vazduhoplovnih nesreća. Cilj ovog rada je da ilustruje značaj i složenost upravljanja i podešavanja parametara rada, kako bi se postiglo željeno opterećenje. .In this paper, profiles for training in a High Performance Human Centrifuge (HPHC) are presented. The main objective is to underline the significance of developing various training scenarios in order to achieve optimal preparedness of fighter pilots. This research is based on the NATO STANAG 3827 AMD, a standard that provides values of G tolerance that an aircrew must sustain. An aircrew who do not successfully complete a Rapid Onset Rate (ROR) 7G for 15 seconds centrifuge profile with anti-G suit and straining maneuver will be considered to have low G tolerance, which is explained in detail in this paper. Training profiles are presented graphically, as well as arm angular velocity, roll and pitch angle for each load. The main demand for the Human Centrifuge presented in this paper is to achieve an onset rate of 9G/s. The graphs in this paper are a part of the research conducted in the Lola Institute Belgrade. The examples of training scenarios of several countries are given briefly. G-Induced Loss of Consciousness (G-LOC) episodes are unavoidable during centrifuge training. Effective training of Anti-G Straining Maneuver (AGSM) and increasing pilots G-tolerance contribute to flight safety and thereby reduce the risk of G-LOC and aircraft accidents. The aim of this paper is to illustrate the complexity of parameter settings in order to achieve desired loads.

High G training profiles in a high performance human centrifuge

U ovom radu predstavljeni su profili za obuku u humanoj centrifugi visokih performansi. Glavni cilj je da se istakne značaj razvoja različitih trening scenarija, kako bi se postigla optimalna spremnost pilota borbenih aviona. Ovo istraživanje bazirano je na standardu NATO STANAG 3827 AMD-a, koji propisuje vrednosti G tolerancija, koju posada treba da podnese. Posada koja ne završi uspešno trening Rapid Onset Rate (ROR) 7G za 15 sekundi sa anti-G odelom i Anti-G Straining maneuver-om (AGSM), smatraće se da ima nizak prag tolerancije na G opterećenje, što je objašnjeno detaljno u ovom radu. Profili za obuku su grafički predstavljeni, kao i ugaona brzina kraka, ugao valjanja i ugao propinjanja-poniranja za svaku vrednost opterećenja. Glavni zahtev humane centrifuge predstavljene u ovom radu, je da se postigne gradijent ubrzanja od 9G/s. Profili koji su prikazani u ovom radu su deo istraživanja Lola Instituta u Beogradu. U radu su dati i primeri scenarija za obuku pilota koji se primenjuju u nekoliko zemalja. G opterećenja koja prouzrokuju gubitak svesti kod pilota (G-LOC) su deo scenarija i neizbežna su tokom treninga u centrifugi. Efektivna obuka AGSM i povećanje G-tolerancija pilota, doprinose bezbednosti leta i na taj način se smanjuje rizik od G-LOC i vazduhoplovnih nesreća. Cilj ovog rada je da ilustruje značaj i složenost upravljanja i podešavanja parametara rada, kako bi se postiglo željeno opterećenje. .In this paper, profiles for training in a High Performance Human Centrifuge (HPHC) are presented. The main objective is to underline the significance of developing various training scenarios in order to achieve optimal preparedness of fighter pilots. This research is based on the NATO STANAG 3827 AMD, a standard that provides values of G tolerance that an aircrew must sustain. An aircrew who do not successfully complete a Rapid Onset Rate (ROR) 7G for 15 seconds centrifuge profile with anti-G suit and straining maneuver will be considered to have low G tolerance, which is explained in detail in this paper. Training profiles are presented graphically, as well as arm angular velocity, roll and pitch angle for each load. The main demand for the Human Centrifuge presented in this paper is to achieve an onset rate of 9G/s. The graphs in this paper are a part of the research conducted in the Lola Institute Belgrade. The examples of training scenarios of several countries are given briefly. G-Induced Loss of Consciousness (G-LOC) episodes are unavoidable during centrifuge training. Effective training of Anti-G Straining Maneuver (AGSM) and increasing pilots G-tolerance contribute to flight safety and thereby reduce the risk of G-LOC and aircraft accidents. The aim of this paper is to illustrate the complexity of parameter settings in order to achieve desired loads.

Ultrasound screening for decentered hips in children with severe cerebral palsy: a preliminary evaluation

BACKGROUND: Ultrasound (US) is routinely used for hip screening in children with developmental hip disorders, whereas standard hip surveillance in children with cerebral palsy is based on repeated X-ray assessments. ----- OBJECTIVE: To evaluate US as a diagnostic tool in screening for decentered hips in children with cerebral palsy. ----- MATERIALS AND METHODS: We conducted a prospective, diagnostic single-center assessor-blind study that included consecutive children (age 2-8 years) with cerebral palsy and severe motor disability who underwent US and X-ray hip assessment. US lateral longitudinal scans were used to determine lateral head distance. X-ray assessment was used to determine migration percentage. Diagnostic properties of lateral head distance in detecting hips with a migration percentage ≥0.33 (which requires preventive treatment) were evaluated overall (n = 100) and for hips assessed at the age 24-60 months (n = 38) or >60 to ≤96 months (n = 62). Fifty hips underwent US assessment by two investigators to evaluate inter-rater reliability and agreement. ----- RESULTS: Prevalence of migration percentage ≥0.33 was 22.0% overall and 26.2% and 19.4% in the younger and older age-based subsets, respectively. Lateral head distance well discriminated hips with a migration percentage ≥0.33 (areas under the receiver operating characteristics [ROC] curves 94%, 99% and 92%, respectively). At the optimum cut-off values of lateral head distance (5.0, 5.0 and 4.8 mm, respectively), sensitivity was 95.5%, 100% and 100% overall and in the two age-based subsets, respectively, whereas specificity was 85.9%, 96.4% and 72.0%, respectively. Consequently, positive predictive value was relatively low, but negative predictive value was 98.5% (95% CI 92.1-100) overall and 100% (97.5% one-sided CI 87.2-100) and 100% (97.5 one-sided CI 90.2-100) in the two age-based subsets, respectively. Inter-rater reliability was high (intraclass correlation coefficient = 0.98, 95% CI 0.97-0.99) and 95% limits of agreement were reasonably narrow (-1.203 mm to 0.995 mm). ----- CONCLUSION: In children with cerebral palsy, US can be reliably used in screening for decentered hips and can greatly reduce the need for repeated radiographic assessments, thus reducing radiation burden in these children

Vertebroplasty--high viscosity cement versus low viscosity cement [Vertebroplastika - visokoviskozni cement naspram niskoviskoznog cementa]

The patients with intensive pain caused by the vertebra body fracture were treated by application of low viscosity cement (LVC), (Vertebroplastic, DePuy) and high viscosity cement (HVC), (Confidence, DePuy,) into the body, by means of diascopy through unilateral transpendicular approach. Application of LVC was made in 75 patients, on 109 vertebrae, and HVC was applied in 12 patients on 14 vertebrae. Application of LVC was performed on 48 thoracic and 61 lumbar vertebrae and 5 thoracic and 9 lumbar vertebrae were stabilized with HVC. 43 patients were treated for malignancy and in 38 for osteoporosis. For LVC, preoperative VAS score was 8.32 and 2.23 (p < 0.00001) 24 hours after surgery, and it remained stable 3 month later. For HVC, preoperative VAS score was 7.99 and it was 2.5 (p < 0.00001) 24 hours after surgery and 3 months later. In the group of patients treated with LVC, there was 1 serious complication, a paraparesis caused by the leakage of cement into the spinal canal, which was partially recovered after decompression and rehabilitation treatment and 2 superificial infections with S. epidermidis which were cured by means of antibiotics. In 32 vertebrae (32) cement leakage extra ossal, either into vein plexus or intradiscal during surgery were noticed. When HVC was applied, intradiscal leakage occurred in one case only (8%). By means od Wilcoxon paired test a significant difference was found between the preoperative VAS, and the values immediately after surgery and 3 months later (Z = 7.52, p < 0.00001) when LVC was applied., and with HVC it was ( Z = 3.04, p < 0.00001), which indicates that the fast achieved pain reduction remained stable during the 3 month follow-up. The vertebroplasty is a safe and efficient surgical method in treatment of compressive vertebrae fractures which do not react to the conventional method of treatment. This method, when HVC is applied, shows significantly less complications related to cement leakage

Basics of high performance human centrifuge development

Razvoj humane centrifuge visokih performansi ima za cilj da izađe u susret zahtevima za stvaranje sigurnog i bezbednog okruženja za trening pilota borbenih aviona, radi ispitivanja njihove tolerancije na velika opterećenja. Svrha razvoja uređaja za obuku, je da se ustanovi kako nespecifični režimi leta deluju na individualnu fiziologiju pilota na obuci, kao i njegovu sposobnost optimalnog izvođenja borbene misije pod datim opterećenjem. Razvoj je baziran na rešavanju strukturalnih problema, kreiranju kinematskih, dinamičkih i kontrolnih algoritama za simulaciju. Humana centrifuga, izložena u ovom radu, je projektovana kao sistem sa tri stepena slobode kretanja. Zbog izuzetnih performansi, uređaj centrifuge nalazi značajnu primenu u testiranju izdržljivosti materijala i avionske opreme. Na Institutu Lola, biće razvijen model u odgovarajućoj razmeri. Cilj razvoja centrifuge visokih performansi je, pre svega, da se simuliraju specifična opterećenja supermanevara i time obezbedi optimalan trenažni režim pilota, izlažući pilota na obuci velikom priraštaju opterećenja u kratkom vremenskom intervalu.In this paper some aspects of Human Centrifuge development are given. The main objective is to emphasize the importance of high G pilots training. Terms such as 'high agility' and 'supermaeuverability' are briefly explained. The development of a High Performance Centrifuge is intended to meet requirements for creating a safe and secure environment for fighter pilots training. The purpose is to determine how non-specific flight regimes affect the individual physiology, as well as the ability to perform combat missions under a given load. The development is based on structural problems, creation of kinematic, dynamic and control algorithms. The Human Centrifuge, presented in this paper is designed as a system of three Degrees of Freedom of Motion. Due to its exceptional performances, the device has an important application in material testing and sustainability of overall airborne equipment. The manipulator will be produced in an appropriate ratio, as a model. The main goal of this paper is to underline the importance of optimal training, by ensuring a high G onset rate. Also, some basic technical data and diagrams are given, in order to make the reader familiar to motion simulation basics

Basics of high performance human centrifuge development

Razvoj humane centrifuge visokih performansi ima za cilj da izađe u susret zahtevima za stvaranje sigurnog i bezbednog okruženja za trening pilota borbenih aviona, radi ispitivanja njihove tolerancije na velika opterećenja. Svrha razvoja uređaja za obuku, je da se ustanovi kako nespecifični režimi leta deluju na individualnu fiziologiju pilota na obuci, kao i njegovu sposobnost optimalnog izvođenja borbene misije pod datim opterećenjem. Razvoj je baziran na rešavanju strukturalnih problema, kreiranju kinematskih, dinamičkih i kontrolnih algoritama za simulaciju. Humana centrifuga, izložena u ovom radu, je projektovana kao sistem sa tri stepena slobode kretanja. Zbog izuzetnih performansi, uređaj centrifuge nalazi značajnu primenu u testiranju izdržljivosti materijala i avionske opreme. Na Institutu Lola, biće razvijen model u odgovarajućoj razmeri. Cilj razvoja centrifuge visokih performansi je, pre svega, da se simuliraju specifična opterećenja supermanevara i time obezbedi optimalan trenažni režim pilota, izlažući pilota na obuci velikom priraštaju opterećenja u kratkom vremenskom intervalu.In this paper some aspects of Human Centrifuge development are given. The main objective is to emphasize the importance of high G pilots training. Terms such as 'high agility' and 'supermaeuverability' are briefly explained. The development of a High Performance Centrifuge is intended to meet requirements for creating a safe and secure environment for fighter pilots training. The purpose is to determine how non-specific flight regimes affect the individual physiology, as well as the ability to perform combat missions under a given load. The development is based on structural problems, creation of kinematic, dynamic and control algorithms. The Human Centrifuge, presented in this paper is designed as a system of three Degrees of Freedom of Motion. Due to its exceptional performances, the device has an important application in material testing and sustainability of overall airborne equipment. The manipulator will be produced in an appropriate ratio, as a model. The main goal of this paper is to underline the importance of optimal training, by ensuring a high G onset rate. Also, some basic technical data and diagrams are given, in order to make the reader familiar to motion simulation basics

Green urban policies –the case of Belgrade [Tenth International Landscape Architecture Exhibition]

Рад студената мастер програма је био усмерен на боље разумевање теме ''политике, као намере да се нешто заиста учини'', и као део савремених напора на пољу повезивања и планирања са реалним изворима финансирања, који су утврђени мерама, како УН и ЕУ политика (Париски договор, Циљеви одрживог развоја, Нова ЕУ Кохезиона политика 2021-27, Зелени договор за Западни Балкан), националним и локалним политикама урбаног развоја (Стратегија развоја Града Београда, Стратегија пошумљавања Града Београда, План одрживе урбане мобилности, Акциони план за одрживу енергију и климу за Град Београд, Акциони план за зелени град). Фокус је био на пројектима које Град реализује у сарадњи са међународним програмима и банкама, уз подршку националних институција, градске управе, организација и установа, невладиних организација. Приказ мапираних пројеката није коначан. У питању је модел за приказивање, праћење реализације и евалуацију пројеката од значаја за урбани развој урбаних насеља. Анализа указује на значајан број реализованих пројеката у домену Зелене агенде - заштите животне средине и климатских промена.The work of the master's students was aimed at better understanding the topic of "policy as an intention to actually do something", as part of contemporary efforts to connect planning with real sources of funding outlined in UN and EU policy (Paris Agreement, Sustainable Development Goals, New EU Cohesion Policy 2021-27, Green Deal for the Western Balkans), as well as national and local urban development policies (Development Strategy of the City of Belgrade, Afforestation Strategy of the City of Belgrade, Sustainable Urban Mobility Plan, Action Plan for Sustainable Energy and Climate for the City of Belgrade, Action Plan for a Green City). The focus was on projects that the city implements through cooperation with international programs and banks, with the support of national institutions, city administration, organizations and institutions, and non- governmental organizations. The display of mapped projects is not final, and it represents a model for presenting, monitoring the implementation and evaluating projects of importance for the urban development of urban settlements. The analysis indicates a significant number of implemented projects in the field of the Green Agenda - environmental protection and climate change