Autonomous homing and docking tasks for an underwater vehicle

This paper briefly introduces a strategy for autonomous homing and docking tasks using an autonomous underwater vehicle. The control and guidance based path following for those tasks are described in this work. A standard sliding mode for controller design is briefly given. The method provides robust motion control efforts for an underwater vehicle’s decoupled system whilst minimising chattering effects. In a guidance system, the vector field based on a conventional artificial potential field method gives a desired trajectory with a use of existing information from sensors in the network. A well structured Line-of-Sight method is used for an AUV to follow the path. It provides guidance for an AUV to follow the predefined trajectory to a required position with the final desired orientation at the dock. Integration of a control and guidance system provides a complete system for this application. Simulation studies are illustrated in the paper

The Brown dwarf Atmosphere Monitoring (BAM) Project I: The largest near-IR monitoring survey of L- & T-dwarfs

Using SofI on the 3.5m New Technology Telescope, we have conducted an extensive near-infrared monitoring survey of an unbiased sample of 69 brown dwarfs spanning the L0 and T8 spectral range, with at least one example of each spectral type. Each target was observed for a 2-4 hour period in the Js-band, and the median photometric precision of the data is ~0.7%. A total of 14 brown dwarfs were identified as variables with min-to-max amplitudes ranging from 1.7% to 10.8% over the observed duration. All variables satisfy a statistical significance threshold with a p-value <5% based on comparison with the median reference star light curve. Approximately half of the variables show sinusoidal amplitude variations similar to 2M2139, and the remainder shows short timescale evolving light curves similar to SIMP0136. The L/T transition has been suggested to be a region of a higher degree of variability if patchy clouds are present and this survey was designed to test the patchy cloud model with photometric monitoring of both the L/T transition and non-transition brown dwarfs. Considering the targets identified as variable with the same statistical threshold, the measured variability frequency of 13^{+10}_{-4}% for the L7 -- T4 transition region is indistinguishable from that of the earlier spectral types (32^{+11}_{-8}%), the later spectral types (13^{+10}_{-4}%), or the combination of all non-transition region brown dwarfs (21^{+7}_{-5}%). The variables are not concentrated at the transition, in a specific colour, or with binaries. We note that of the systems previously monitored for variability only ~60% maintained the state of variability (variable or constant), with the remaining switching states. The 14 variables include nine newly identified variables that will provide important systems for follow-up multi-wavelength monitoring to further investigate brown dwarf atmosphere physics.Comment: Accepted for publication in the Astronomy & Astrophysics. 15 pages, 13 figure

The effect of stirring on the heterogeneous nucleation of water and of clathrates of tetrahydrofuran/water mixtures

The statistics of liquid-to-crystal nucleation are measured for both water and for clathrate-forming mixtures of tetrahydrofuran (THF) and water using an automatic lag time apparatus (ALTA). We measure the nucleation temperature using this apparatus in which a single sample is repeatedly cooled, nucleated and thawed. The effect of stirring on nucleation has been evaluated numerically and is discussed. We find that stirring of the solution makes no difference to the nucleation temperature of a given solution in a given tube.Comment: 4 pages, 4 figure

Language delay is not predictable from available risk factors

Aims. To investigate factors associated with language delay in a cohort of 30-month-old children and determine if identification of language delay requires active contact with families. Methods. Data were collected at a pilot universal 30-month health contact. Health visitors used a simple two-item language screen. Data were obtained for 315 children; language delay was found in 33. The predictive capacity of 13 variables which could realistically be known before the 30-month contact was analysed. Results. Seven variables were significantly associated with language delay in univariate analysis, but in logistic regression only five of these variables remained significant. Conclusion. The presence of one or more risk factors had a sensitivity of 89% and specificity of 45%, but a positive predictive value of only 15%. The presence of one or more of these risk factors thus can not reliably be used to identify language delayed children, nor is it possible to define an “at risk” population because male gender was the only significant demographic factor and it had an unacceptably low specificity (52.5%). It is not possible to predict which children will have language delay at 30 months. Identification of this important ESSENCE disorder requires direct clinical contact with all families

High-frequency high-voltage high-power DC-to-DC converters

The current and voltage waveshapes associated with the power transitor and the power diode in an example current-or-voltage step-up (buck-boost) converter were analyzed to highlight the problems and possible tradeoffs involved in the design of high voltage high power converters operating at switching frequencies in the range of 100 Khz. Although the fast switching speeds of currently available power diodes and transistors permit converter operation at high switching frequencies, the resulting time rates of changes of current coupled with parasitic inductances in series with the semiconductor switches, produce large repetitive voltage transients across the semiconductor switches, potentially far in excess of the device voltage ratings. The need is established for semiconductor switch protection circuitry to control the peak voltages appearing across the semiconductor switches, as well as to provide the waveshaping action require for a given semiconductor device. The possible tradeoffs, as well as the factors affecting the tradeoffs that must be considered in order to maximize the efficiency of the converters are enumerated

Analysis of transistor and snubber turn-off dynamics in high-frequency high-voltage high-power converters

Dc to dc converters which operate reliably and efficiently at switching frequencies high enough to effect substantial reductions in the size and weight of converter energy storage elements are studied. A two winding current or voltage stepup (buck boost) dc-to-dc converter power stage submodule designed to operate in the 2.5-kW range, with an input voltage range of 110 to 180 V dc, and an output voltage of 250 V dc is emphasized. In order to assess the limitations of present day component and circuit technologies, a design goal switching frequency of 10 kHz was maintained. The converter design requirements represent a unique combination of high frequency, high voltage, and high power operation. The turn off dynamics of the primary circuit power switching transistor and its associated turn off snubber circuitry are investigated

Characterization, cloning and immunogenicity of antigens released by lung-stage larvae of Schistosoma mansoni

Lung-stage schistosomula are the target of protective immunity in mice vaccinated with attenuated cercariae of Schistosoma mansoni. Therefore, proteins present at this developmental stage, and in particular those which are secreted, are a potential source of novel vaccine candidates. However, little information is available about such molecules. Here we describe the cDNA clones identified by screening expression libraries with serum raised against proteins released by lung-stage schistosomula. In total, 11 different cDNA species were identified, 6 of which have been described previously in S. mansoni; these included fructose 1,6-bisphosphate aldolase and Sm21.7 which together accounted for two-thirds of all positive clones. Of the 5 newly described schistosome genes, 1 cDNA had a high degree of homology to the s5a subunit of 26S proteasomes, most significant being with the human protein. The remaining 4 clones showed no significant homologies to any genes sequenced previously. Fructose 1,6-bisphosphate aldolase, Sm21.7, the proteasome homologue and 1 unknown clone (A26) have been expressed in a bacterial expression system and serum produced against each recombinant protein. Immunolocalization showed fructose 1,6-bisphosphate aldolase, Sm21.7 and the proteasome homologue to be most abundant in muscle cells whilst clone A26 was distributed throughout many tissues, but was most abundant in the tegument. Analysis of the cellular immune responses of vaccinated mice showed 3 of the 4 expressed clones to be highly immunogenic, inducing the secretion of large quantities of the Th1-type cytokine interferon gamma

Index theorems for quantum graphs

In geometric analysis, an index theorem relates the difference of the numbers of solutions of two differential equations to the topological structure of the manifold or bundle concerned, sometimes using the heat kernels of two higher-order differential operators as an intermediary. In this paper, the case of quantum graphs is addressed. A quantum graph is a graph considered as a (singular) one-dimensional variety and equipped with a second-order differential Hamiltonian H (a "Laplacian") with suitable conditions at vertices. For the case of scale-invariant vertex conditions (i.e., conditions that do not mix the values of functions and of their derivatives), the constant term of the heat-kernel expansion is shown to be proportional to the trace of the internal scattering matrix of the graph. This observation is placed into the index-theory context by factoring the Laplacian into two first-order operators, H =A*A, and relating the constant term to the index of A. An independent consideration provides an index formula for any differential operator on a finite quantum graph in terms of the vertex conditions. It is found also that the algebraic multiplicity of 0 as a root of the secular determinant of H is the sum of the nullities of A and A*.Comment: 19 pages, Institute of Physics LaTe