Task priority control of underwater intervention systems: Theory and applications

This paper presents a unifying task priority control architecture for underwater vehicle manipulator systems. The proposed control framework can be applied to different operative scenarios such as waypoint navigation, assisted teleoperation, interaction, landing and grasping. This work extends the results of the TRIDENT and MARIS projects, which were limited to the execution of grasping actions, to other applications taken from the DexROV and ROBUST projects. In particular, simulation results show how the control framework can be used, for example, for pipeline inspection scenarios and deep sea mining exploration

ICE DETECTION ON AIRPLANE WINGS USING A PHOTOGRAMMETRIC POINT CLOUD: A SIMULATION

Abstract. This study describes some tests carried out, within the European project (reference call: MANUNET III 2018, project code: MNET18/ICT-3438) called SEI (Spectral Evidence of ice), for the geometrical ice detection on airplane wings. The purpose of these analysis is to estimate thickness and shape of the ice that an RGB sensor is able to detect on large aircrafts as Boeing 737-800. However, field testing are not available yet, therefore, in order to simulate the final configuration, a steel panel has been used to reproduce the aircraft surface. The adopted methodology consists in defining a reference surface and modelling its 3D shape with and without ice through photogrammetric acquisitions collected by a DJI Mavic Air drone hosting a RGB camera and processed by Agisoft Metashape software. The comparison among models with and without the ice has been presented and results show that it is possible to identify the ice, even though some noise still remains due to the geometric reconstruction itself. Finally, using 3dReshaper and Matlab software, the authors develop various analysis defining the operative limits, the processing time, the correct setting up of Metashape for a more accurate ice detection, the optimization of the methodology in terms of processing time, precision and completeness. The procedure can certainly be more reliable considering the usage of the hyperspectral sensor technique as future implementation

ICE DETECTION on AIRPLANE WINGS USING A PHOTOGRAMMETRIC POINT CLOUD: A SIMULATION

This study describes some tests carried out, within the European project (reference call: MANUNET III 2018, project code: MNET18/ICT-3438) called SEI (Spectral Evidence of ice), for the geometrical ice detection on airplane wings. The purpose of these analysis is to estimate thickness and shape of the ice that an RGB sensor is able to detect on large aircrafts as Boeing 737-800. However, field testing are not available yet, therefore, in order to simulate the final configuration, a steel panel has been used to reproduce the aircraft surface. The adopted methodology consists in defining a reference surface and modelling its 3D shape with and without ice through photogrammetric acquisitions collected by a DJI Mavic Air drone hosting a RGB camera and processed by Agisoft Metashape software. The comparison among models with and without the ice has been presented and results show that it is possible to identify the ice, even though some noise still remains due to the geometric reconstruction itself. Finally, using 3dReshaper and Matlab software, the authors develop various analysis defining the operative limits, the processing time, the correct setting up of Metashape for a more accurate ice detection, the optimization of the methodology in terms of processing time, precision and completeness. The procedure can certainly be more reliable considering the usage of the hyperspectral sensor technique as future implementation

Pediatric Cushing disease: disparities in disease severity and outcomes in the Hispanic and African-American populations.

BackgroundLittle is known about the contribution of racial and socioeconomic disparities to severity and outcomes in children with Cushing disease (CD).MethodsA total of 129 children with CD, 45 Hispanic/Latino or African-American (HI/AA) and 84 non-Hispanic White (non-HW), were included in this study. A 10-point index for rating severity (CD severity) incorporated the degree of hypercortisolemia, glucose tolerance, hypertension, anthropomorphic measurements, disease duration, and tumor characteristics. Race, ethnicity, age, gender, local obesity prevalence, estimated median income, and access to care were assessed in regression analyses of CD severity.ResultsThe mean CD severity in the HI/AA group was worse than that in the non-HW group (4.9±2.0 vs. 4.1±1.9, P=0.023); driving factors included higher cortisol levels and larger tumor size. Multiple regression models confirmed that race (P=0.027) and older age (P=0.014) were the most important predictors of worse CD severity. When followed up a median of 2.3 years after surgery, the relative risk for persistent CD combined with recurrence was 2.8 times higher in the HI/AA group compared with that in the non-HW group (95% confidence interval: 1.2-6.5).ConclusionOur data show that the driving forces for the discrepancy in severity of CD are older age and race/ethnicity. Importantly, the risk for persistent and recurrent CD was higher in minority children

Collapse Models

This is a review of formalisms and models (nonrelativistic and relativistic) which modify Schrodinger's equation so that it describes wavefunction collapse as a dynamical physical process.Comment: 40 pages, to be published in "Open Systems and Measurement in Relativistic Quantum Theory," F. Petruccione and H. P. Breuer eds. (Springer Verlag, 1999

SEIS: Insight's Seismic Experiment for Internal Structure of Mars.

By the end of 2018, 42 years after the landing of the two Viking seismometers on Mars, InSight will deploy onto Mars' surface the SEIS (Seismic Experiment for Internal Structure) instrument; a six-axes seismometer equipped with both a long-period three-axes Very Broad Band (VBB) instrument and a three-axes short-period (SP) instrument. These six sensors will cover a broad range of the seismic bandwidth, from 0.01 Hz to 50 Hz, with possible extension to longer periods. Data will be transmitted in the form of three continuous VBB components at 2 sample per second (sps), an estimation of the short period energy content from the SP at 1 sps and a continuous compound VBB/SP vertical axis at 10 sps. The continuous streams will be augmented by requested event data with sample rates from 20 to 100 sps. SEIS will improve upon the existing resolution of Viking's Mars seismic monitoring by a factor of ∼ 2500 at 1 Hz and ∼ 200 000 at 0.1 Hz. An additional major improvement is that, contrary to Viking, the seismometers will be deployed via a robotic arm directly onto Mars' surface and will be protected against temperature and wind by highly efficient thermal and wind shielding. Based on existing knowledge of Mars, it is reasonable to infer a moment magnitude detection threshold of M w ∼ 3 at 40 ∘ epicentral distance and a potential to detect several tens of quakes and about five impacts per year. In this paper, we first describe the science goals of the experiment and the rationale used to define its requirements. We then provide a detailed description of the hardware, from the sensors to the deployment system and associated performance, including transfer functions of the seismic sensors and temperature sensors. We conclude by describing the experiment ground segment, including data processing services, outreach and education networks and provide a description of the format to be used for future data distribution.Electronic supplementary materialThe online version of this article (10.1007/s11214-018-0574-6) contains supplementary material, which is available to authorized users

Current concepts of polymicrogyria

Polymicrogyria is one of the most common malformations of cortical development. It has been known for many years and its clinical and MRI manifestations are well described. Recent advances in imaging, however, have revealed that polymicrogyria has many different appearances on MR imaging, suggesting that is may be a more heterogeneous malformation than previously suspected. The clinical and imaging heterogeneity of polymicrogyria is explored in this review

The UAV-based test source as an end-to-end verification tool for aperture arrays

A UAV-mounted radio-frequency transmitter is proposed as a known reference field source to perform a set of functional tests on aperture arrays. The experimental results obtained on complete prototypes (end-to-end) and sub-assemblies provide good confidence on both amplitude and timing verification