scholarly journals Modeling a Controlled-Floating Space Robot for In-Space Services: A Beginner’s Tutorial

2021 ◽  
Vol 8 ◽  
Author(s):  
Asma Seddaoui ◽  
Chakravarthini Mini Saaj ◽  
Manu Harikrishnan Nair
Keyword(s):  
Center Of Mass ◽  
Autonomous Systems ◽  
Coupled System ◽  
Cost Effective ◽  
Space Robot ◽  
Loop Control ◽  
Viable Solution ◽  
Wide Range ◽  
Pose Control ◽  
Orbital Space

Ground-based applications of robotics and autonomous systems (RASs) are fast advancing, and there is a growing appetite for developing cost-effective RAS solutions for in situ servicing, debris removal, manufacturing, and assembly missions. An orbital space robot, that is, a spacecraft mounted with one or more robotic manipulators, is an inevitable system for a range of future in-orbit services. However, various practical challenges make controlling a space robot extremely difficult compared with its terrestrial counterpart. The state of the art of modeling the kinematics and dynamics of a space robot, operating in the free-flying and free-floating modes, has been well studied by researchers. However, these two modes of operation have various shortcomings, which can be overcome by operating the space robot in the controlled-floating mode. This tutorial article aims to address the knowledge gap in modeling complex space robots operating in the controlled-floating mode and under perturbed conditions. The novel research contribution of this article is the refined dynamic model of a chaser space robot, derived with respect to the moving target while accounting for the internal perturbations due to constantly changing the center of mass, the inertial matrix, Coriolis, and centrifugal terms of the coupled system; it also accounts for the external environmental disturbances. The nonlinear model presented accurately represents the multibody coupled dynamics of a space robot, which is pivotal for precise pose control. Simulation results presented demonstrate the accuracy of the model for closed-loop control. In addition to the theoretical contributions in mathematical modeling, this article also offers a commercially viable solution for a wide range of in-orbit missions.

scholarly journals Review: Using Unmanned Aerial Vehicles (UAVs) as Mobile Sensing Platforms (MSPs) for Disaster Response, Civil Security and Public Safety

Drones ◽  
2019 ◽  
Vol 3 (3) ◽  
pp. 59 ◽  
Author(s):  
Hanno Hildmann ◽  
Ernö Kovacs
Keyword(s):  
Disaster Response ◽  
Autonomous Systems ◽  
Cost Effective ◽  
Mobile Sensing ◽  
Sensors And Actuators ◽  
Wide Range ◽  
Near Term ◽  
Commercial Applications ◽  
Rich Data ◽  
Future Work

The use of UAVs in areas ranging from agriculture over urban services to entertainment or simply as a hobby has rapidly grown over the last years. Regarding serious/commercial applications, UAVs have been considered in the literature, especially as mobile sensing/actuation platforms (i.e., as a delivery platform for an increasingly wide range of sensors and actuators). With regard to timely, cost-effective and very rich data acquisition, both, NEC Research as well as TNO are pursuing investigations into the use of UAVs and swarms of UAVs for scenarios where high-resolution requirements, prohibiting environments or tight time constraints render traditional approaches ineffective. In this review article, we provide a brief overview of safety and security-focused application areas that we identified as main targets for industrial and commercial projects, especially in the context of intelligent autonomous systems and autonomous/semi-autonomously operating swarms. We discuss a number of challenges related to the deployment of UAVs in general and to their deployment within the identified application areas in particular. As such, this article is meant to serve as a review and overview of the literature and the state-of-the-art, but also to offer an outlook over our possible (near-term) future work and the challenges that we will face there.

scholarly journals Wide Bandwidth and Inexpensive Current Sensor for Power Electronics—An Augmented LEM Current Sensor

Energies ◽  
2021 ◽  
Vol 14 (14) ◽  
pp. 4194
Author(s):  
Maciej Chojowski ◽  
Aleksander Dziadecki ◽  
Marcin Baszyński ◽  
Roman Dudek ◽  
Andrzej Stobiecki ◽  
...  
Keyword(s):  
High Frequency ◽  
Simulation Analysis ◽  
Cost Effective ◽  
Current Transformer ◽  
Current Sensor ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Wide Range ◽  
Loop Control System ◽  
Moderate Cost

This paper presents the overall concept of a wideband and cost-effective current sensor. The sensor consists of a paralleled Hall-based current sensor (LEM) and a wideband current transformer (CT). A significant improvement of the band range and the moderate cost of the proposed sensor enable it to be used both to measure the instantaneous value in order to precisely plot the current and to obtain signals for a closed-loop control system of high-frequency power electronic converters. The sensor should be considered as an Augmented LEM Current Sensor (ALCS), which allows it to measure low- and high-frequency current signals. Finally, it allows for the measurement of a bipolar current up to 40 A. The overall cost of the sensor, along with the previously mentioned benefits, is an important feature of the proposed sensor. The present paper presents the analytical concept of the sensor (ALCS), a theoretical approach using simulation analysis, and the experimental results, which clearly demonstrate the wide range of the sensor in dynamic and static measurements.

2D Color-Intensity Representation of Ultrasonic Thickness Gauge Measurements

2020 ◽  
pp. 1192-1198
Author(s):  
M.S. Mohammad ◽  
Tibebe Tesfaye ◽  
Kim Ki-Seong
Keyword(s):  
Cost Effective ◽  
The Other ◽  
Thickness Gauge ◽  
Color Intensity ◽  
Digital Readout ◽  
Flat Surfaces ◽  
Video Cameras ◽  
Wide Range ◽  
Cost Effective Alternative ◽  
Ultrasonic Thickness

Ultrasonic thickness gauges are easy to operate and reliable, and can be used to measure a wide range of thicknesses and inspect all engineering materials. Supplementing the simple ultrasonic thickness gauges that present results in either a digital readout or as an A-scan with systems that enable correlating the measured values to their positions on the inspected surface to produce a two-dimensional (2D) thickness representation can extend their benefits and provide a cost-effective alternative to expensive advanced C-scan machines. In previous work, the authors introduced a system for the positioning and mapping of the values measured by the ultrasonic thickness gauges and flaw detectors (Tesfaye et al. 2019). The system is an alternative to the systems that use mechanical scanners, encoders, and sophisticated UT machines. It used a camera to record the probe’s movement and a projected laser grid obtained by a laser pattern generator to locate the probe on the inspected surface. In this paper, a novel system is proposed to be applied to flat surfaces, in addition to overcoming the other limitations posed due to the use of the laser projection. The proposed system uses two video cameras, one to monitor the probe’s movement on the inspected surface and the other to capture the corresponding digital readout of the thickness gauge. The acquired images of the probe’s position and thickness gauge readout are processed to plot the measured data in a 2D color-coded map. The system is meant to be simpler and more effective than the previous development.

The Future of Plasma-Based Surface Engineering Techniques in Tribology (Keynote)

2005 ◽  
Author(s):  
Allan Matthews ◽  
Adrian Leyland
Keyword(s):  
Surface Engineering ◽  
Performance Enhancement ◽  
Bulk Material ◽  
Cost Savings ◽  
Cost Effective ◽  
Ceramic Coatings ◽  
Performance Improvements ◽  
Treatment Techniques ◽  
Wide Range ◽  
Macro Scale

Over the past twenty years or so, there have been major steps forward both in the understanding of tribological mechanisms and in the development of new coating and treatment techniques to better “engineer” surfaces to achieve reductions in wear and friction. Particularly in the coatings tribology field, improved techniques and theories which enable us to study and understand the mechanisms occurring at the “nano”, “micro” and “macro” scale have allowed considerable progress to be made in (for example) understanding contact mechanisms and the influence of “third bodies” [1–5]. Over the same period, we have seen the emergence of the discipline which we now call “Surface Engineering”, by which, ideally, a bulk material (the ‘substrate’) and a coating are combined in a way that provides a cost-effective performance enhancement of which neither would be capable without the presence of the other. It is probably fair to say that the emergence and recognition of Surface Engineering as a field in its own right has been driven largely by the availability of “plasma”-based coating and treatment processes, which can provide surface properties which were previously unachievable. In particular, plasma-assisted (PA) physical vapour deposition (PVD) techniques, allowing wear-resistant ceramic thin films such as titanium nitride (TiN) to be deposited on a wide range of industrial tooling, gave a step-change in industrial productivity and manufactured product quality, and caught the attention of engineers due to the remarkable cost savings and performance improvements obtained. Subsequently, so-called 2nd- and 3rd-generation ceramic coatings (with multilayered or nanocomposite structures) have recently been developed [6–9], to further extend tool performance — the objective typically being to increase coating hardness further, or extend hardness capabilities to higher temperatures.

scholarly journals Gamma models for estimating the odds ratio for a skewed biomarker measured in pools and subject to errors

Biostatistics ◽  
2019 ◽  
Author(s):  
Dane R Van Domelen ◽  
Emily M Mitchell ◽  
Neil J Perkins ◽  
Enrique F Schisterman ◽  
Amita K Manatunga ◽  
...  
Keyword(s):  
Odds Ratio ◽  
Adjusted Odds Ratio ◽  
Lower Cost ◽  
Cost Effective ◽  
Ratio Estimation ◽  
Statistical Efficiency ◽  
Function Model ◽  
Processing Error ◽  
Wide Range ◽  
Pooled Samples

SUMMARYMeasuring a biomarker in pooled samples from multiple cases or controls can lead to cost-effective estimation of a covariate-adjusted odds ratio, particularly for expensive assays. But pooled measurements may be affected by assay-related measurement error (ME) and/or pooling-related processing error (PE), which can induce bias if ignored. Building on recently developed methods for a normal biomarker subject to additive errors, we present two related estimators for a right-skewed biomarker subject to multiplicative errors: one based on logistic regression and the other based on a Gamma discriminant function model. Applied to a reproductive health dataset with a right-skewed cytokine measured in pools of size 1 and 2, both methods suggest no association with spontaneous abortion. The fitted models indicate little ME but fairly severe PE, the latter of which is much too large to ignore. Simulations mimicking these data with a non-unity odds ratio confirm validity of the estimators and illustrate how PE can detract from pooling-related gains in statistical efficiency. These methods address a key issue associated with the homogeneous pools study design and should facilitate valid odds ratio estimation at a lower cost in a wide range of scenarios.

scholarly journals Neural silences can be localized rapidly using noninvasive scalp EEG

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Alireza Chamanzar ◽  
Marlene Behrmann ◽  
Pulkit Grover
Keyword(s):  
Center Of Mass ◽  
Cost Effective ◽  
Human Head ◽  
Head Model ◽  
Cortical Function ◽  
Scalp Eeg ◽  
Localization Algorithms ◽  
Important Benefit ◽  
Eeg Recordings ◽  
Detection And Localization

AbstractA rapid and cost-effective noninvasive tool to detect and characterize neural silences can be of important benefit in diagnosing and treating many disorders. We propose an algorithm, SilenceMap, for uncovering the absence of electrophysiological signals, or neural silences, using noninvasive scalp electroencephalography (EEG) signals. By accounting for the contributions of different sources to the power of the recorded signals, and using a hemispheric baseline approach and a convex spectral clustering framework, SilenceMap permits rapid detection and localization of regions of silence in the brain using a relatively small amount of EEG data. SilenceMap substantially outperformed existing source localization algorithms in estimating the center-of-mass of the silence for three pediatric cortical resection patients, using fewer than 3 minutes of EEG recordings (13, 2, and 11mm vs. 25, 62, and 53 mm), as well for 100 different simulated regions of silence based on a real human head model (12 ± 0.7 mm vs. 54 ± 2.2 mm). SilenceMap paves the way towards accessible early diagnosis and continuous monitoring of altered physiological properties of human cortical function.

scholarly journals Sporulation in solventogenic and acetogenic clostridia

2021 ◽  
Author(s):  
Mamou Diallo ◽  
Servé W. M. Kengen ◽  
Ana M. López-Contreras
Keyword(s):  
Current Knowledge ◽  
Carbon Sources ◽  
Cost Effective ◽  
Biotechnological Production ◽  
Key Points ◽  
Wide Range ◽  
Potential Applications ◽  
A Cell ◽  
Sporulation Initiation ◽  
Solventogenic Clostridia

AbstractThe Clostridium genus harbors compelling organisms for biotechnological production processes; while acetogenic clostridia can fix C1-compounds to produce acetate and ethanol, solventogenic clostridia can utilize a wide range of carbon sources to produce commercially valuable carboxylic acids, alcohols, and ketones by fermentation. Despite their potential, the conversion by these bacteria of carbohydrates or C1 compounds to alcohols is not cost-effective enough to result in economically viable processes. Engineering solventogenic clostridia by impairing sporulation is one of the investigated approaches to improve solvent productivity. Sporulation is a cell differentiation process triggered in bacteria in response to exposure to environmental stressors. The generated spores are metabolically inactive but resistant to harsh conditions (UV, chemicals, heat, oxygen). In Firmicutes, sporulation has been mainly studied in bacilli and pathogenic clostridia, and our knowledge of sporulation in solvent-producing or acetogenic clostridia is limited. Still, sporulation is an integral part of the cellular physiology of clostridia; thus, understanding the regulation of sporulation and its connection to solvent production may give clues to improve the performance of solventogenic clostridia. This review aims to provide an overview of the triggers, characteristics, and regulatory mechanism of sporulation in solventogenic clostridia. Those are further compared to the current knowledge on sporulation in the industrially relevant acetogenic clostridia. Finally, the potential applications of spores for process improvement are discussed.Key Points• The regulatory network governing sporulation initiation varies in solventogenic clostridia.• Media composition and cell density are the main triggers of sporulation.• Spores can be used to improve the fermentation process.

scholarly journals Achieving Viral Suppression in 90% of People Living With Human Immunodeficiency Virus on Antiretroviral Therapy in Low- and Middle-Income Countries: Progress, Challenges, and Opportunities

2018 ◽  
Vol 66 (10) ◽  
pp. 1487-1491 ◽  
Author(s):  
Jean B Nachega ◽  
Nadia A Sam-Agudu ◽  
Lynne M Mofenson ◽  
Mauro Schechter ◽  
John W Mellors
Keyword(s):  
Human Immunodeficiency Virus ◽  
Viral Suppression ◽  
Cost Effective ◽  
Term Treatment ◽  
Middle Income ◽  
Middle Income Countries ◽  
Long Term Treatment ◽  
Wide Range ◽  
Immunodeficiency Virus ◽  
Low And Middle Income

Abstract Although significant progress has been made, the latest data from low- and middle-income countries show substantial gaps in reaching the third “90%” (viral suppression) of the UNAIDS 90-90-90 goals, especially among vulnerable and key populations. This article discusses critical gaps and promising, evidence-based solutions. There is no simple and/or single approach to achieve the last 90%. This will require multifaceted, scalable strategies that engage people living with human immunodeficiency virus, motivate long-term treatment adherence, and are community-entrenched and ‑supported, cost-effective, and tailored to a wide range of global communities.

A method for correcting acoustic finite-difference amplitudes for elastic effects

Geophysics ◽  
2014 ◽  
Vol 79 (4) ◽  
pp. T243-T255 ◽  
Author(s):  
James W. D. Hobro ◽  
Chris H. Chapman ◽  
Johan O. A. Robertsson
Keyword(s):  
Wave Equation ◽  
Finite Difference ◽  
Effective Means ◽  
Cost Effective ◽  
P Wave ◽  
S Waves ◽  
Velocity Models ◽  
Acoustic Simulation ◽  
Wide Range ◽  
Elastic Simulation

We present a new method for correcting the amplitudes of arrivals in an acoustic finite-difference simulation for elastic effects. In this method, we selectively compute an estimate of the error incurred when the acoustic wave equation is used to approximate the behavior of the elastic wave equation. This error estimate is used to generate an effective source field in a second acoustic simulation. The result of this second simulation is then applied as a correction to the original acoustic simulation. The overall cost is approximately twice that of an acoustic simulation but substantially less than the cost of an elastic simulation. Because both simulations are acoustic, no S-waves are generated, so dispersed converted waves are avoided. We tested the characteristics of the method on a simple synthetic model designed to simulate propagation through a strong acoustic impedance contrast representative of sedimentary geology. It corrected amplitudes to high accuracy for reflected arrivals over a wide range of incidence angles. We also evaluated results from simulations on more complex models that demonstrated that the method was applicable in realistic sedimentary models containing a wide range of seismic contrasts. However, its accuracy was reduced for wide-angle reflections from very high impedance contrasts such as a shallow top-salt interface. We examined the influence of modeling at coarse grid resolutions, in which converted S-waves in the equivalent elastic simulation are dispersed. These results provide some validation for the accuracy of the method when applied using finite-difference grids designed for acoustic modeling. The method appears to offer a cost-effective means of modeling elastic amplitudes for P-wave arrivals in a useful range of velocity models. It has several potential applications in imaging and inversion.

Monogenic Syndromes with Congenital Heart Diseases in Newborns (Diagnostic Clues for Neonatologists): A Critical Analysis with Systematic Literature Review

2021 ◽  
Author(s):  
Raffaele Falsaperla ◽  
Valentina Giacchi ◽  
Maria Giovanna Aguglia ◽  
Janette Mailo ◽  
Maria Grazia Longo ◽  
...  
Keyword(s):  
Systematic Review ◽  
Congenital Heart ◽  
Heart Diseases ◽  
Cost Effective ◽  
Monogenic Disease ◽  
Chromosomal Anomalies ◽  
Genetic Syndrome ◽  
Wide Range ◽  
Major Congenital Anomaly ◽  
Genomic Disorders

AbstractCongenital heart disease (CHD), the most common major congenital anomaly, is associated with a genetic syndrome (chromosomal anomalies, genomic disorders, or monogenic disease) in 30% of patients. The aim of this systematic review is to evaluate if, in the neonatal setting, clinical clues that orient the diagnostic path can be identified. For this purpose, we revised the most frequent dysmorphic features described in newborns with CHD, comparing those associated with monogenic syndromes (MSG) with the ones reported in newborns with genomic disorders. For this systematic review according to PRISMA statement, we used PubMed, Medline, Google Scholar, Scopus database, and search terms related to CHD and syndrome. We found a wide range of dysmorphisms (ocular region, ears, mouth, and/or palate and phalangeal anomalies) detected in more than half of MSGs were found to be associated with CHDs, but those anomalies are also described in genomic rearrangements syndromes with equal prevalence. These findings confirm that etiological diagnosis in newborns is challenging, and only the prompt and expert recognition of features suggestive of genetic conditions can improve the selection of appropriate, cost-effective diagnostic tests. However, in general practice, it is crucial to recognize clues that can suggest the presence of a genetic syndrome, and neonatologists often have the unique opportunity to be the first to identify abnormalities in the neonate.

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