Predicting Flying Robot Dynamics with Deep Learning

With the rapid increase in the power of computing and technological advances in robotics, research in the field of robotics has rapidly become very expansive. Being able to accurately predict movements of a robot is vital to many applications within this field, allowing for more precise simulation and prototyping as well as more accurate control of robotic systems. In this paper, we present an adaptable neural network that accurately predicts the movement of quadcopter robotic agents which can be expanded to encompass many more robots and applications given the requisite data, producing accurate results within a small margin for error.

The Phenomenon of Vagueness

The theory outlined in Chapter 2 is applied to three problems: the sorites puzzle; the Luminosity of mental states; and personal identity in the face of fission. We attempt to solve the sorites puzzle by distinguishing the principle of Tolerance from the Cut-Off principle and we argue that the plausibility of the sorites argument arises from a sort of transcendental illusion. We attempt to defend the Luminosity of the mental by showing that it is compatible with the Margin for Error principle, once that principle is properly formulated. Finally, we deal with the case of fission by taking the original person to be weakly identical, i.e. not distinct, from his offspring. This then enables us to reconnect the notions of survival and what matters to the identity of a person over time. None of these solutions would be possible without the adoption of our distinctive logic of vagueness.

Laser-Based Aid Systems for Berthing and Docking

The berthing of an ultra large ship is always a difficult issue and becomes yet more complex when vessels must be handled in restricted manoeuvring areas of limited depth, exposed to a forceful crosswind, or manoeuvring in a strong current, or all three. The final approaching manoeuvre and precise positioning is particularly demanding at container terminals where many STS cranes are located along the quay, seriously limiting margin for error in the process of mooring a ship, especially when the cranes are located nearby a bridge wing or at the very edge of the pier. In order to avoid collisions, the final manoeuvre (side-push) must be fully controlled; the ship’s orientation must be parallel with the quay while maintaining the minimum lateral approaching velocity without significantly shifting the vessel longitudinally. The mooring of a Ro-Ro vessel is occasionally even more challenging: a precise docking manoeuvre is normally executed without any towing assistance. In this paper low cost laser-based berthing and docking systems developed for the ports of Koper and Swinousce are presented and several berthing manoeuvres are analysed and compared with the most commonly used GNSS-based navigational aid system portable pilot units (PPU).

Evaluation of a more ventral starting point for thoracic pedicle screws: higher maximal insertional arc and more medial and safer screw angulation

OBJECTIVETo demonstrate that a more ventral starting point for thoracic pedicle screw insertion, produced by aggressively removing the dorsal transverse process bone down to the superior articular facet (SAF), results in a larger margin for error and more medial screw angulation compared to the traditional dorsal starting point (DSP). The margin for error will be quantified by the maximal insertional arc (MIA).METHODSThe study population included 10 consecutive operative patients with adult idiopathic scoliosis who underwent primary surgery. All measurements were performed using 3D visualization software by an attending spine surgeon. The screw starting points were 2 mm lateral to the midline of the SAF in the mediolateral direction and in the center of the pedicle in the cephalocaudal direction. The DSP was on the dorsal cortex. The ventral starting point (VSP) was at the depth of the SAF. Measurements included distance to the pedicle isthmus, MIA, and screw trajectories.RESULTSTen patients and 110 vertebral levels (T1–11) were measured. The patients’ average age was 41.4 years (range 18–64 years). The pedicle isthmus was largest at T1 (4.04 ± 1.09 mm), and smallest at T5 (1.05 ± 0.93 mm). The distance to the pedicle isthmus was 7.47 mm for the VSP and 11.92 mm for the DSP (p < 0.001). The MIA was 15.3° for the VSP and 10.1° for the DSP (p < 0.001). Screw angulation was 21.7° for the VSP and 16.8° for the DSP (p < 0.001).CONCLUSIONSA more ventral starting point for thoracic pedicle screws results in increased MIA and more medial screw angulation. The increased MIA represents an increased tolerance for error that should improve the safety of pedicle screw placement. More medial screw angulation allows improved triangulation of pedicle screws.