Dynamics of an autonomous spacecraft control system at initial transition to a tracking mode

The problems of autonomous digital control of the information satellites and space robots during their initial transition to a tracking mode, namely in the initial orientation modes, are considered. Autonomous angular guidance and modularly limited vector digital control using a vector of the modified Rodrigues parameters are applying to bring the spacecraft’s orientation from completely arbitrary to the required one. The developed methods, algorithms and simulation results for a mini-satellite in a sun-synchronous orbit are presented.

Polarization Tomography with Stokes Parameters

We present a simple but powerful technique for the analysis of polarized emission from radio galaxies and other objects. It is based on the fact that images of Stokes parameters often contain considerably more information than is available in polarized intensity and angle maps. In general, however, the orientation of the Stokes parameters will not be matched to the position angles of structures in the source. Polarization tomography, the technique presented in this paper, consists of making a series of single linear Stokes parameter images, S(ρ), where each image is rotated by an angle ρ from the initial orientation of Q and U. Examination of these images, in a series of still frames or a movie, reveals often hidden patterns of polarization angles, as well as structures that were obscured by the presence of overlapping polarized emission. We provide both cartoon examples and a quick look at the complex polarized structure in Cygnus A.

On the dynamics of spatial updating

Most of our knowledge on the human neural bases of spatial updating comes from fMRI studies in which recumbent participants moved in virtual environments. As a result, little is known about the dynamic of spatial updating during real body motion. Here, we exploited the high temporal resolution of electroencephalography (EEG) to investigate the dynamics of cortical activation in a spatial updating task where participants had to remember their initial orientation while they were passively rotated about their vertical axis in the dark. After the rotations, the participants pointed towards their initial orientation. We contrasted the EEG signals with those recorded in a control condition in which participants had no cognitive task to perform during body rotations. We found that the amplitude of the P1N1 complex of the rotation-evoked potential (RotEPs) (recorded over the vertex) was significantly greater in the Updating task. The analyses of the cortical current in the source space revealed that the main significant task-related cortical activities started during the N1P2 interval (136-303 ms after rotation onset). They were essentially localised in the temporal and frontal (supplementary motor complex, dorsolateral prefrontal cortex, anterior prefrontal cortex) regions. During this time-window, the right superior posterior parietal cortex (PPC) also showed significant task-related activities. The increased activation of the PPC became bilateral over the P2N2 component (303-470 ms after rotation onset). In this late interval, the cuneus and precuneus started to show significant task-related activities. Together, the present results are consistent with the general scheme that the first task-related cortical activities during spatial updating are related to the encoding of spatial goals and to the storing of spatial information in working memory. These activities would precede those involved in higher order processes also relevant for updating body orientation during rotations linked to the egocentric and visual representations of the environment.

Illustrating orientation changes of the insertion trajectory during cochlear implant electrode array insertion

Introduction: Recent investigations focused on the optimization of atraumatic cochlear implant surgery have highlighted the relevance of the electrode array (EA) insertion trajectory. This is particularly studied in the context of minimally-invasive “keyhole” and robotic-assisted approaches, e.g. to avoid injuring structures inside and outside the cochlea. However, little is known about the natural, manual movements and trajectory followed during the insertion process. The present work illustrates the orientation changes within the trajectory a surgeon follows during insertions of EAs into a human cadaveric cochlea. Methods: An EA insertion tool equipped with a gyroscope was developed in our laboratory. During the insertion trials, the gyroscope captures the tool’s spatial orientation. A human head specimen and a single EA were used to perform insertions into a cochlea. A cochlear implant surgeon performed all insertion trials. The recorded orientations were compared to the initial orientation upon cochlea entry to assess the surgeon’s range of motion by calculating the angle between orientation vectors. Results: Fifteen EA insertions were performed with a median maximal deviation from the initial orientation of 7.2° (5.3 -11.1°) across trials. The largest orientation changes were seen towards the last half of each insertion trial. A negative relationship between degree of axis change and number of insertion trial was observed (r = -0.5). Conclusion: Manual EA insertions into a cadaveric cochlea revealed an insertion trajectory with maximum orientation changes of approximately < 10° degrees. The observed trend on decreasing range of motion with increasing number of insertion trials may be attributed to surgeon’s familiarization with the insertion trajectory for this specific specimen but other contributing factors (e.g. EA softening) need to be further elucidated with several EAs. Future evaluations can help determine if this orientation change is influenced by surgeon expertise.

The Influence of Discrete Fibers on Mechanical Responses of Reinforced Sand in Direct Shear Tests

To investigate the influences of discrete fiber strips on the mechanical properties of reinforced sand, a series of direct shear tests were conducted. A method to strictly control the initial orientation of fiber strips in specimen preparation was developed. Under the same normal pressure, the peak strength of sand specimens was proportional to the fiber content and was inversely proportional to the fiber initial orientation angle. The influences of initial fiber orientation on peak strength may depend on the stress mobilization in fibers. When the fiber strips distributed at a certain orientation angle were subjected to tensile stress in shearing, they could play an effective role in the peak strength gain of sand and vice versa. Due to the restriction of fibers on the volume dilation of sand specimens, the residual strength of reinforced sand also increased. However, the initial stiffness of reinforced sand was smaller than that of pure sand, which may be related to the precompression of flexible fiber strips and the density inhomogeneity of specimens induced in the specimen preparation process. In addition, the ductility of sand specimens was improved by the introduction of fiber strips, intuitively reflected by the increase in displacement failure. This may also be attributed to the restriction of fiber strips on the deformation of sand specimens.

Rubik’s Cube Solver

: Rubik’s cube is considered to be the most interesting and challenging problem in the world. It is a 3D combination puzzle that was originally called the Magic cube. It has only one correct solution out of the 43quintillion other possibilities. Building an application to solve such a puzzle is a very challenging task. In this paper, the design of such a Rubik’s cube solver website using Color Recognition has been discussed. This paper includes the overall process flow for solving the Rubik cube [1]. Our website is designed in such a way that when it will receive a scrambled Rubik’s Cube, it will visually evaluate it, will determine how that Rubik’s cube can be solved through manipulations and will provide a guide of the solution to the specific user. We have used Color recognition for detecting the initial orientation of the cube. And Segmentation is used to obtain the color pattern of the scrambled cube.

Minding the gap: Learning and visual scanning behaviour in nocturnal bull ants

Insects possess small brains but exhibit sophisticated behaviour, specifically their ability to learn to navigate within complex environments. To understand how they learn to navigate in a cluttered environment, we focused on learning and visual scanning behaviour in the Australian nocturnal bull ant, Myrmecia midas, which are exceptional visual navigators. We tested how individual ants learn to detour via a gap and how they cope with substantial spatial changes over trips. Homing M. midas ants encountered a barrier on their foraging route and had to find a 50-cm gap between symmetrical large black screens, at 1m distance towards the nest direction from the centre of the releasing platform in both familiar (on-route) and semi-familiar (off-route) environments. Foragers were tested for up to 3 learning trips with the changed conditions in both environments. Results showed that on the familiar route, individual foragers learned the gap quickly compared to when they were tested in the semi-familiar environment. When the route was less familiar, and the panorama was changed, foragers were less successful at finding the gap and performed more scans on their way home. Scene familiarity thus played a significant role in visual scanning behaviour. In both on-route and off-route environments, panoramic changes significantly affected learning, initial orientation and scanning behaviour. Nevertheless, over a few trips, success at gap finding increased, visual scans were reduced, the paths became straighter, and individuals took less time to reach the goal.

Chemotactic movement of a polarity site enables yeast cells to find their mates

How small eukaryotic cells can interpret dynamic, noisy, and spatially complex chemical gradients to orient growth or movement is poorly understood. We address this question using Saccharomyces cerevisiae, where cells orient polarity up pheromone gradients during mating. Initial orientation is often incorrect, but polarity sites then move around the cortex in a search for partners. We find that this movement is biased by local pheromone gradients across the polarity site: that is, movement of the polarity site is chemotactic. A bottom-up computational model recapitulates this biased movement. The model reveals how even though pheromone-bound receptors do not mimic the shape of external pheromone gradients, nonlinear and stochastic effects combine to generate effective gradient tracking. This mechanism for gradient tracking may be applicable to any cell that searches for a target in a complex chemical landscape.