Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

Thermal Bending Analysis of Doubly Curved Composite Laminated Shell Panels with General Boundary Conditions and Laminations

Thermal bending analysis of doubly curved laminated shell panels with general boundary conditions and laminations is presented. The equations of equilibrium are derived in the form of two coupled sets of ordinary differential equations based on a general shell theory and solved through the state-space approach in a repeated manner. It is depicted that the results of the present method are in great agreement with analytical solutions. Cylindrical shell panels with general boundary conditions and laminations, where no analytical solution is available, are solved. It is found that the present method exhibits a high convergence rate as well as presenting accurate results in all cases.     

Non-chaotic and chaotic propagation of stationary and dynamic images through MVKS turbulence

Anisoplanatic electromagnetic (EM) propagation across a turbulent atmosphere has been recently examined for an unmodulated carrier propagating over an image-bearing transparency through optical lensing, and for the embedded information inside a carrier recovered using heterodyning and digital demodulation. Carrier modulation yielded better recovery than simple lens-based imaging. A possible mitigation strategy is proposed whereby the image information is encrypted on an RF chaotic carrier, thereafter secondarily embedded onto an optical carrier. Results based on the modified von Karman (MVKS) and the Hufnagel-Valley (H-V) models showed that the signal/image recovery under turbulence is improved compared with non-chaotic propagation. The case of time-varying/dynamic images is also taken up; it is demonstrated via cross-correlation products that turbulence is mitigated by the use of chaotic carrier encryption. Overall, transmission via chaos offers mitigation against distortions due to turbulence along with the security feature inherent via the chaos keys which prevent signal recovery without key-matching.     

Mining fleet management systems: a review of models and algorithms

The objective of this paper is to review and document the mine fleet management systems’ models and algorithms. The purpose is to understand the algorithms behind the fleet management systems and the proposed academic solutions in this area to identify any gaps in the current literature and to open up opportunities to establish research questions that need to be addressed in an integrated simulation and optimisation operational planning research framework. In this paper, we review industrial fleet management systems and the main academic algorithms behind such systems. The fleet management systems are divided into three subsequently related problems to review: shortest path, production optimisation and real-time dispatching. Finally, the limitations of current algorithms for fleet management systems are documented in terms of mining practice feasibility and optimality of the solution on large-scale problems. The results of this literature review enable us to evaluate the logical links between major components of an integrated simulation and optimisation operational planning framework with current theory of fleet management systems.     

Mobility management architectures based on joint mobile IP and SIP protocols

In the all-IP wireless networks beyond the third generation, mobility management can be effectively achieved by applying mobile IP (MIP) and the session initiation protocol (SIP) jointly. Nevertheless, an efficient combination of both protocols remains an open research issue. Conventional hybrid MIP-SIP mobility architectures operate MIP and SIP almost independently, resulting in significant redundant costs. This article investigates the representative hybrid MIP-SIP architectures and explores the joint optimizations between MIP and SIP for a more cost-efficient mobility support whilst utilizing their complementary power. Two novel design approaches are presented. The first approach culminates in a tightly integrated architecture, which merges the redundant mobility entities in MIP and SIP to yield maximum system efficiency. The other approach leads to a loosely integrated architecture, where necessary interactions are introduced between MIP and SIP mobility servers while their physical entities are kept intact. Major mobility procedures, including location update, session setup and handoff, are discussed in these architectures. The analytical results demonstrate that both proposed architectures outperform typical hybrid MIP-SIP architectures in terms of clear-cut reduced signaling costs     

Sucralfate attenuates gastric mucosal lesions and increased vascular permeability induced by ischaemia and reperfusion in rats

Recent evidence suggests that oxygen-derived free radicals are involved in mediating gastric microvascular and parenchymal cell injuries induced by ischaemia and reperfusion. Therefore, the effect of the locally acting anti-ulcer drug, sucralfate, was studied on ischaemia and reperfusion (e.g. induced gastric lesions, intraluminal bleeding, changes in vascular permeability and non-protein sulfhydryl levels in the rat stomach). Allopurinol was used as a known standard antioxidant drug. Rats were subjected to 30 min of gastric ischaemia in the presence of 100 mmol/L hydrochloric acid and reperfusion periods of 15, 30 or 60 min duration. The gastric lesions were assessed microscopically under an inverted microscope. The vascular permeability was quantified by measuring the extravasated Evans blue in the stomach. There were significantly greater numbers of gastric lesions, intraluminal bleeding and leakage of Evans blue during all reperfusion periods as compared with those of ischaemia, with maximum effects occurring at 60 min following reperfusion. Pretreatment with sucralfate (31.25-250 mg/kg, p.o.) or allopurinol (12.5-50 mg/kg, i.p.) 30 min before the procedure, dose-dependently reduced the gastric lesions, intraluminal bleeding, and decreased the vascular permeability induced by ischaemia and reperfusion. Furthermore, sucralfate dose-dependently reverses the ischaemia and reperfusion-induced depletion of mucosal non-protein sulfhydryl levels and inhibited the superoxide radical production in both cell-free xanthine-xanthine oxidase and in the stimulated polymorphonuclear cellular systems. These results suggest that the protection produced by sucralfate against gastric injury may be due to its antioxidant effects.     

Prevalence of adrenal carcinoma among incidentally discovered adrenal masses. A retrospective study from 1989 to 1994. Gruppo Piemontese Incidentalomi Surrenalici

BACKGROUND: The incidental discovery of an adrenal mass poses the problem of distinguishing between the frequent benign masses and the infrequent malignant ones that require surgery. Univocal guidelines to approach this problem are unavailable. OBJECTIVE: To perform a survey of the clinical management of incidentally discovered adrenal masses (ie, adrenal incidentalomas). DESIGN: A multicentric retrospective analysis of hospital medical records of adrenal incidentalomas diagnosed during a 5-year period; the medical records were scrutinized for demographic data and clinical details by means of a specifically tailored questionnaire. SETTING: The major surgical and medical centers of Piedmont, a northern Italian region with approximately 4 million inhabitants. The recruitment pattern of these centers was unselected. PATIENTS: The definition of adrenal incidentaloma was limited to patients with a physical examination and a clinical history unindicative of adrenal disease. Exclusion criteria also included hypertension of suspected endocrine origin and a history of neoplasms known to metastasize frequently in the adrenal glands. Two hundred twenty-four medical records were collected, and 210 were analyzed (14 excluded a posteriori). RESULTS: Most patients were in their 50s and 60s, and women were predominantly affected. The frequency of adrenocortical cancer was 13% among patients operated on. The tumor diameter was highly correlated with the risk of cancer; a cutoff at 5 cm had a sensitivity of 93% with a specificity of 64% in discriminating between benign and malignant cortical lesions. CONCLUSIONS: The occurrence of adrenocortical carcinoma among adrenal incidentalomas is not rare. The evaluation of the mass size is a simple and effective method for selecting patients at risk for cancer. The indication for surgery of masses larger than 5 cm, or of masses of any diameter that have suspicious imaging characteristics, limits unnecessary operations and costs.     

Kinetic of CO2 absorption and carbamate formation in aqueous solutions of diethanolamine

The absorption rates of CO₂ into aqueous solutions of Diethanolamine (DEA) with varying concentrations from 0.2 to 4M and temperature range from 293 to 323 K were measured by using a laboratory stirred reactor. The CO₂ partial pressure was varied in a range that the reaction would occur in pseudo first order regime. Experimental data were analyzed and the kinetic parameters associated with the reaction were determined. The activation energy for the deprotonation of the intermediate zwitterion was estimated at about 11.4 kcal/mol. The contribution of carbamate formation to the overall absorbed CO₂ was experimentally evaluated and found to be of the order of 100%.     

Passivity‐based sliding mode control for nonlinear systems

Passivity with sliding mode control for a class of nonlinear systems with and without unknown parameters is considered in this paper. In fact, a method for deriving a nonlinear system with external disturbances to a passive system is considered. Then a passive sliding mode control is designed corresponding to a given storage function. The passivity property guarantees the system stability while sliding mode control techniques assures the robustness of the proposed controller. When the system includes unknown parameters, an appropriate updated law is obtained so that the new transformed system is passive. The passivation property of linear systems with sliding mode is also analysed. The linear and nonlinear theories are applied to a simple pendulum model and the gravity‐flow/pipeline system, respectively. Copyright © 2008 John Wiley & Sons, Ltd.