Real-Time Implementation of GPS Aided Low-Cost Strapdown Inertial Navigation System

This work details the study, development, and experimental implementation of GPS aided strapdown inertial navigation system (INS) using commercial off-the-shelf low-cost inertial measurement unit (IMU). The data provided by the inertial navigation mechanization is fused with GPS measurements using loosely-coupled linear Kalman filter implemented with the aid of MPC555 microcontroller. The accuracy of the estimation when utilizing a low-cost inertial navigation system (INS) is limited by the accuracy of the sensors used and the mathematical modeling of INS and the aiding sensors’ errors. Therefore, the IMU data is fused with the GPS data to increase the accuracy of the integrated GPS/IMU system. The equations required for the local geographic frame mechanization are derived. The direction cosine matrix approach is selected to compute orientation angles and the unified mathematical framework is chosen for position/velocity algorithm computations. This selection resulted in significant reduction in mechanization errors. It is shown that the constructed GPS/IMU system is successfully implemented with an accurate and reliable performance.     

Effect of sulpiride-induced hyperprolactinemia on serum testosterone response to HCG in normal men

In six normal volunteers hyperprolactinemia was induced by sulpiride (150 mg/day) for 10 days. Both before and during sulpiride hCG was injected; the higher testosterone response to hCG, when PRL levels were enhanced, suggests a possible stimulatory role of PRL on Leydig cells.     

Ultrastructure of a model of thrombogenesis induced by mechanical injury

Injured cortical arteries were observed by electron microscopy. Haemostasis was brought about by both platelets and fibrin, but the intravascular thrombus contained only platelets. Some platelets adhered to the exposed subendothelium but did not form a continuous layer. Such platelet adhesion does not provoke a thrombus, which appears only at the opening in the artery. There was a gap of 7 micrometers between the thrombus and the intact arterial wall. The thrombus was built up progressively by concentric accumulation around the main injury. Central platelets were closely packed and the more distal ones loosely gathered but not touching and not activated. This structure was very different from that observed in in vitro aggregates which formed rapidly and whose platelets are all at the same stage of development and disposed radially. This implies a different sequence in the physiological evolution of platelets submitted to either mode of activation. The results obtained with the present model differ in several respects from those obtained with other models.     

Ultrasonic Study of Molecular Association of Polyethylenoxide Aqueous Solutions (A Method to Determine Molecular Weight)

Ultrasonic velocity and isoentropic compressibility measurements are reported on aqueous solutions of polyethylenoxide of different molecular weights and different concentrations using pulsed ultrasonic apparatus operating at 2 MHz and 310 K. The data obtained as a function of concentration indicate the magnitude of the contribution due to relaxation of the backbone of the ethylene group. The results show a linear increase of density, velocity and viscosity values with increasing molecular weight and concentration of PEO. In contrast, the isoentropic compressibility decreases with increasing of molecular weight and concentration of PEO. A mathematical equation correlating isoentropic compressibility and molecular weight of the polymer is suggested. This was applied to the calculation of the molecular weight of unknown samples of PEO from their measured isoentropic compressibility; the results obtained agreed well with those obtained from osmometry.     

Automatic p-version mesh generation for curved domains

To achieve the exponential rates of convergence possible with the p-version finite element method requires properly constructed meshes. In the case of piecewise smooth domains, these meshes are characterized by having large curved elements over smooth portions of the domain and geometrically graded curved elements to isolate the edge and vertex singularities that are of interest. This paper presents a procedure under development for the automatic generation of such meshes for general three-dimensional domains defined in solid modeling systems. Two key steps in the procedure are the determination of the singular model edges and vertices, and the creation of geometrically graded elements around those entities. The other key step is the use of general curved element mesh modification procedures to correct any invalid elements created by the curving of mesh entities on the model boundary, which is required to ensure a properly geometric approximation of the domain. Example meshes are included to demonstrate the features of the procedure.