A flight control system for aerial robots: algorithms and experiments

This paper presents a hierarchical flight control system for unmanned aerial vehicles. The proposed system executes high-level mission objectives by progressively substantiating them into machine-level commands. The acquired information from various sensors is propagated back to the higher layers for reactive decision making. Each vehicle is connected via standardized wireless communication protocol for scalable multi-agent coordination. The proposed system has been successfully implemented on a number of small helicopters and validated in various applications. Results from waypoint navigation, a probabilistic pursuit-evasion game and vision-based target tracking demonstrate the potential of the proposed approach toward intelligent flying robots.     

Context Switching in a Run-Time Reconfigurable System

A distinguishing feature of reconfigurable computing over rapid prototyping is its ability to configure the computational fabric on-line while an application is running. Conventional reconfigurable computing platforms utilize commodity FPGAs, which typically have relatively long configuration times. Shrinking the configuration time down to the nanosecond region opens possibilities for rapid context switching and virtualizing the computational resources. An experimental context-switching FPGA, called the CSRC, has been created by BAE Systems, and gives researchers the opportunity to explore context-switching applications. This paper presents results obtained from constructing both control-driven and data-driven context switching applications on the CSRC device, along with unique properties of the run-time and compile-time environment.     

Category Learning in Rhesus Monkeys: A Study of the Shepard, Hovland, and Jenkins (1961) Tasks.

In influential research, R. N. Shepard, C. I. Hovland, and H. M. Jenkins (1961) surveyed humans' categorization abilities using tasks based in rules, exclusive-or (XOR) relations, and exemplar memorization. Humans' performance was poorly predicted by cue-conditioning or stimulus-generalization theories, causing Shepard et al. to describe it in terms of hypothesis selection and rule application that were possibly supported by verbal mediation. The authors of the current article surveyed monkeys' categorization abilities similarly. Monkeys, like humans, found category tasks with a single relevant dimension the easiest and perceptually chaotic tasks requiring exemplar memorization the most difficult. Monkeys, unlike humans, found tasks based in XOR relations very difficult. The authors discuss the character and basis of the species difference in categorization and consider whether monkeys are the generalization-based cognitive system that humans are not. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Optimal classification methods for mapping agricultural tillage practices

The classification of agricultural tillage systems has proven challenging in the past using traditional classification methods due to the similarity of spectral reflectance signatures of soils and senescent crop residues. In this study, five classification methods were examined to determine the most suitable classification algorithm for the identification of no-till (NT) and traditional tillage (TT) cropping methods: minimum distance (MD), Mahalanobis distance, Maximum Likelihood (ML), spectral angle mapping (SAM), and the cosine of the angle concept (CAC). A Landsat ETM+ image acquired over southern Michigan and northern Indiana was used to test these classification methods. Each classification method was validated with 293 ground truth sampling locations collected commensurate with the satellite overpass. Classification accuracy was then assessed using error matrix analysis, Kappa statistics, and tests for statistical significance. The results indicate that of the classification routines examined, the two spectral angle methods were superior to the others. The cosine of the angle concept algorithm outperformed all the other classification routines for tillage practice identification and mapping, yielding an overall accuracy of 97.2% (Kappa=0.959).     

Using computer animated graphics with science instruction with children.

The effects of animated presentations and practice were studied in a computer-based science lesson involving fourth- and fifth-grade students. Three levels of visual elaboration (static graphics, animated graphics, and no graphics) were crossed with three levels of practice (behavioral, cognitive, and no practice). Behavioral practice consisted of traditional questioning and cognitive practice consisted of a structural simulation. Animated graphics were superior to static graphics and no graphics so long as practice was provided. Behavioral practice was effective only when paired with lessons containing animated graphics. Cognitive practice was generally superior to the other practice conditions and did not appear dependent on visual elaboration. These results suggest that animated presentations can promote learning under certain conditions, and they also demonstrate a successful application of interactive graphics in the design of cognitively based practice activities. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Life stress and treatment course of recurrent depression: II. Postrecovery associations with attrition, symptom course, and recurrence over 3 years.

Life stress was studied in relation to postrecovery attrition, symptom course, and recurrence of depression over 3 yrs. Participants were 67 individuals with recurrent depression who had responded to treatment. Life stress was assessed for the prior 12 wks at acute treatment entry (T1), initial recovery (T2), and after 17 wks of sustained recovery (T3). Severe life events at T1 predicted greater attrition, a more favorable postrecovery symptom course, and a lower likelihood of recurrence over 3 yrs. Life stress at T2 was not predictive of outcomes. Finally, undesirable life events at T3 tended to predict a worse symptom course and a higher likelihood of recurrence, particularly for individuals on medication. The findings are discussed in terms of (a) different processes influenced by life stress over time and (b) limitations of existing longitudinal research for studying the effects of life stress over prolonged intervals. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Effect of annealing time on solute carbon in ultralow-carbon Ti-V and Ti-Nb steels

The influence of annealing temperature and time on solute carbon levels was investigated in four ultralow-carbon (ULC) bake-hardenable steels; two Ti-V ULC steels with different V/C levels and two Ti-Nb ULC steels with different Nb/C levels. Internal-friction and scanning transmission electron microscopy (STEM) techniques were used to understand the precipitation/dissolution behavior in the various steels. An effect of annealing time on the carbon Snoek-peak height was observed in both Ti-V steels and in the Ti-Nb steel having a lower Nb/C ratio. Despite differences between these steels resulting from their composition (and, thus, carbide solubility) differences, after cold rolling and annealing at different temperatures, the maximum Snoek-peak height was achieved after annealing for shorter times in each instance, on the order of 1 minute. The highly stabilized Ti-Nb ULC steel with a higher Nb/C ratio did not show the effect because of the absence of solute carbon. For the Ti-V steels, most of the precipitates examined using STEM contained both Ti and V. The energy-dispersive X-ray (EDX) analysis indicated that both the Ti-V steels annealed at 845 °C for 1 minute have greater Ti/V ratios compared to their corresponding Ti-V steels in the as-received (hot-rolled) condition. This behavior is consistent with dissolution of carbides causing the carbon in solution to increase, as indicated by a greater carbon Snoek-peak height for both Ti-V steels in the annealed condition. The reduction in Snoek-peak height at longer annealing times is believed to be associated with segregation to lower-energy defect sites.     

Drink-driving and the alcohol beverage industry: Will reducing per capita consumption solve the problem in the United Kingdom?

The impact of drinking and driving is one focus of the mounting concern in the West over the widespread incidence of alcohol-related problems. Conventional wisdom, in the United Kingdom as well as in other countries, suggests that reducing average consumption levels will diminish the impact of the negative effects of alcohol including drinking and driving. But whether policies designed to achieve changes in per capita consumption by increasing alcohol taxes across the board constitute the most effective strategy to reduce drinking and driving is called into question. A number of competing interventions directed at the alcohol beverage industry are analysed and new directions for producers and policymakers are proposed.