Autonomous vehicles

There are various kinds of autonomous vehicles (AV's) which can operate with varying levels of autonomy. This paper is concerned with underwater, ground and aerial vehicles operating in a fully autonomous (nonteleoperated) mode. Further this paper deals with AV's as a special kind of device, rather than full-scale manned vehicles operating unmanned. The distinction is one in which the AV is likely to be designed for autonomous operation rather than being adapted for it as would be the case for manned vehicles. We provide a survey of the technological progress that has been made in AV's, the current research issues and approaches that are continuing that progress, and the applications which motivate this work. It should be noted that issues of control are pervasive regardless of the kind of AV being considered, but that there are special considerations in the design and operation of AV's depending on whether the focus is on vehicles underwater on the ground, or in the air. We have separated the discussion into sections treating each of these categories     

Novel diterpenoid diacylglycerols from marine molluscs: potent morphogens and protein kinase C activators

Five novel 1,2-sn-diacylglycerols with diterpenoid acyl moieties in the sn-1 position were isolated and characterized, together with the corresponding 1,3-sn-diacylglycerols, from three species of dorid nudibranchs molluscs. Their potent activity as morphogens in vivo in the Hydra tentacle regeneration assay and their parallel activity as activators of rat brain protein kinase C (PKC) in vitro are reported here. Our findings promote the use of these compounds as useful molecular probes for both in vivo and in vitro studies on the participation of PKC in cell development.     

Improved accuracy of burn wound assessment using laser Doppler

The utility of the laser Doppler for determining burn depth has been questioned because of problems with technology and methodology. This study prospectively evaluates the ability of a new laser Doppler technique to predict burn healing time. Using the Periflux System 4000 laser Doppler, readings were taken on 305 burns (147 patients) on postburn day 3 or 4. Sixty-six wounds were used to derive a predictive function (phase I) and 152 wounds were used to test the function (phase II). Blood flow dynamics (flux), microvascular dilation capacity of the wounds to beat stress, and flow motion wave pattern (vasomotion) were studied using the laser Doppler, and seven parameters were evaluated to determine their relative contribution to the prediction of healing time. These parameters are hyperemic flux (flux value after heating to 42 degrees C), average hyperemic wave amplitude (AHWA), number of average flux units >100(F100), number readings with wave amplitude 75 (A5), average flux change (AFC), percentage of average flux increase, and relative flow capacity (RFC = AFC/average hyperemic flux). After readings were made, the wounds were observed and divided into two groups: those that healed in less than 14 days and those that healed or were grafted after 14 days. A step-wise discriminant analysis was used to assess the relative contribution of the Doppler-derived measures to healing time prediction. AHWA, F100, and RFC were included in the final discriminant function explaining 72% of the healing time variance (Wilks' lambda value 0.28; p value <0.0001). Predicted outcome = 0.05(AHWA) + 0.31(F100) + 5.0(RFC) - 2.3. With this derived function, there is 94% accuracy in the prediction of burn wound healing time compared with a physician predictive accuracy of 70%.     

Analysis and Modelling of the LPC VD Annular Reactor

This paper presents the results of our work on a new type of CVD reactor, annular reactor. This equipment is able to deposit pure silicon and also in-situ phosphorus doped silicon on a large number of substrates     

Application of evolutionary programming to transient andsubtransient parameter estimation

This paper presents an artificial intelligence approach of using evolutionary programming to estimate the transient and subtransient parameters of a generator under normal operation. The estimation using evolutionary programming is compared with that using a corrected extended Kalman filter. The comparisons with both simulation and micromachine test results show that evolutionary programming is robust to search the real values of parameters even when the data are highly contaminated by noise, while with the extended Kalman filter, the estimation tends to diverge with such data     

Geochemical characteristics of the Yufuin outflow plume, Beppu hydrothermal system, Japan

Thermal water at Yufuin (Kyushu Island, Japan) is tapped through about 820 shallow wells and used mainly for hot-spring bathing purposes. Chemical and isotopic data for fluids from wells and fumaroles in Yufuin and Beppu indicate that the thermal activity at Yufuin represents a dilute, westward-flowing hydrothermal outflow plume from the Beppu hydrothermal system. Two other (eastward-flowing) outflow plumes have long been recognized at Beppu, but the Yufuin outflow plume is first recognized here. The Yufuin outflow plume is apparently a mixture of two end-member fluids: (1) deep high-temperature (250–300°C) fluid from the Beppu system having high chloride concentration (1400–1600 mg/L) and a δ¹⁸O value near −6.0%, and (2) meteoric water having low chloride concentration (≤7 mg/L) and a δ¹⁸O value near −9.2%.A permeable conduit for the vertical and lateral transport of deep fluid from the Beppu system is provided by the Yufuin Fault zone, which extends westward from the southern flank of Mt. Tsurumi volcano to the town of Yufuin. Stable isotope ratios and chloride concentrations for shallow groundwaters near the eastern end of the fault, at an elevation near 700 m, are consistent with those required for the low-chloride meteoric end-member of the Yufuin thermal waters. Recharge of this meteoric water, as well as mixing with the Beppu deep fluid, may occur along the Yufuin Fault. Enthalpy-chloride relations indicate additional conductive heating of the Yufuin waters, in the amount of 350–500 kJ/kg beyond that which can be accounted for by mixing between Beppu deep fluid and meteoric water. This could be a result of conductive heating with convection to a depth of 1–2 km. Estimates of the magnitude of the heat source for the Beppu hydrothermal system should take into account the heat being discharged at Yufuin.     

Control of calcium hexaluminate grain morphology in in-situ toughened ceramic composites

The influence of processing conditions on the morphology of calcium hexaluminate (CA₆) grains in Al₂O₃: 30 vol% CaO·6Al₂O₃ (CA₆) ceramic composites was investigated. Specimens were prepared by in-situ reaction sintering using precursor powders of alumina, and either calcium carbonate or calcium oxide. In some samples, 1 vol% anorthite glass was added as a sintering aid. X-ray diffraction was used to study the phase development in the as-calcined and sintered states. The resultant microstructures were characterized using both scanning electron microscopy (SEM), and imaging secondary ion mass spectrometry (SIMS). It was found that the CA₆ grains developed a platelike morphology when CaCO₃ was used as the starting calcium-rich powder. In contrast, samples prepared using CaO resulted in equiaxed CA₆ grains. This result was observed to be independent of the anorthite glass addition. The findings are rationalized in terms of distinct CA₆ reaction mechanisms, resulting from differences in the reactivity of the powders during the early stages of calcining.Cement Nomenclature C CaO - A Al₂O₃     

AC measurements of the minimum longitudinal resistance of a QHEsample from 10 Hz to 10 kHz

AC measurements of the longitudinal resistance, R_xx, of a quantum Hall effect (QHE) sample have been made in a frequency range from 10 Hz to 10 kHz. The results show no frequency effect on the minimum value of R_xx corresponding to the quantum numbers i=2 and i=4, within the measurement resolution of 0.5 mΩ. Therefore, the influence of frequency on the value of the quantized Hall resistance, R_H, should not exceed a few parts in 10⁹ . Some unwanted effects detected during the development of the resistance bridge have been pointed out     

Coriolis effects in the dynamics of a rotating elastic structure

Summary Small oscillations of a rotating elasticum with a mass at the free end are investigated with Poincaré-Lindstedt series. It is shown that the mass moves on a figure-eight shaped curve in a direction determined by the sign of the angular velocity and hence that the Coriolis force influences the motion.     

Motion of a solid sphere in a general flow near a plane boundary at zero Reynolds number

It is demonstrated how the hydrodynamic force and moment of force acting on a solid sphere may be calculated when it is placed at rest at an arbitrary position in a two dimensional flow at zero Reynolds number in which the region of flow is bounded by either an undeformable planar free surface or by a plane solid wall. The results so obtained are used to calculate the motion of a freely moving solid sphere in an asymmetric vortex in the presence of an underformable free surface. It is seen that the sphere, depending on the direction of the undisturbed flow, will either spiral into or out of the vortex. This implies that when a dilute suspension of such spherical particles undergoes such a vortex motion in the presence of the free surface, the vortex will either fill up with particles from the surrounding flow or become devoid of particles.Deceased, July 31, 1995