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     

Evaluation of factors influencing platelet aggregation in patients with chronic glomerulonephritis (CGN)

Platelets (PLT) play an important role in hemostasis, modulation of immunological and inflammatory processes. There is also evidence that PLT takes part in the development of atherosclerosis and glomerulosclerosis. The aim of presented study was to determine morphological and functional changes of platelets and their relation to the lipid, protein and coagulation factors disturbances in patients with chronic glomerulonephritis (CGN). The studies were carried out in 60 patients with CGN diagnosed by renal biopsy: 30 patients without nephrotic syndrome (NS)-CGN and 30 patients with NS-CGN+NS. Protein and lipid disturbances, coagulation factors were estimated using routine laboratory methods. Platelet count (PLT), mean platelet volume (MPV) and modal platelet volume (PLT-Mode) were measured using Technicon H1 hematological autoanalyser. Platelet function was assessed by aggregometry using turbidimetric method (inductors: ADP 1-3 microM, collagen 50g/ml, epinephrine 0.25-5 microM). Spontaneous platelet aggregation (SPA) was measured in platelet rich plasma (PRP) without inductors for 15 min, in 1-2 hours after venesection. SPA was observed in 9 of 30 patients with CGN and in 19 of 30 patients with CGN+NS. MPV and PLT Mode were significantly higher in patient showing SPA compared with those without. Significant correlations between SPA and the concentration of plasma albumin (r = -0,70; p < 0.02) TG and CH-LDL (r = 0,61; p < 0.05) were found in CGN+NS patients. APTT was significantly shorter in patients showing SPA compared with those without and negative significant correlation between SPA and APTT was found. Platelet aggregation to inductors in CGN and CGN+NS patients was diminished compared with control group. Lack of second phase aggregation in response to aggregation inducers was observed in patients with SPA. Conclusions. 1. Platelet hyperaggregation play an important role in hypercoagulation state in CGN patients. 2. SPA in vitro was observed in majority of CGN+NS patients and in some without NS. 3. Pathomechanism of SPA is probably multifactorial (hypoalbuminemia, dyslipidemia, changes in concentration of coagulation parameters).     

Dependence of attenuation in a vegetation canopy on frequency andplant water content

Theory is presented to provide insight into the observation that attenuation through vegetation is proportional to vegetation water content. In this analysis, the canopy is modeled as a sparse layer of randomly oriented particles (leaves, stalks, etc.) over a flat, homogeneous ground plane (soil) and an expression is obtained for the “optical depth”. The formulas developed by Ulaby and El Rayes are used to relate this expression to the water content of the canopy. In the low frequency extreme (Rayleigh scatterers), the attenuation varies almost linearly with water content and inversely with wavelength. In contrast, in the high frequency limit, the attenuation is independent of both water content and frequency, in between, geometry dependent “resonances” occur even at the low frequency end of the microwave spectrum (e.g. L-band) making the dependence of attenuation on frequency and water content specific to canopy architecture     

Nickel/microcapsules composite electrocoatings; the synthesis of water-containing microcapsules and preparation of the coatings

Composite coatings, the product of electrolytic codeposition of solid particles in a metallic matrix have been developed and utilized in industry as wear resistant coatings. The work described in this paper concerns the development of water-containing metallic coatings prepared by the electrolytic codeposition of water-containing microcapsules from nickel Watts plating baths under pulse reversed current conditions. The water-containing polystyrene microcapsules employed in the codeposition experiments were produced by the complex emulsion/solvent evaporation technique. The influence of the use of two types of stabilizers on the size and the surface chemistry of the microcapsules is discussed. The microcapsules prepared in both cases are rigid spheres with compact walls and a smooth surface. The different stabilizers showed a significant influence on the dispersability of the capsules in the plating solution and their codeposition behaviour. The codeposition experiments carried out with the use of a rotating disc electrode revealed the influence of the plating parameters on the incorporation procedure and on the quality of the composite electrodeposits.     

Melt-extracted oxide ceramic fibres — the fundamentals

A melt-extraction technique, using a sharpened molybdenum wheel, has been used to produce fine oxide ceramic fibres. Wetting of the molybdenum wheel by molten ceramic is a key parameter in the melt-extraction process. Two types of fibre are generally obtained, depending on the extraction speed. At very low wheel speed, fine and uniform fibres of high quality are produced. However, when the wheel speed exceeds a critical velocity, Rayleigh waves are formed on the free surface of the fibres. Moreover, the average fibre thickness first increases with the wheel velocity, then passes through a maximum, decreasing at high velocity. This thickness variation is discussed in terms of both surface tension and viscosity of the liquid ceramics.     

Propagation of a quasi-shear horizontal acoustic wave in Z-Xlithium niobate plates [and conductivity sensor application]

It is found that an acoustic wave which is nearly polarized in the shear horizontal (SH) direction can propagate along the X axis of a Z-cut lithium niobate plate if the ratio h/λ, where h=plate thickness and λ=acoustic wavelength, is less than about 0.5. Attractive properties of this quasi-SH wave include: (1) phase velocity nearly constant for all values of h/λ; (2) ability to propagate in contact with a liquid medium; and (3) electromechanical coupling coefficient as high as 0.15. These properties make the wave attractive for use in a variety of sensor and signal processing applications. An example of sensor applications is illustrated by using the wave to measure conductivity of liquids (aqueous KCl solution). The frequency of a 12-MHz quasi-SH mode oscillator fabricated on a 0.48 wavelength thick Z-X lithium niobate plate is found to vary by more than 80 kHz for variation in KCI concentration from 0 to 0.15%     

Automatic laser vibration gauge

This paper describes a non-contact laser device for measuring the parameters of vibrations; its technical characteristics and domain of application are discussed. The accuracy achieved in measurements is 0.01 μm for linear displacement, and 0.0001 μm for the amplitude of spectral components of vibrations in the audio-frequency range. Translated from Izmeritel'naya Tekhnika, No. 2, pp. 13–15, February, 1996.     

Pharmacodynamic Comparison of a Nasal Formulation of Verapamil and Intravenous and Oral Dosage Forms

The nasal route has been shown to be effective for the administration of numerous drugs in order to improve drug bioavailability. A nasal gel of verapamil hydrochloride was formulated and evaluated pharmacodynamically in humans, using electrocardiographic results, with comparison to oral and IV routes. Seven volunteers were involved in the study and the pharmacodynamic parameters were evaluated statistically. Experimental nasal gel showed similar pharmacodynamic results with the intravenous route, which is a hint to the reduction in verapamilinduced first-pass metabolism. However, oral route of administration showed a tendency of less efficacy. No reasonable effect of verapamil could be obtained with the placebo group.