A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance manoeuvres

In recent years unmanned vehicles have grown in popularity, with an ever increasing number of applications in industry, the military and research within air, ground and marine domains. In particular, the challenges posed by unmanned marine vehicles in order to increase the level of autonomy include automatic obstacle avoidance and conformance with the Rules of the Road when navigating in the presence of other maritime traffic. The USV Master Plan which has been established for the US Navy outlines a list of objectives for improving autonomy in order to increase mission diversity and reduce the amount of supervisory intervention. This paper addresses the specific development needs based on notable research carried out to date, primarily with regard to navigation, guidance, control and motion planning. The integration of the International Regulations for Avoiding Collisions at Sea within the obstacle avoidance protocols seeks to prevent maritime accidents attributed to human error. The addition of these critical safety measures may be key to a future growth in demand for USVs, as they serve to pave the way for establishing legal policies for unmanned vessels.     

Posterior representation with a multi‐modal likelihood using the gaussian sum filter for localization in a known map

A Gaussian sum filter (GSF) with component extended Kalman filters (EKF) is proposed as an approach to localizing an autonomous vehicle in an urban environment with limited GPS availability. The GSF uses vehicle‐relative vision‐based measurements of known map features coupled with inertial navigation solutions to accomplish localization in the absence of GPS. The vision‐based measurements have multimodal measurement likelihood functions that are well represented as weighted sums of Gaussian densities. The GSF is used because of its ability to represent the posterior distribution of the vehicle pose with better efficiency (fewer terms, less computational complexity) than a corresponding bootstrap particle filter with various numbers of particles because of the interaction with measurement hypothesis tests. The expectation‐maximization algorithm is used off line to determine the representational efficiency of the particle filter in terms of an effective number of Gaussian densities. In comparison, the GSF, which uses an iterative condensation procedure after each iteration of the filter to maintain real‐time capabilities, is shown through a series of in‐depth empirical studies to more accurately maintain a representation of the posterior distribution than the particle filter using 37 min of recorded data from Cornell University's autonomous vehicle driven in an urban environment, including a 32 min GPS blackout. © 2012 Wiley Periodicals, Inc.     

A theoretical and experimental study of low-loss SAW filters with interdigitated interdigital transducers

A study of low-loss surface-acoustic-wave (SAW) interdigitated interdigital transducer (IIDT) structures is presented. A model based on mixed scattering matrices was used in the analysis. It is shown that the inherent comb frequency response of the IIDT can be smoothed by slanting the transducers in the structure. Alternatively, the combs can be enhanced to produce a compact low-loss feedback element for potential application in multimode oscillators. Experimental verification of the analysis is provided by a 3:2 slanted-finger IIDT filter with a 10% relative bandwidth of 5.9-dB insertion loss, and a comb filter with 13.4-dB insertion loss and comb spacing of about 3 MHz. The measured responses agree quite well with the theory.     

Injection locking techniques for a 1-GHz digital receiver using acoustic-wave devices

The use of surface-transverse-wave (STW) resonator-based oscillators as amplifiers and as carrier recovery elements is discussed. It is demonstrated that these oscillators can amplify phase-shift-keyed signals with very little added noise, while providing a constant output power. Their performance in carrier recovery amplifications is analyzed. Experimental results showing the amplification with more than 80 dB of dynamic range of a 2 Mb/s BPSK signal and the carrier recovery of an 8 Mb/s signal with a 1-GHz STW oscillator are shown.     

Aspects of modeling the frequency response of a two-port waveguide-coupled SAW resonator-filter

Coupling-of-modes-in-time and coupling-of-modes-in-space analyses are applied to the modeling of a two-port two-pole waveguide-coupled SAW resonator filter. Modeling is applied to a lumped equivalent circuit and a distributed circuit. While the accuracy of the coupling estimation dictates the exact mode-splitting and bandwidth, the ensuing computations can give a good representation of the amplitude and phase response, including the effect of degenerate transverse modes.     

Citations do not solve problems.

D. T. Cambell and D. W. Fiske (1959) made the now-obvious statement that measures of the same variable made by different methods should agree (converge) and certainly should agree better than measures of different variables made by those several methods. Almost everyone accepted that statement, yet the multitrait–multimethod matrices published today show little or no improvement over the published examples cited in 1959. The article raised the conceptual problem of how a variable and its measurement should be linked and the methodological problem of clarifying the nature of methods and their effects. Given these unresolved problems, it is perhaps not surprising that the question of the appropriate statistical analysis of these matrices has also no consensual answer. Perhaps methods and traits or contents are so thoroughly intertwined that their interaction cannot be adequately analyzed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

High-Carbon Steels from Pueblo’s Basic Oxygen Plant

A large percentage of the steel produced at CF&I’s basic oxygen facility is high-carbon grade. The operating practice at the Pueblo, Colo., plant is described including such variables as lance positions, blowing rates, and flux additions. Operating problems such as dust collection and lining life are also discussed in detail.     

THE IRREVERSIBLE ADSORPTION OF PLUTONIUM HEXAFLUORIDE†

The room temperature adsorption of PuF_6(g) on a solid substrate was compared to the adsorption of UF6(g) on the same surface. Significantly more PuF_6(g) was adsorbed at pressures in the range of 1.2 to 0.2torr, accompanied by the evolution of molecular fluorine. The adsorbed UF₆ was easily desorbed by reducing the pressure. Most of the adsorbed PuF₆ remained on the surface when subjected to the same treatment.     

Obesity in children – facts and fallacies

Obesity is now recognised as the most prevalent nutritional disorder affecting children. Prevalence rates across Europe have increased sharply in the past decade and the consequences of this are increasingly clear with type 2 diabetes, hyperlipidaemia and hypertension now affecting children in growing numbers. The causes of this modern epidemic are many and involve complex genetic and environmental factors and the traditional view of obesity as a product of laziness and greed is increasingly being challenged. Whatever the causes, prevention and treatment need to be considered with urgency. While personal and parental responsibility remain crucial, it also falls to government to help control powerful environmental pressures which are leading our children into premature ill‐health and mortality. Equally health professionals are increasingly recognising that they have a significant role to play in delivering medical treatment of obesity in children. Successful treatment requires a greater understanding of obesity, causes, and consequences, and of the particular style of approach that is required for children, and their families. The role of weight loss medication remains unclear, but is being examined seriously, such is the need for effective treatment strategies to minimise the incidence and severity of co‐morbid disease. Inaction at any level can no longer be considered a viable option.