On‐board sensor‐based adaptive control of small UUVs in very shallow water*

This paper presents a technique to localize the vehicle with respect to known landmarks using on‐board navigation sensors, overcoming uncertainities in vehicle dynamics and its operating environment. Results of computer simulation and pool experimentation are presented. Those results show that the system is capable of controlling the vehicle with high accuracy using the estimated position and velocity from the on‐board sensor‐based navigation system. Copyright © 2000 John Wiley & Sons, Ltd.     

An epidemiological study of patterns of condylar fractures in children

OBJECTIVE: To find out how the site and type of condylar fracture are affected by its aetiology and the age and sex of the patient. DESIGN: Retrospective study. SETTING: Tertiary referral centre, Finland. MATERIAL: Radiographs of 101 children (aged 15 years or less) with 119 condylar fractures. MAIN OUTCOME MEASURES: Site of fracture and degree of displacement. RESULTS: A total of 26 of the 119 fractures were intracapsular (22%) and 93 (78%) extracapsular. Only among patients less than 6 years of age was there a preponderance of intracapsular fractures (7/12 fractures in 10 patients, 58%). In the older children 78% (83/107) were in the condylar neck. There were few subcondylar fractures (5/119, 4%). Only 6 fractures were displaced (5%). Dislocation of the condyle from the glenoid fossa was common in all age groups. CONCLUSION: The site of condylar fracture is age related, but not associated with sex or aetiology.     

Testosterone and persistence of social investigation in laboratory rats.

In 5 experiments 92 mature male and 44 mature female Long-Evans rats were individually exposed in their home cages to sexually immature conspecifics. A prominent sex difference was observed in duration of social investigation prior to a criterion of neglect. When pups were 5 days of age, no sex difference was observed, but when pups were 8 days of age and older, mature males consistently investigated them for significantly longer intervals than did mature females. Furthermore, intact males investigated prepuberal conspecifics for significantly longer intervals than did castrated males, castrated females, or intact females; none of the latter 3 groups differed significantly from each other. Following testosterone treatment, castrated males investigated unfamiliar, prepuberal conspecifics for a significantly longer duration than did untreated castrated control Ss. Combined results support the conclusion that gonadal testosterone effects a greater perseveration of social investigation in males. (20 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Faecal contamination of source-separated human urine based on the content of faecal sterols

Transmissible pathogens in source-separated human urine, intended for reuse in agriculture, mainly originate from faeces that cross-contaminate the urine. The health risks associated with the enteric pathogens will largely be dependent on their initial concentration and their inactivation during storage in the urine. Faecal sterols have proven stable in urine and can, rather than indicator bacteria, be used to quantify the faecal cross-contamination. In this study, urine collection tanks were sampled and ratios between various faecal sterols were used to determine if the urine was contaminated by faeces. Twenty-two percent of samples from the upper part of the tanks and 37% of samples from the bottom sludge were found to be contaminated. Coprostanol concentrations in the contaminated urine samples corresponded to a mean faecal contamination of 9.1+/-5.6 mg l(-1) urine. E. coli was absent in a majority of the samples. Faecal streptococci and clostridia were enumerated but not found to correlate with coprostanol concentrations in contaminated samples.     

Designing Optimal Perovskite Structure for High Ionic Conduction

Solid-oxide fuel/electrolyzer cells are limited by a dearth of electrolyte materials with low ohmic loss and an incomplete understanding of the structure–property relationships that would enable the rational design of better materials. Here, using epitaxial thin-film growth, synchrotron radiation, impedance spectroscopy, and density-functional theory, the impact of structural parameters (i.e., unit-cell volume and octahedral rotations) on ionic conductivity is delineated in La_0.9Sr_0.1Ga_0.95Mg_0.05O_3–δ. As compared to the zero-strain state, compressive strain reduces the unit-cell volume while maintaining large octahedral rotations, resulting in a strong reduction of ionic conductivity, while tensile strain increases the unit-cell volume while quenching octahedral rotations, resulting in a negligible effect on the ionic conductivity. Calculations reveal that larger unit-cell volumes and octahedral rotations decrease migration barriers and create low-energy migration pathways, respectively. The desired combination of large unit-cell volume and octahedral rotations is normally contraindicated, but through the creation of superlattice structures both expanded unit-cell volume and large octahedral rotations are experimentally realized, which result in an enhancement of the ionic conductivity. All told, the potential to tune ionic conductivity with structure alone by a factor of ≈2.5 at around 600 °C is observed, which sheds new light on the rational design of ion-conducting perovskite electrolytes.     

Probability of occurrence of ISO 14687-2 contaminants in hydrogen: Principles and examples from steam methane reforming and electrolysis (water and chlor-alkali) production processes model

According to European Directive 2014/94/EU, hydrogen providers have the responsibility to prove that their hydrogen is of suitable quality for fuel cell vehicles. Contaminants may originate from hydrogen production, transportation, refuelling station or maintenance operation. This study investigated the probability of presence of the 13 gaseous contaminants (ISO 14687-2) in hydrogen on 3 production processes: steam methane reforming (SMR) process with pressure swing adsorption (PSA), chlor-alkali membrane electrolysis process and water proton exchange membrane electrolysis process with temperature swing adsorption. The rationale behind the probability of contaminant presence according to process knowledge and existing barriers is highlighted. No contaminant was identified as possible or frequent for the three production processes except oxygen (frequent for chlor-alkali membrane process), carbon monoxide (frequent) and nitrogen (possible) for SMR with PSA. Based on it, a hydrogen quality assurance plan following ISO 19880-8 can be devised to support hydrogen providers in monitoring the relevant contaminants.     

Enantioselective bioaccumulation of hexabromocyclododecane and congener-specific accumulation of brominated diphenyl ethers in an eastern Canadian Arctic marine food web

The extent of trophic transfer of the three diastereoisomers of hexabromocyclododecane (HBCD) and seven brominated diphenyl ether (BDE) congeners was examined in components of an Arctic marine food web from eastern Canada. Alpha and gamma-HBCD diastereoisomers were detected in all species and total (sigma) HBCD concentrations ranged from 0.6 +/- 0.2 pg/g (geometric mean +/- 1 x standard error (SE), lipid weight (lw)) in arctic cod to 3.9 +/- 0.9 ng/g (lw) in narwhal. beta-HBCD was below method detection limits in all the samples. Mean sigmaBDE (sum of seven congeners) concentrations ranged from 0.4 +/- 0.2 ng/g (lw) in walrus to 73 +/- 10 ng/g (lw) in zooplankton. The relative trophic status of biota was determined by nitrogen stable isotopes (delta15N), and results indicated clear differences in HBCD isomer and BDE congener profiles with trophic level (TL). Trophic magnification was observed for the alpha-diastereoisomer and BDE-47 as concentrations increased with increasing TL in the food web, whereas there was trophic dilution of gamma-HBCD and BDE-209 through the food web. Only the (-)alpha-enantiomer showed a strong positive relationship between concentration and TL (p < 0.01) with a trophic magnification factor (TMF) value of 2.2. A small but significant increase in the enantiomeric fraction value of the alpha-enantiomers with TL was also observed (r2 = 0.22, p < 0.005), implying that there is an overall preferential enrichment of the (-)alpha-enantiomer relative to the (+)alpha-enantiomer likely due to the greater bioaccumulation potential of the (-)alpha-enantiomer and/or to the greater susceptibility of the (+)alpha-enantiomer to metabolism.     

The procurement of usable and accessible software

This article discusses the need for the inclusion of usability and accessibility requirements in public procurements of software to be included in public electronic services. Legislation on public procurement in Europe requests clear, well-defined criteria for accessibility and usability. Accessibility criteria exists, but there is a lack of usability criteria. The use of suppliers declarations is a possible approach.     

Adaptive control of nonlinear systems: A case study of underwater robotic systems

The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF) is addressed. Underwater mobile robots where the number of thrusters and control surfaces exceeds the number of controllable DOF are considered in detail. Unlike robotic manipulators underwater mobile robots should include a velocity dependent thruster configuration matrix B( q ), which modifies the standard manipulator equation to: Mq + C( q ) q + g(x) = B( q ) u where x = J( x ) q . Uncertainties in the thruster configuration matrix due to unmodeled nonlinearities and partly known thruster characteristics are modeled as multiplicative input uncertainty. This article proposes two methods to compensate for the model uncertainties: (1) an adaptive passivity-based control scheme and (2) deriving a hybrid (adaptive and sliding) controller. The hybrid controller combines the adaptive scheme where M, C, and g are estimated on-line with a switching term added to the controller to compensate for uncertainties in the input matrix B. Global stability is ensured by applying Barbalat's Lyapunov-like lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV).