A Multi‐Autonomous Underwater Vehicle System for Autonomous Tracking of Marine Life

This paper presents a multi‐autonomous underwater vehicle system capable of cooperatively and autonomously tracking and following marine targets (i.e., fish) tagged with an acoustic transmitter. The AUVs have been equipped with stereo‐hydrophones that receive signals broadcasted by the acoustic transmitter tags to enable real‐time calculation of bearing‐to‐tag and distance‐to‐tag measurements. These measurements are shared between AUVs via acoustic modem and fused within each AUV's particle filter for estimating the target's position. The AUVs use a leader/follower multi‐AUV control system to enable the AUVs to drive toward the estimated target state by following collision‐free paths. Once within the local area of the target, the AUVs circumnavigate the target state until it moves to another area. The system builds on previous work by incorporating a new SmartTag package that can be attached to an individual's dorsal fin. The SmartTag houses a full inertial measurement unit (INU), video logger, acoustic transmitter, and timed release mechanism. After real‐time AUV tracking experiments, the SmartTag is recovered. Logged IMU data are fused with logged AUV‐obtained acoustic tag measurements within a particle filter to improve state estimation accuracy. This improvement is validated through a series of multi‐AUV shark and boat tracking experiments conducted at Santa Catalina Island, California. When compared with previous work that did not use the SmartTag package, results demonstrated a decrease in mean position estimation error of 25–75%, tag orientation estimation errors dropped from 80° to 30° , the sensitivity of mean position error with respect to distance to the tag was less by a factor of 50, and the sensitivity of mean position error with respect to acoustic signal reception frequency to the tag was 25 times less. These statistics demonstrate a large improvement in the system's robustness when the SmartTag package is used.     

Pipelined parallelisation of automatic face inspection

A parallel pipeline is shown to be a natural method of speeding up a typical computer vision application, face inspection using `eigenfaces'. Faces within a stream of video images are continuously surveyed in a manner akin to a `conveyor belt' inspection process. The parallelisation is a new exemplar of a scheme for the rapid prototyping of large-scale, multi-algorithm applications suitable for transfer to a message-passing multicomputer. A general solution, pipelined processor farms, is preferred to a customised solution. This paper gives details of the software tools and software engineering methods employed to tackle this class of problem.     

Compact modeling of amorphous‐silicon thin‐film transistors with BSIM3

Abstract— A novel approach of modeling a‐Si:H TFTs with the industry‐standard BSIM3 compact model is presented. The described approach defines the a‐Si:H TFT drain current and terminal charges as explicit functions of terminal voltages using a minimum set of BSIM3 parameters. The set of BSIM3 parameters is chosen based on the electrical and physical characteristics of the a‐Si:H TFT and their values extracted from measured data. By using the selected BSIM3 model parameters, the a‐Si:H TFT is simulated inside SPICE to fit the simulated I‐V and C‐V curves with the measured results. Finally, the extracted BSIM3 model is validated by simulating the kickback voltage effect in an AMLCD pixel array.     

Comparison of work rates, energy expenditure, and perceived exertion during a 1-h vacuuming task with a backpack vacuum cleaner and an upright vacuum cleaner

The purpose of this study was to evaluate two types of industrial vacuum cleaners, in terms of cleaning rates, energy expenditure, and perceived exertion. Twelve industrial cleaners (six males and six females, age 28-39 yr) performed two 1-h vacuuming tasks with an upright vacuum cleaner (UVC) and a backpack vacuum cleaner (BPVC). Measures for oxygen uptake (VO2) and ratings of perceived exertion (RPE) were collected continuously during the 1-h vacuuming tasks. Cleaning rates for the UVC and BPVC were 7.23 and 14.98 m2min(-1), respectively. On a separate day subjects performed a maximal treadmill exercise test to determine their maximal aerobic capacity (peak VO2). Average absolute energy costs (in Metabolic equivalents), relative energy costs of the vacuum task compared to the subjects' maximal aerobic capacity (% peak VO2), and RPE responses for the 1-h vacuuming tasks were similar between vacuum cleaners, but % peak VO2 and RPE values differed between genders. These results indicate that the BPVC was more efficient than the UVC. With the BPVC, experienced workers vacuumed at a cleaning rate 2.07 times greater than the UVC and had similar levels of energy expenditure and perceived effort, compared to the slower cleaning rate with the UVC.     

A technique for fractionated stereotactic radiotherapy in the treatment of intracranial tumors

PURPOSE: The excellent treatment results obtained with traditional radiosurgery have stimulated attempts to broaden the range of intracranial disorders treated with radiosurgical techniques. For major users of radiosurgery this resulted in a gradual shift from treating vascular diseases in a single session to treating small, well delineated primary tumors on a fractionated basis. In this paper we present the technique currently used in Montreal for the fractionated stereotactic radiotherapy of selected intracranial lesions. METHODS AND MATERIALS: The regimen of six fractions given every other day has been in use for "fractionated stereotactic radiotherapy" in our center for the past 5 years. Our current irradiation technique, however, evolved from our initial method of using the stereotactic frame for target localization and first treatment, and a "halo-ring" with tattoo skin marks for the subsequent treatments. Recently, we developed a more precise irradiation technique, based on an in-house-built stereotactic frame which is left attached to the patient's skull for the duration of the fractionated regimen. Patients are treated with the stereotactic dynamic rotation technique on a 10 MV linear accelerator (linac). RESULTS: In preparation for the first treatment, the stereotactic frame is attached to the patient's skull and the coordinates of the target center are determined. The dose distribution is then calculated, the target coordinates are marked onto a Lucite target localization box, and the patient is placed into the treatment position on the linac with the help of laser positioning devices. The Lucite target localization box is then removed, the target information is tattooed on the patient's skin, and the patient is given the first treatment. The tattoo marks in conjunction with the target information on the Lucite target localization box are used for patient set-up on the linac for the subsequent 5 treatments. The location of the target center is marked with radio-opaque markers on the target localization box and verified with a computerized tomography scanner prior to the second treatment. The same verification is done prior to other treatments when the target center indicated by the target localization box disagrees with that indicated by the tattoo marks. The new position of the target center is then determined and used for treatment positioning. CONCLUSION: The in-house-built frame is inexpensive and easily left attached to the patient's skull for the 12 day duration of the fractionated regimen. Positioning with the Lucite target localization box verified with tattoo marks ensures a high level of precision for individual fractionated treatments.     

Avoidance of bird repellents by mice (Mus musculus)

It is believed that mammalian chemosensory irritants are not aversive to birds and vice versa. Nevertheless, few avian repellents have been tested against mammals. For that reason, we evaluated the efficacy of 1.0% w/v methyl anthranilate, orthoaminoacetophenone, 2-amino-4,5-methoxyacetophenone, 2-methoxyacetophenone, and veratryl amine as mouse repellents in 3-hr no-choice drinking tests. Relative to ingestion of plain water, all test substances significantly reduced (P < 0.05) intake. Orthoaminoaceto-phenone was the most effective repellent, with intake reduced to levels statistically indistinguishable from zero.     

Strategic sensemaking and organizational performance: linkages among scanning, interpretation, action, and outcomes.

This study investigated the strategic "sensemaking" processes of scanning, interpretation, and action and how those activities are linked to organizational performance. Using path analyses on data from 156 hospitals, we tested the direct and indirect effects among these sensemaking processes and performance outcomes and developed a model of their relationships. In a more general sense, the research represents an attempt to provide insight not only into relationships between cognition and action, but also into the links between those fundamental processes and organizational performance outcomes.