UNI-Copter: A portable single-rotor-powered spherical unmanned aerial vehicle (UAV) with an easy-to-assemble and flexible structure

Journal of Mechanical Science and Technology - This paper presents the design and modeling of the UNI-Copter, a portable spherical unmanned aerial vehicle (UAV) that is powered by a single rotor....     

TMPA 卫星降水数据的评估与校正

卫星遥感降水由于时空分辨率的优势在现代水文模拟中正起着越来越大的作用。本研究对黄河源区的两套卫星降水产品(TMPA准实时3B42RT和研究数据3B42V6)进行了详细评估,结果表明,3B42RT与3B42V6相比会明显高估地面降水,而两者对降水事件的反演能力基本一致。通过引入"降水重心"的概念,两套卫星降水产品均可以基本反映降水的空间分布及长期演变过程。在两者尤其是3B42RT数据的校正中,首先将卫星数据与地面站点月降水对比,再等比例降尺度回日降水,然后尝试逐步订正和最优插值两种残差处理方法,从而使降水量和降水分布的精度进一步提高。最后用校正后的卫星降水驱动分布式水文模型,利用输出径流间接验证校正的效果。     

Stable pairwise time synchronization in the application layer for capillary machine-to-machine networks

This paper presents the design and performance evaluation of a stable pairwise time synchronization protocol (abbreviated SPS) for capillary machine-to-machine (M2M) networks that provides underlying platform independence and operational stability, even under harsh conditions. SPS achieves the first criterion using a novel technique whereby the M2M device captures incoming or outgoing moments of timing messages. The second criterion is achieved by adaptively adjusting the resynchronization interval. Extensive simulations are conducted to demonstrate the validity and effectiveness of SPS.     

Improving microbiological food Safety in peri-urban Mali; an experimental study

IntroductionTwenty years ago, a WHO review of the literature assumed that most food-borne disease transmission in developing countries takes place within the home, and advocated a major programme of interdisciplinary research to develop and test cost-effective interventions to promote food hygiene.MethodsThe HACCP approach was applied step by step, to two selected weaning foods prepared by 15 volunteer mothers in peri-urban Mali. After setting Critical Control Points (CCP), actions were taken to control, reduce or eliminate microbial growth at these points. 432 food samples were collected and examined for thermotolerant coliforms in a local laboratory to assess the effectiveness of the approach. Lessons learnt were translated into messages delivered in a pilot study.ResultsTraditional cooking was very effective in eliminating faecal contamination; reheating was as effective as cooking when adopted, because there was no significant difference in the temperatures reached in both cases. Behavioural corrective actions were effective in controlling faecal contamination at the other CCPs (serving the child after cooking and after reheating).ConclusionIn conclusion, the HACCP experiment improved significantly the bacterial safety of both types of weaning food studied.     

An improved space-vector-based hysteresis current controller

In this paper, an improved space-vector-based hysteresis current controller (SVBHCC) is proposed. The controller determines a set of space vectors from a region detector and applies a space voltage vector selected according to the main HCC. A set of space vectors including the zero voltage vector to reduce the number of switchings is determined from the information of the current errors, which are wider than those of the main HCC. A simple hardware implementation is proposed and the good experimental results of the SVBHCC for a squirrel cage motor are also shown     

Assessment and Improvement of IDF Generation Algorithms Used in the IDF_CC Tool

Water Resources Management - Climate change will modify the spatio-temporal variation of hydrological variables worldwide, potentially leading to more extreme events and hydraulic infrastructure...     

Black Hole Attack Prevention in Wireless Peer-to-Peer Networks: A New Strategy

Mobile peer-to-peer networking (MP2P) is a relatively new paradigm compared to other wireless network technologies. In the last 10–15 years, it has gained tremendous popularity because of its usefulness in applications such as file sharing over the Internet in a decentralized manner. Security of mobile P2P networks represents an open research topic and a main challenge regarding the vulnerability of these networks and their convenience to different security attacks such as black hole, Sybil, etc. In this work, we analyze the black hole attack in wireless P2P networks using the AODV as the routing protocol. In a black hole attack, a malicious node assumes the identity of a legitimate node, by creating forged answers with a higher sequence number, and thus forces the victim node to prioritize it as a relay node. We propose a solution based on a modification of the AODV routing protocol, taking into account the behavior of each node participating in the network. The performances of our proposal are evaluated by simulation.

     

A method of compliance control of redundant manipulators

A compliance control method of redundant manipulators is presented. This method is based on the new stiffness model, which allows to modulate accarate joint stiffness of realizing the end effector stiffness to be varied with task requirements. A control model is developed and implemented by the proposed method in a three degree of freedom planar redundant manipulator. Also its effectiveness is validated.     

Control of voice coil motor nanoscanners for an atomic force microscopy system using a loop shaping technique

The voice coil motor nanoscanner has the advantages of large working range, easy control, and low cost compared to the conventional lead zirconate titanate driven nanoscanner. However, it has a small damping problem which causes mechanical vibration. The mechanical vibration reduces the accuracy as well as servobandwidth, which deteoriates the atomic force microscopy (AFM) image of the samples. In order to solve the vibration problem, the loop shaping technique [for vertical (z)] and input prefilter [for lateral (xy)] are applied. Experimental results of the proposed techniques are presented for vertical (z) and lateral (xy) scanner. Finally, the AFM images are provided to investigate its effect.