Vision-based obstacle detection for rotorcraft flight

The ability of rotorcraft to fly at low altitude is hindered by the high pilot workload required to avoid obstacles. The development of automation tools that can detect obstacles in the rotorcraft flight path, warn the crew, and interact with the guidance system to avoid detected obstacles would significantly reduce pilot workload and increase safety. This article describes an obstacle detection approach based on feature tracking and recursive range estimation that takes into account the characteristics of rotorcraft flight. The merits and weaknesses of the approach are discussed using image sequences from the laboratory and from flight. © 1992 John Wiley & Sons, Inc.     

Mass transfer at the gas evolving inner electrode of a concentric cylindrical reactor

Mass transfer coefficients for an oxygen evolving vertical PbO₂ coated cylinder electrode were measured for the anodic oxidation of acidified ferrous sulphate above the limiting current. Variables studied included the ferrous sulphate concentration, the anode height, the oxygen discharge rate and the anode surface roughness. The mass transfer coefficient was found to increase with increasing O₂ discharge rate,V, and electrode height,h, according to the proportionality expressionK V ^0.34 h ^0.2. Surface roughness with a peak to valley height up to 2.6 mm was found to increase the rate of mass transfer by a modest amount which ranged from 33.3 to 50.8% depending on the degree of roughness and oxygen discharge rate. The present data, as well as previous data at vertical oxygen evolving electrodes where bubble coalescence is negligible, were correlated by the equationJ=7.63 (Re. Fr)^–0.12, whereJ is the mass transferJ factor (St. Sc ^0.66).Notation a ₁,a ₂ constants - A electrode area (cm²) - C concentration of Fe²⁺ (M) - d bubble diameter (cm) - D diffusivity (cm² s^–1) - e electrochemical equivalent (g C^–1) - F Faraday's constant - g acceleration due to gravity (cm s^–2) - h electrode height (cm) - I _Fe ²⁺ current consumed in Fe²⁺ oxidation A - I _{o 2} current consumed in O₂ evolution, A - K mass transfer coefficient (cm s^–1) - m amount of Fe²⁺ oxidized (g) - P gas pressure (atm) - p pitch of the threaded surface (cm) - Q volume of oxygen gas passing any point at the electrode surface (cm³ s^–1) - R gas constant (atm cm³ mol^–1 K^–1) - r peak-to-valley height of the threaded surface (cm) - t time of electrolysis (s) - T temperature (K) - solution viscosity (g cm^–1 s^–1) - V oxygen discharge velocity as defined by Equation 3 (cm s^–1) - Z number of electrons involved in the reaction - Sh Sherwood number (Kd/D) - Re Reynolds number (Vd/) - Sc Schmidt number (v/D) - J mass transferJ factor (St. Sc ^0.66) - St Stanton number (K/V) - Fr Froude number (V ²/dg) - Solution density, g cm^–3 - v Kinematic viscosity (cm² s^–1) - bubble geometrical parameter defined in [31] - fractional surface coverage - diffusion layer thickness (cm)     

On-line multi-variable predictive control of molar mass and particle size distributions in free-radical emulsion copolymerization

A multi-variable model predictive control (MPC) was formulated to solve control problems associated with a combination of regulation and targeting desired set-points. We investigated the simultaneous control of key polymer properties: the particle size (PSD) and molecular weight distribution (MWD) by manipulating the flow rates of the monomers (styrene, MMA), surfactant, initiator and the temperature of the reactor. A multi-input-multi-output (MIMO) formulation was constructed for the constrained optimal control problem to maximize the width of the PSD (with M_n at a constant set-point), and to maximize the average molar mass. The strategy developed within a gPROMS-API-DCS environment allowed real-time implementation of model-based control of the process. The optimal control problem was implemented via an interface to a dynamic optimization code. Major improvements in process operation and polymer property control resulted on the implementation of our multi-variable MPC algorithm. The manipulation of the four flow rates and the temperature increased the degree of freedom in the system and achieved tighter PSD and MWD control. The on-line performance of MPC for MWD and PSD control was found to be satisfactory.     

Exploring and exploiting a historical corpus for Arabic

This paper presents a historical Arabic corpus named HAC. At this early embryonic stage of the project, we report about the design, the architecture and some of the experiments which we have conducted on HAC. The corpus, and accordingly the search results, will be represented using a primary XML exchange format. This will serve as an intermediate exchange tool within the project and will allow the user to process the results offline using some external tools. HAC is made up of Classical Arabic texts that cover 1600 years of language use; the Quranic text, Modern Standard Arabic texts, as well as a variety of monolingual Arabic dictionaries. The development of this historical corpus assists linguists and Arabic language learners to effectively explore, understand, and discover interesting knowledge hidden in millions of instances of language use. We used techniques from the field of natural language processing to process the data and a graph-based representation for the corpus. We provided researchers with an export facility to render further linguistic analysis possible.     

Optimal controllers for spatially invariant systems with delayed communication requirements

We consider the problem of optimal design of semi-decentralized controllers for a special class of spatially distributed systems. This class includes spatially invariant and distributed discrete-time systems with an inherent temporal delay in the interaction of neighboring sites. We consider the problem of optimal design of distributed controllers that have the same information passing delay structure as the plant. We show how for stable plants, the YJBK parameterization of such stabilizing controllers yields a convex parameterization for this class. We then show how the optimal problem can be solved.     

Experimenting with a Question Answering System for the Arabic Language

The World Wide Web (WWW) today is so vast that it has become more and more difficult to find answers to questions using standard search engines. Current search engines can return ranked lists of documents, but they do not deliver direct answers to the user. The goal of Open Domain Question Answering (QA) systems is to take a natural language question, understand the meaning of the question, and present a short answer as a response based on a repository of information. In this paper we present QARAB, a QA system that combines techniques from Information Retrieval and Natural Language Processing. This combination enables domain independence. The system takes natural language questions expressed in the Arabic language and attempts to provide short answers in Arabic. To do so, it attempts to discover what the user wants by analyzing the question and a variety of candidate answers from a linguistic point of view.     

Hierarchical steganography using novel optimum quantization technique

Security and imperceptibility are fundamental issues for steganography. This paper presents a multi-level steganography system based on concealing and deception. Basically, the secret image is embedded in a cover image, which in turn is embedded in another higher-level cover image. Each steganography level provides additional security, with lower levels implemented using stronger steganography methods. Furthermore, in the event that the higher level steganography is compromised, it would include misleading information to deceive the attacker that he/she is successfully eavesdropping. One challenge of hierarchical system is retaining hidden data in lower level in a higher level stenographic technique. To mitigate this issue, we designed a novel technique which combines discrete cosine transform and least significant bit (LSB). The technique objective is to maximize the capacity and invisibility of the secret image with minimal modification to the cover image (at most k-bits per block). The performance (capacity and peak signal-to-noise ratio) of the proposed method has superior performance compared with LSB since it combines the benefits of 1-bit and 3-bit LSBs. Furthermore, the paper demonstrates that the secret message is successfully embedded and extracted in two-level steganography system with peak signal-to-nose ratio greater than 20 dB.     

Production of polyhydroxyalkanoates by batch and fed-batch cultivations of <Emphasis Type="Italic">Bacillus megaterium</Emphasis> from acid-treated red algae

Polyhydroxyalkanoates (PHAs) are linear polyesters synthesized by microbial fermentation of various substrates. PHAs are accumulated in microbial cells in order to store carbon and energy for future use. We used acid-pre-treated red alga (Gelidium amansii) as a cheap, abundant carbon source to produce PHA via batch and fed-batch cultivation of Bacillus megaterium KCTC 2194. After acid treatment of 10% (w/v) G. amansii, 25.5 g/L galactose, 3.6 g/L glucose, 6 g/L 5-HMF, and 1.05 g/L levulinic acid were formed. In batch culture at pH 7, the dry cell weight (DCW) and PHA content increased to 5.5 g/L and 51.4%, respectively. The cell concentration was enhanced by fed-batch cultivation using two feeding strategies: pH-stat and intermittent feeding. When the pH-stat feeding strategy was employed to add concentrated hydrolysate to the fermentor, DCW increased to 8.2 g/L, with 53.2% PHA content. When concentrated hydrolysate was fed using the intermittent feeding strategy, higher DCW (10.1 g/L) was obtained, along with a slight increase of PHA content to 54.5%. This study demonstrates that red algae could be used after simple acid treatment, to produce PHA without steps for enzymatic hydrolysis and inhibitor removal.