Target following with motion prediction for unmanned surface vehicle operating in cluttered environments

The capability of following a moving target in an environment with obstacles is required as a basic and necessary function for realizing an autonomous unmanned surface vehicle (USV). Many target following scenarios involve a follower and target vehicles that may have different maneuvering capabilities. Moreover, the follower vehicle may not have prior information about the intended motion of the target boat. This paper presents a trajectory planning and tracking approach for following a differentially constrained target vehicle operating in an obstacle field. The developed approach includes a novel algorithm for computing a desired pose and surge speed in the vicinity of the target boat, jointly defined as a motion goal, and tightly integrates it with trajectory planning and tracking components of the entire system. The trajectory planner generates a dynamically feasible, collision-free trajectory to allow the USV to safely reach the computed motion goal. Trajectory planning needs to be sufficiently fast and yet produce dynamically feasible and short trajectories due to the moving target. This required speeding up the planning by searching for trajectories through a hybrid, pose-position state space using a multi-resolution control action set. The search in the velocity space is decoupled from the search for a trajectory in the pose space. Therefore, the underlying trajectory tracking controller computes desired surge speed for each segment of the trajectory and ensures that the USV maintains it. We have carried out simulation as well as experimental studies to demonstrate the effectiveness of the developed approach.     

Geschäftsmodelle

The business model concept, although a relatively new topic for research, has garnered growing attention over the past decade. Whilst it has been robustly defined, the concept has so far attracted very little substantive research. In the context of the wide-spread digitization of businesses and society at large, the logic inherent in a business model has become critical for business success and, hence, a focus for academic inquiry. The business model concept is identified as the missing link between business strategy, processes, and Information Technology (IT). The authors argue that the BISE community offers distinct and unique competencies (e.g., translating business strategies into IT systems, managing business and IT processes, etc.) that can be harnessed for significant research contributions to this field. Within this research gap three distinct streams are delineated, namely, business models in IT industries, IT enabled or digital business models, and IT support for developing and managing business models. For these streams, the current state of the art, suggest critical research questions, and suitable research methodologies are outlined.     

Amphiphilic segmented polymer networks based on poly(2-alkyl-2-oxazoline) and poly(methyl methacrylate)

Amphiphilic segmented polymer networks (SPNs) have been prepared by free radical copolymerization of methyl methacrylate with α,ω-bisacrylate terminated poly(2-methyl-2-oxazoline) and poly(2-ethyl-2-oxazoline). DSC and DMTA analysis demonstrated the influence of the copolymer composition, the molecular weight and nature of the poly(2-alkyl-2-oxazoline)s and the polymerization conditions on the final phase morphology of the networks. A comparative phase morphology study of the polymer blends and SPNs revealed the more compatible phase morphology of the networks. The compatibility could be further increased by UV-induced network formation. The investigation of the solvent uptake in different solvents clearly demonstrated the amphiphilic nature of the SPNs.     

CLATHRATE HYDRATE FORMATION ENHANCES NEAR-CRITICAL AND SUPERCRITICAL SOLVENT EXTRACTION EQUILIBRIA

Pre-concentration of dilute aqueous solutions by hydrate formation can improve the effective distribution coefficient and selectivity of solvent extraction. Many solvents can serve simultaneously to promote solution concentration by hydrate formation and also to extract non-polar solutes from the resulting concentrated solution. This concept is illustrated for systems with supercritical ethylene and with near-critical liquid carbon dioxide, and its application to conventional solvents is discussed.     

Structural–Property Relations in a Reduced and Internally Biased Oxide Wafer (RAINBOW) Actuator Material

Reduced and internally biased oxide wafer (RAINBOW) actuators are fabricated by a controlled reduction of Pb(Zr, Ti)O₃-based piezoelectric material. The reduction process results in a conductive layer composed of an interconnected metallic lead phase and refractory oxides (ZrTiO₄, ZrO₂, La₂O₃, etc.). The nature of the reduction is discovered to be the result of a complex volume change leading to a nanoscale interconnected metallic structure. The distribution of phases within the cermet vary within the thickness of the wafer. Within the piezoelectric ceramic phase, the reduction process modifies the grain-boundary structure to give two distinct types of fracture: transgranular and intergranular. The complexed microstructures of the RAINBOW actuator materials are discussed in relation to their dielectric and piezoelectric properties.     

Ultrasonic Dispersion of Ceramic Powders

Ultrasonication is very effective in dispersing alumina and barium titanate slurries. When optimum conditions are used, very short durations (2 to 3 min) are enough to achieve well-dispersed, stable suspensions.     

Structure and conductivity of multi-walled carbon nanotube/poly(3-hexylthiophene) composite films

This work reports a structure-property investigation of a conjugated polymer nanocomposite with enhanced conductivity. Regioregular poly(3-hexylthiophene) (rrP3HT) was used to prepare composites with thin, short, multi-walled carbon nanotube (MWNT) addition over a wide range of concentrations. Scanning and transmission electron microscopies demonstrated an excellent dispersion and good wetting properties within the carbon nanotube composites. Coated MWNTs showed superstructures of P3HT self-organized on nanotube surfaces. Changes in the long range order and on the self-ordered mesophase of the bulk material were investigated by infrared and Raman spectroscopies, differential scanning calorimetry and X-ray diffraction. Interplay between charge transport through the semiconducting polymer and carbon nanotube network increased the composite's conductivity after percolation to values close to 10⁻² S cm⁻¹.     

15 years of processing and dissemination of SPOT-VEGETATION products

Throughout the VEGETATION programme, the Flemish Institute for Technological Research (VITO) uninterruptedly hosted the prime user segment of both VEGETATION 1 and VEGETATION 2 multispectral instruments on board the Satellite Pour l’Observation de la Terre 4 (SPOT 4) and SPOT 5 satellites. Operational since the launch of SPOT 4 in March 1998, and foreseen to continue at least until the end of the SPOT 5 mission (anticipated in spring 2014), this user segment comprises a processing facility (PF), actively receiving, processing, correcting, archiving, and distributing the VEGETATION data and derived added-value products. First and foremost, the VEGETATION programme has been serving the needs of operational users – both institutional and commercial – requesting data in near-real time. However, scientific and educational users too benefited significantly, in particular from VEGETATION’s unique time series of the Earth’s land cover, and more specifically the vegetation cover. Over the years, the centralized archive houses processed data covering the equivalent of 11,000 times the Earth’s surface, and delivered more than 50 terapixels to around 10.000 users. As such, VEGETATION’s mission is a prime example of what Europe wants to achieve through the Global Monitoring for Environment and Security (GMES) initiative: truly operational services providing reliable and up-to-date information.

This article describes the processing facility, the way the data and products are archived, the different dissemination channels as well as the data policy adopted and the users served. One of the recent evolutions, the development of an entirely new product distribution facility (PDF), implemented as part of the Project for On-Board Autonomy – Vegetation (PROBA-V) user segment is discussed.     

Understanding why adult participants at the World Senior Games choose a healthy diet

Background

Identifying those seniors most likely to adopt a healthy diet, the relative importance they place on certain perceived benefits associated with a healthy diet, and whether these perceived benefits are associated with selected demographic, lifestyle, and health history variables is important for directing effective dietary health promotion programs.

Methods

Analyses are based on a cross-sectional convenience sample of 670 seniors aged 50 years and older at the 2002 World Senior Games in St. George, Utah. Data are assessed using frequencies, bivariate analysis, analysis of variance, and multiple logistic regression analysis.

Results

Fruit and vegetable consumption was significantly higher in individuals aged 70–79, in women, in those not overweight or obese, and in those with excellent overall health. Dietary fiber consumption was significantly higher in former or never smokers, current and previous alcohol drinkers, in those not overweight or obese, and in those with excellent health. The strongest motivating factors identified for adopting a healthy diet were to improve the quality of life, to increase longevity, and to prevent disease. Of intermediate importance were the need to feel a sense of control and to satisfy likes or dislikes. Least important were the desire to experience a higher level of spirituality, social reasons, and peer acceptance.

Conclusion

Seniors who have adopted a healthy diet are more likely to have chosen that behavior because of perceived health benefits than for personal and social benefits. Overweight or obese individuals and those in poor health were less likely to be engaged in healthy eating behavior and require special attention by dieticians and public health professionals.

     

Identification of leek-moth and diamondback-moth frass volatiles that stimulate parasitoid,Diadromus pulchellus

Acrolepiopsis assectella andPlutella xylostella frass volatiles, trapped on Tenax GC, were examined by capillary gas chromatography. In both moths, the same three disulfides, dimethyl, dipropyl, and methyl propyl, were the most abundant substances, but in different proportions. The synthetic disulfides elicited the same behavioral response by the parasitoid,Diadromus pulchellus as frass. The plant origin of these substances is discussed.