317 research outputs found
Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation
No full textA conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function. Within this control scheme, nonlinear H∞ and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error
Tracking Control Scheme for Multiple Autonomous Underwater Vehicles Subject to Union of Boundaries
No full textAbstractThis paper presents a new region boundary-based tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The proposed controller enables MAUVs to track a moving target formed by the union of two or more boundaries. In this case, multiplicative potential energy function is used to unite the whole boundaries. Moreover, each underwater vehicle navigates into a specific position on the boundary lines or surfaces while the target itself is moving. A non-negative Lyapunov-like function is presented for stability analysis of the MAUVs. Simulation results on 6 degrees-of-freedom AUVs are presented to illustrate the performance of new tracking control scheme
Samenvattingen en beoordeling van literatuur aanwezig bij ONW in relatie met de constructies zinkstuk met zool en zandworsten mat
No full textIn 1980 is gestart met het project "Evaluatie ONW archief". De doelstelling hierbij was de in de archieven van ONW opgeslagen kennis en ervaring opgedaan tijdens 25 jaar praktijkonderzoek en ontwikkeling beter toegankelijk te maken door het vervaardigen van een aantal afgeronde publicaties. In 1981 is een quantitieve analyse gemaakt van het archief materiaal van ONW en is het archief-systeem doorgelicht en opnieuw opgezet. Op basis van de resultaten van de quantitatieve analyse is in 1981 besloten om als eerste aanzet van de onderwerpen zinkstuk met zool en zandworstenmat een kwalitatieve beoordeling te maken van het aanwezige materiaal vervolgens afhankelijk van deze beoordeling te beslissen of er zoja in welke vorm publicaties over deze onderwerpen zullen worden geschreven. De resultaten van de kwalitatieve analyse van het beschikbare materiaal werden in deze notitie gegeven.KWP-collectio
Transformation of the endostyle of the anadromous sea lamprey, Petromyzon-marinus L, during metamorphosis .2. Electron-microscopy
No full textPT: J; CR: BARRINGTON EJW, 1956, Q J MICROSC SCI, V97, P393 BARRINGTON EJW, 1975, INTRO GENERAL COMP E BEAMISH FWH, 1975, J ZOOL, V177, P57 BENCOSME SA, 1959, J BIOPHYS BIOCHEM CY, V5, P508 CHENG H, 1974, AM J ANAT, V141, P537 CLEMENTSMERLINI M, 1960, J MORPHOL, V106, P337 COLEMAN R, 1968, GEN COMP ENDOCR, V10, P34 CORDIER AC, 1976, AM J ANAT, V146, P339 DAEMS WT, 1969, LYSOSOMES, V1, P64 EGEBERG J, 1965, Z ZELLFORSCH MIKROSK, V68, P102 ETKIN W, 1968, METAMORPHOSIS PROBLE, P313 FINSTAD J, 1964, J EXP MED, V120, P1151 FOX H, 1970, J EMBRYOL EXP MORPH, V24, P139 FOX H, 1973, Z ZELLFORSCH, V130, P371 FUJITA H, 1966, Z ZELLFORSCH MIKROSK, V73, P559 FUJITA H, 1968, GEN COMP ENDOCR, V11, P111 FUJITA H, 1969, Z ZELLFORSCH, V98, P525 FUJITA H, 1972, ARCH HISTOL JAPON, V34, P109 FUJITA H, 1975, ARCH HISTOL JPN, V37, P277 FUJITA H, 1975, INT REV CYTOL, V40, P197 GOOD RA, 1972, BIOL LAMPREYS, V2, P405 GORBMAN A, 1962, TXB COMP ENDOCRINOLO HELMINEN HJ, 1971, J ULTRASTRUCT RES, V36, P708 HENDERSON NE, 1971, GEN COMP ENDOCR, V16, P409 HILFER SR, 1964, J MORPHOL, V115, P135 HILFER SR, 1977, J CELL BIOL, V75, P446 HOHEISEL G, 1969, GEGENBAURS MORPHOL J, V114, P204 HOHEISEL G, 1970, MORPHOL JB, V114, P337 HOURDRY J, 1969, Z ZELLFORSCH MIKR AN, V101, P527 JAMIESON JD, 1977, INT CELL BIOL, P308 KLINCK GH, 1970, LAB INVEST, V22, P2 KRAENVZEL F, 1933, ARCH BIOL LIEGE, V44, P469 KRUPP PP, 1977, ANAT REC, V187, P495 LANZING WJR, 1959, STUDIES RIVER LAMPRE LEACH JW, 1939, J MORPHOL, V65, P549 LUFT JH, 1961, J BIOPHYS BIOCH CYTO, V9, P409 MANASEK FJ, 1969, J EMBRYOL EXP MORPH, V21, P271 MARINE D, 1913, J EXP MED, V17, P379 MILLONIG G, 1961, J APPL PHYS, V32, P1637 MOLLENHAUER HH, 1964, STAIN TECHNOL, V39, P111 MORRIS GP, 1979, CELL TISSUE RES, V196, P449 NEUENSCHWANDER P, 1972, Z ZELLFORSCH MIKROSK, V130, P553 NEVE P, 1965, J MICROSC-PARIS, V4, P811 NICKERSON PA, 1970, J CELL BIOL, V47, P277 NOVIKOFF AB, 1976, CELLS ORGANELLES NUNEZ EA, 1967, J CELL BIOL, V2, P404 NUNEZ EA, 1976, ANAT REC, V184, P133 OLIN P, 1970, ENDOCRINOLOGY, V87, P1000 OLIVEREAU M, 1952, ARCH ANAT MICROSC EX, V41, P1 OOI EC, 1976, CAN J ZOOL, V54, P1449 OOI EC, 1979, AM J ANAT, V154, P57 PEEK WD, 1979, J MORPHOL, V160, P143 PIPAN N, 1976, CYTOBIOLOGIE, V13, P435 POLLARD B, 1966, PHYLOGENY IMMUNITY, P88 REMY L, 1977, J ULTRASTRUCT RES, V61, P243 REYNOLDS ES, 1963, J CELL BIOL, V17, P208 ROITT IM, 1971, ESSENTIAL IMMUNOLOGY, P211 ROMERT P, 1973, Z ANAT ENTWICKLUNGS, V139, P319 SELJELID R, 1967, J ULTRASTRUCT RES, V17, P195 SELJELID R, 1967, J ULTRASTRUCT RES, V17, P401 SETOGUTI T, 1973, Z ZELLFORSCH MIKROSK, V137, P195 SHEPARD TH, 1967, J CLIN ENDOCR METAB, V27, P945 SHIVELY JN, 1969, AM J VET RES, V30, P219 STERBA G, 1953, WISS Z F SCHILLER MN, V3, P1 STERBA G, 1953, WISS Z F SCHILLER MN, V3, P239 STERBA G, 1961, INT REV GES HYDROBIO, V46, P105 STERBA G, 1962, HDB BINNENFISCHEREI, V3, P263 THIELE J, 1976, CELL TISSUE RES, V168, P133 WATSON ML, 1958, J BIOPHYS BIOCHEM CY, V4, P475 WESSELLS NK, 1971, SCIENCE, V171, P135 WETZEL BK, 1969, ENDOCRINOLOGY, V84, P563 WISSIG SL, 1960, J BIOPHYS BIOCHEM CY, V7, P419 WOLLMAN SH, 1969, LYSOSOMES BIOLOGY PA, V2, P483 WRIGHT G, 1978, AM J ANAT, V152, P263 WRIGHT GM, 1976, GEN COMP ENDOCR, V30, P243 WRIGHT GM, 1977, J EXP ZOOL, V202, P27 WRIGHT GM, 1978, THESIS U TORONTO, P70 YOUSON JH, 1977, CAN J ZOOL, V55, P469 YOUSON JH, 1979, CAN J ZOOL, V57, P1808 YOUSON JH, 1980, CAN J FISH AQUAT SCI, V37; NR: 80; TC: 21; J9: J MORPHOL; PG: 27; GA: KT943Source type: Electronic(1
Transformation of mucocartilage to a definitive cartilage during metamorphosis in the sea lamprey, Petromyzon-marinus
No full textPT: J; CR: ARCHER CW, 1982, CELL DIFFER, V11, P245 BROWDER LW, 1980, DEV BIOL, P577 CAPLAN AI, 1973, J EMBRYOL EXP MORPH, V29, P571 DAMAS H, 1935, ARCH BIOL, V46, P171 DARNELL J, 1986, MOL CELL BIOL EDE DA, 1983, CARTILAGE, V2, P143 EIKENBERRY EF, 1984, J MOL BIOL, V176, P261 FOX H, 1975, J EMBRYOL EXP MORPH, V34, P191 FUKUDA Y, 1984, AM J ANAT, V170, P597 GODMAN GC, 1960, J BIOPHYS BIOCHEM CY, V8, P719 GOEL SC, 1970, J EMBRYOL EXPTL MORP, V23, P169 GOSS RJ, 1972, AM ZOOL, V12, P151 GOULD RP, 1972, EXP CELL RES, V72, P325 HALL BK, 1978, DEV CELLULAR SKELETA, P86 HAM AW, 1979, HISTOLOGY HARDISTY MW, 1971, BIOL LAMPREYS, V1, P127 HARDISTY MW, 1971, BIOL LAMPREYS, V1, P85 HARDISTY MW, 1981, BIOL LAMPREYS, V3, P333 HASTY KA, 1981, DEV BIOL, V86, P198 HASTY KA, 1983, J HISTOCHEM CYTOCHEM, V31, P1367 HEASMAN J, 1978, J EMBRYOL EXP MORPH, V46, P119 HORNBRUCH A, 1970, NATURE, V226, P764 HUNZIKER EB, 1982, J ULTRASTRUCT RES, V81, P1 JANNERS MY, 1970, DEV BIOL, V23, P136 JOHNELS A, 1948, ACTA ZOOL-STOCKHOLM, V29, P139 JURAND A, 1965, P ROY SOC B, V162, P387 KIMURA S, 1982, COMP BIOCH PHYSL, V73, P335 KOSHER RA, 1980, J EMBRYOL EXP MORPH, V56, P91 KOSHER RA, 1983, CARTILAGE, V1, P59 LASH JW, 1978, DEV BIOL, V66, P151 LINSENMAYER TF, 1981, CELL BIOL EXTRACELLU, P5 MANGIA F, 1970, ARCH ANAT MICROSC MO, V59, P283 MARTIN GR, 1985, TRENDS BIOCHEM SCI, V10, P285 MILLER EJ, 1969, P NATL ACAD SCI USA, V64, P1264 NATHANSON MA, 1980, DEV BIOL, V78, P301 OLSON M, 1971, AM J ANAT, V131, P197 POTTER IC, 1978, CAN J ZOOL, V56, P561 SCHMIDT AJ, 1968, CELLULAR BIOL VERTEB SCHNEIDER A, 1879, ANATOMIE ENTWICKELUN, P85 SEARLS RL, 1972, DEV BIOL, V28, P123 SHEEHAN DC, 1980, THEORY PRACTICE HIST SHELDON H, 1983, CARTILAGE, V1, P87 SHEREN SB, 1986, COMP BIOCHEM PHYS B, V85, P5 SHORE RC, 1981, J ANAT, V133, P67 STOCKWELL RA, 1979, BIOL CARTILAGE CELLS STUDNICKA FK, 1897, ARCH MIKROSK ANAT, V48, P606 SUMMERBELL D, 1973, NATURE, V244, P492 THOROGOOD PV, 1975, J EMBRYOL EXP MORPH, V33, P581 VONDERMARK K, 1979, CLIN ORTHOP RELAT R, V139, P185 WATENABE K, 1974, CELL TISS RES, V155, P321 WRIGHT GM, 1982, AM J ANAT, V165, P39 WRIGHT GM, 1983, AM J ANAT, V167, P59 WRIGHT GM, 1983, EXPERIENTIA, V39, P495 WRIGHT GM, 1984, CAN J ZOOL, V62, P2445 YOUSON JH, 1979, CAN J ZOOL, V57, P1808 YOUSON JH, 1982, J MORPHOL, V171, P89; NR: 56; TC: 10; J9: J MORPHOL; PG: 21; GA: K6234Source type: Electronic(1
Efficient Detection of Robot Kidnapping in Range Finder-Based Indoor Localization Using Quasi-Standardized 2D Dynamic Time Warping
No full textThis paper proposes an augmented online approach to detect kidnapping events within range-finder-based indoor localization. The method is specifically designed for an Internet of Things (IoT)-Aided Robotics Platform that enables the system to detect kidnapping across all time instances of an indoor mobile robotic operation with high accuracy and maintain a high accuracy in the face of relocalization failures. The approach is based on similarity degree of geometry shape of the environment obtained from range scan data between two consecutive time instances. The proposed approach named Quasi-Standardized Two-Dimensional Dynamic Time Warping (QS-2DDTW) is based on the Multidimensional Dynamic Time Warping (MD-DTW) with homogeneity variance test imbued in it. A series of simulations are preformed against maximum current weight, measurement entropy, and the four metrics in metric based detector. The result shows that the proposed method yields high performance in terms of its ability to distinguish kidnapping condition from normal condition and that it has low dependency towards relocalization process, thus ensures the accuracy of detection is not disturbed by relocalization
Species composition, distribution, and summer emergence phenology of stoneflies (Insecta: Plecoptera) from Catamaran Brook, New Brunswick
No full textStonefly (Plecoptera) emergence was investigated between May and September of 1993 and 1994 in Catamaran Brook, New Brunswick, as part of a base-line study to evaluate the effects of timber harvest on Atlantic salmon habitat in Atlantic Canada. Thirty-one stonefly species representing seven families were identified from Catamaran Brook, of which 8 were new provincial records. Eight species, all in the families Chloroperlidae and Leuctridae, were common in both years. The cone-type emergence traps used in this study appeared to adequately sample most stonefly species except the Perlidae. There was a pronounced seasonal progression of species emerging from the brook that was generally constant for both years. However, the abundance and timing of stonefly emergence were related to both temperature and discharge patterns. Generally earlier emergence in 1994 than 1993 was probably related to warmer water in 1994 than 1993, and lower abundance in 1994 was probably related to a reduction in habitat due to unusually low water in that year.PT: J; CR: BAUMANN RW, 1975, SMITHSON CONTRIB ZOO, V211 CHMIELEWSKI CM, 1993, CAN J FISH AQUAT SCI, V50, P1517 CUNJAK RA, 1993, CATAMARAN BROOK NEW DAVIES IJ, 1984, IBP HDB, V17, P161 DONALD DB, 1977, SYESIS, V10, P111 DOSDALL LM, 1979, QUAEST ENTOMOL, V15, P3 FLANNAGAN JF, 1991, AM MIDL NAT, V125, P47 FRIESEN MK, 1984, AM MIDL NAT, V111, P69 FRISON TH, 1935, ILL NAT HIST SURV B, V20, P281 GAUFIN AR, 1964, GEWASSER ABWASSER, V34, P37 GRANT PR, 1969, CAN J ZOOL, V47, P691 HARPER P, 1969, CAN J ZOOL, V47, P483 HARPER PP, 1970, CAN J ZOOL, V48, P681 HARPER PP, 1971, CAN J ZOOL, V49, P915 HARPER PP, 1971, CAN J ZOOL, V49, P941 HARPER PP, 1972, ARCH HYDROBIOL S, V40, P274 HARPER PP, 1973, HYDROBIOLOGIA, V41, P309 HARPER PP, 1973, OIKOS, V24, P94 HARPER PP, 1990, HYDROBIOLOGIA, V199, P43 HARPER PP, 1991, CAN J ZOOL, V69, P787 HITCHCOCK SW, 1974, DEP ENV PROTECTION B, V107 HYNES HBN, 1976, ANNU REV ENTOMOL, V21, P135 KNODRATIEFF BC, 1993, PERLA, V12, P16 NELSON CR, 1989, GREAT BASIN NAT, V49, P289 PETERSON RH, 1990, DISTRIBUTIONS STONEF PLATTS WS, 1983, INT138 US FOR SERV RADFORD DS, 1971, CAN J ZOOL, V49, P657 RICKER WE, 1952, IND U SCI SER, V18 RICKER WE, 1968, NAT CAN, V95, P1085 SCOTT WB, 1973, FISH RES BOARD CAN B, V184 SINGH MP, 1984, AQUAT INSECT, V6, P233 SPRULES WM, 1947, 69 ONT FISH RES LAB STARK BP, 1976, J KANSAS ENTOMOL SOC, V54, P285 STEWART KW, 1988, T SAY FDN, V12; NR: 34; TC: 3; J9: CAN J ZOOL; PG: 8; GA: UW241Source type: Electronic(1
Some Like It Fat: Comparative Ultrastructure of the Embryo in Two Demosponges of the Genus Mycale (Order Poecilosclerida) from Antarctica and the Caribbean
No full text0000-0002-7993-1523© 2015 Riesgo et al. This is an open access article distributed under the terms of the Creative Commons Attribution License [4.0], which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. The attached file is the published version of the article.NHM Repositor
Efficient Detection of Robot Kidnapping in Range Finder-Based Indoor Localization Using Quasi-Standardized 2D Dynamic Time Warping
No full textThis paper proposes an augmented online approach to detect kidnapping events within range-finder-based indoor localization. The method is specifically designed for an Internet of Things (IoT)-Aided Robotics Platform that enables the system to detect kidnapping across all time instances of an indoor mobile robotic operation with high accuracy and maintain a high accuracy in the face of relocalization failures. The approach is based on similarity degree of geometry shape of the environment obtained from range scan data between two consecutive time instances. The proposed approach named Quasi-Standardized Two-Dimensional Dynamic Time Warping (QS-2DDTW) is based on the Multidimensional Dynamic Time Warping (MD-DTW) with homogeneity variance test imbued in it. A series of simulations are preformed against maximum current weight, measurement entropy, and the four metrics in metric based detector. The result shows that the proposed method yields high performance in terms of its ability to distinguish kidnapping condition from normal condition and that it has low dependency towards relocalization process, thus ensures the accuracy of detection is not disturbed by relocalization
Robust-save energy controller on an Autonomous Underwater Vehicle with obstacles avoidance
No full text- …
