For navigation of unmanned aerial vehicles (UAVs), attitude estimation is essential. We present a method for attitude estimation (pitch and roll angle) from aerial fisheye images through horizon detection. The method is based on edge detection and a probabilistic Hough voting scheme. In a flight scenario, there is often some prior knowledge of the vehicle altitude and attitude. We exploit this ...

This paper introduces a new approach to reduce the computational load of nonlinear model based predictive controllers. The idea is based on dividing a long prediction horizon into only a few equidistant intervals with piecewise constant control signals. After solving a first dynamic optimization problem the prediction horizon is halved, keeping the second half of the solution fixed and doubling...

We present a receding horizon control algorithm for compensation of backlash at the input of a stable linear system under control rate constraints. The problem is first posed as a receding horizon optimal control problem by modelling backlash as a piecewise affine system with a state space partition consisting of three regions. This optimal control problem involves solving, at each step, 3 quad...

in the retinoblastoma research, it is of great interest to identify molecular markers associated with the genetics of tumorigenesis. micrornas (mirnas) are small non-coding rna molecules that play a regulatory role in many crucial cellular pathways such as differentiation, cell cycle progression, and apoptosis. a body of evidences showed dysregulation of mirnas in tumor biology and many disease...

We review some recent results concerning the properties of a spherically symmetric global monopole in (D = d+2)-dimensional general relativity. Some common features of monopole solutions are found independently of the choice of the symmetry-breaking potential. Thus, the solutions show six types of qualitative behavior and can contain at most one simple horizon. For the standard Mexican hat (Hig...

Model predictive control (MPC) based methods are gaining more and more attention in power converters and electrical drives. Nevertheless, high computational burden of MPC is an obstacle for its application, especially when the prediction horizon increases extends. At the same time, increasing the prediction horizon leads to a superior response. In this paper, a long horizon MPC is proposed to c...

The quantization of a massless conformally coupled scalar eld on the 2+1 dimensional Anti de Sitter black hole background is presented. The Green's function is calculated, using the fact that the black hole is Anti de Sitter space with points identiied, and taking into account the fact that the black hole spacetime is not globally hyperbolic. It is shown that the Green's function calculated in ...

l’œuvre n’existe pas en tant que littéraire pour le lecteur, si la lecture ne lui procure aucune émotion esthétique.mais quelles sont les conditions qui président à la perception de l’œuvre comme texte littéraire?et si c’est uniquement le récepteur qui érige le texte en œuvre littéraire, selon quels critères peut-on juger de sa littérarité? pour répondre à ces questions, l’approchesémiostylisti...

purpose: the aim of the present study was to determine theeffectiveness of group hope therapy on the time horizon andoptimism of divorced women 25-40 years old in tehran whoreferred to a counseling center. materials and method: 30divorced women were selected randomly and were assignedat two experimental and control groups. group hope therapywas held for 8 sessions of 2 hour. group hope therapy ...