This paper presents the development of a nonlinear quadrotor simulation framework together with a nonlinear controller. The quadrotor stabilization and navigation problems are tackled using a nested loops control architecture. A nonlinear Backstepping controller is implemented for the inner stabilization loop. It asymptotically tracks reference attitude, altitude and heading trajectories. The o...

Hair cells are specialized sensors located in the inner ear that enable the transduction of sound, motion, and gravity into neuronal impulses. In birds some hair cells contain an iron-rich organelle, the cuticulosome, that has been implicated in the magnetic sense. Here, we exploit histological, transcriptomic, and tomographic methods to investigate the development of cuticulosomes, as well as ...

Microvascular changes during the development of follicles in bovine ovaries were studied by scanning electron microscopy of corrosion casts. A clear vascular plexus of ovarian follicles appeared at the stage when secondary follicles were 200-400 microns in diameter. The plexus consisted initially of a thin, roughly structured and single-layered capillary network. During follicular development, ...

This paper focuses on the control of the mechanical impedance of an aircraft yoke. The control architecture involves an inner position servo-loop and an outer loop feedbacking the torque/force measurement to the position reference input through the required admitance model. Two different approaches are presented for the inner position servo-loop design: a classical Proportional-Derivative contr...

due to the complex structure of the pressure-adjusting device used in most sprinklersfor variable irrigation, it is not possible to observe the flow behavior of the water passingthrough the flow field. in this paper, an integral three dimensional (3d) numerical modelbased on the structural characteristics of the fluidic sprinkler was constructed to simulatethe flow field distribution using comp...

the aim of the current study is to investigate hearing function in patients with allergic rhinitis. fifty-eight patients with positive skin prick test (group 1) (116 ears) and    31 subjects with negative skin prick test (62 ears) as group 2 were included. pure tone audiometry at 250,500, 1000, 2000, 4000 and 8000 hz and immittance measures, including tympanometry and acoustic reflex tests, wer...

PURPOSE Comparative studies of structure related to function offer a promising means of understanding the significance of differences in cytoarchitecture. Mitochondrial crista structure is linked tightly to mitochondrial function. Non-foveal cone photoreceptors of primates contain considerably more inner segment mitochondria and have higher oxidative enzyme activity than do rods. In addition, i...

We have calculated a three-dimensional map of the yeast nuclear pore complex (yNPC) from frozen-hydrated specimens, thereby providing a direct comparison with the vertebrate NPC. Overall, the smaller yNPC is comprised of an octagonal inner spoke ring that is anchored within the nuclear envelope by a novel membrane-interacting ring. In addition, a cylindrical transporter is located centrally wit...

Apicomplexan parasites contain a conserved protein CelTOS that, in malaria parasites, is essential for traversal of cells within the mammalian host and arthropod vector. However, the molecular role of CelTOS is unknown because it lacks sequence similarity to proteins of known function. Here, we determined the crystal structure of CelTOS and discovered CelTOS resembles proteins that bind to and ...