A procedure to control all six DOF (degrees of freedom) of a UAV (unmanned aerial vehicle) without an external reference system and to enable fully autonomous flight is presented here. For 2D positioning the principle of optical flow is used. Together with the output of height estimation, fusing ultrasonic, infrared and inertial and pressure sensor data, the 3D position of the UAV can be comput...

Train Station Parking (TSP) has received increasing concentration as Platform Screen Doors (PSDs) are widely used in Urban Rail Transit. Aiming to enhance the accuracy and robustness of TSP, we proposed three algorithms which are Newton Dynamics based Algorithm (NDA), Heuristic Learning based Algorithm (HLA) and Heuristic Algorithm based on deceleration deviations Sequences (HAS) by using the i...

Background With his classification system, Dr Lenke introduced new parameters in radiographic analysis of idiopathic scoliosis, such as lumbar and thoracic sagittal modifiers [1]. Scoliosis is defined as a 3-dimensional (3D) deformity in the frontal, sagittal and horizontal planes. The spine is considered as a heterogeneous beam and is modeled as a deformable wire, with vertebrae represented by...

In recent years, pesticides were used heavily in Palestine, which led to the contamination of soil and water and causing many diseases. Many studies focused on the impact of pollutants such as pesticides and oil on soil, humans, animals, plants and the environment in general. Using column study the amount of glyphosate in soil decreases with increasing depth of soil, where it is for 0-30cm(11pp...

A 66-year-old man was admitted to our department with abdominal distention of 2 weeks’ duration and melena. No abnormal findings were revealed throughout physical examination. His upper gastrointestinal endoscopy revealed an elevated lesion in the anterior wall of esophagus marking from 28 to 30cm from upper incisor (Figure 1). Histological examination of the lesion showed it was poorly-differe...

We evaluated the effects of livestock grazing on C content of the plant-soil system (to 60 cm) of two semi-arid grasslands: a mixed-grass prairie (grazed 12 years), and a short-grass steppe (grazed 56 years). Grazing treatments included season-long grazing at heavy and light stocking rates, and non-grazed exclosures. Significantly higher soil C (0-30cm) was measured in grazed pastures compared ...

This paper describes the voice source localization algorithm used in the PictureTel automatic camera pointing system (LimeLight , Dynamic Speech Locating Technology). The system uses an array of 46cm wide and 30cm high, which contains 4 microphones, and is mounted on top of the monitor. The three dimensional position of a sound source is calculated from the time delays of 4 pairs of microphones...

Vector management is the primary method for reducing and preventing nonindigenous species (NIS) invasions and their ecological and economic consequences. This study was the first to examine the efficacy of in-water scrubbing using a submersible cleaning and maintenance platform (SCAMP) to prevent invertebrate species transfers from a heavily fouled obsolete vessel. Initially, prior to treatment...

Jump performances of Ctenocephalides canis and Ctenocephalides felis felis have been measured and compared on unfed young imagos. The mean length of the C. felis felis jump was 19.9+/-9.1cm; minimum jump was 2cm, and the maximum was one 48cm. The C. canis jump was significantly longer (30.4+/-9.1cm; from 3 to 50cm). For height jump evaluation, grey plastic cylindric tubes measuring 9cm in diame...

Aims: The effects of Pretilachor pyribenzoxim (PP) pollution on the water quality, serum biochemical indices, and behavioural response Oreochromis niloticus Juveniles were studied.
 Study Design: completely randomized design was used in this study.
 Place Duration Study: experiment carried out Central Laboratory Fisheries Aquaculture Department, Faculty Agriculture, Adekunle Ajasin Un...