Dynamic Motion Planning for Aerial Surveillance on a Fixed-Wing UAV

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and updating environment. A Voronoi bias is introduced in the probabilistic roadmap building phase to identify certain critical milestones for maximal surveillance of the search space. A kinematically feasible but coarse tour connecting these milestones is generated by the global path planner. A local path planner then generates smooth motion primitives between consecutive nodes of the global path based on UAV as a Dubins vehicle and taking into account any impending obstacles. A Markov Decision Process (MDP) models the control policy for the UAV and determines the optimal action to be undertaken for evading the obstacles in the vicinity with minimal deviation from current path. The efficacy of the proposed algorithm is evaluated in an updating simulation environment with dynamic and static obstacles.Comment: Accepted at International Conference on Unmanned Aircraft Systems 201

Signatures of Chaos in the Dynamics of Quantum Discord

We identify signatures of chaos in the dynamics of discord in a multiqubit system collectively modelled as a quantum kicked top. The evolution of discord between any two qubits is quasiperiodic in regular regions, while in chaotic regions the quasiperiodicity is lost. As the initial wave function is varied from the regular regions to the chaotic sea, a contour plot of the time-averaged discord remarkably reproduces the structures of the classical stroboscopic map. We also find surprisingly opposite behavior of two-qubit discord versus entanglement of the two qubits as measured by the concurrence. Our results provide evidence of signatures of chaos in dynamically generated discord

Panoramic radiographic study of mental foramen in selected dravidians of south Indian population: a hospital based study

Background: This study aimed at documenting information on appearance, size, horizontal and vertical locations of Mental Foramen (MF) in Panoramic Radiograph. We also analyzed the age and gender differences with radiographic appearance and location of MF. We evaluated these findings in our population and co-relate with results of previous studies. Material and Methods: 1662 panoramic radiographs were evaluated, of which 245 fulfilled the inclusion criteria. Each radiograph was traced to record the horizontal and vertical locations. The size of MF was recorded using digital caliper and its appearance was determined by visual examination. Chi-square and t-test were employed. Results: The most common appearance of MF was continuous type and the tests showed significant difference with age and gender. The most frequent horizontal location of MF was “location c” with no statistical significant difference with age and gender. The MF was most commonly positioned mesially in relation to the apex of second premolar with no significant differences with gender. The vertical location of the foramen varied drastically with no statistical significant difference in both sides. The difference in dimensions on the left and right sides were not statistically significant. Conclusions: Determining the morphological appearance and positional variation of MF is important for isolation of mental nerves and vessels when administering local anesthesia and performing surgeries. We therefore stress the importance of accurate radiographic identification of MF and interpretation. Our research findings can be used as reference material by the dental practitioners of South India while performing clinical procedures that involve MF

Selection of Gate Dielectrics for ZnO Based Thin-Film Transistors

The bulk of semiconductor technology has been based on silicon till today. But silicon has its own limitations. It is not transparent to visible light and hence it cannot be used in certain applications. ZnO is a material which is transparent to visible light. In this paper, we compare the electrical performance of ZnO Thin film Transistors using different gate insulators. Certain performance indices and material indices were considered as the selection criteria for electrical performance. A methodology known as Ashby\u27s approach was adopted to find out the best gate insulators and based on this methodology various charts were plotted to compare different properties of competing materials. This work concludes that Y2O3 is the best insulator followed by ZrO2 and HfO2

Inclined Slots on Broad wall of Ridged Waveguide

A new inclined slot array on the broad wall of a single ridged rectangular waveguide is proposed. This paper presents slot array with similar inclination for all slots, slot array with different inclination and non-uniform length slots with different inclination on broad wall of a single ridged rectangular waveguide for vertical polarization. The co and cross polarization curves of the three designs are compared at different angles of observation

Protein based molecular markers provide reliable means to understand prokaryotic phylogeny and support Darwinian mode of evolution

The analyses of genome sequences have led to the proposal that lateral gene transfers (LGTs) among prokaryotes are so widespread that they disguise the interrelationships among these organisms. This has led to questioning of whether the Darwinian model of evolution is applicable to prokaryotic organisms. In this review, we discuss the usefulness of taxon-specific molecular markers such as conserved signature indels (CSIs) and conserved signature proteins (CSPs) for understanding the evolutionary relationships among prokaryotes and to assess the influence of LGTs on prokaryotic evolution. The analyses of genomic sequences have identified large numbers of CSIs and CSPs that are unique properties of different groups of prokaryotes ranging from phylum to genus levels. The species distribution patterns of these molecular signatures strongly support a tree-like vertical inheritance of the genes containing these molecular signatures that is consistent with phylogenetic trees. Recent detailed studies in this regard on the Thermotogae and Archaea, which are reviewed here, have identified large numbers of CSIs and CSPs that are specific for the species from these two taxa and a number of their major clades. The genetic changes responsible for these CSIs (and CSPs) initially likely occurred in the common ancestors of these taxa and then vertically transferred to various descendants. Although some CSIs and CSPs in unrelated groups of prokaryotes were identified, their small numbers and random occurrence has no apparent influence on the consistent tree-like branching pattern emerging from other markers. These results provide evidence that although LGT is an important evolutionary force, it does not mask the tree-like branching pattern of prokaryotes or understanding of their evolutionary relationships. The identified CSIs and CSPs also provide novel and highly specific means for identification of different groups of microbes and for taxonomical and biochemical studies