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Experimental evaluation of a real-time GPU-based pose estimation system for autonomous landing of rotary wings UAVs

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Control Theory and Technology 2018年第2期16卷 145-159页

作者： Alessandro BENINI matthew j. rutherford Kimon P. VALAVANIS DU Unmanned Systems Research Institute (DU2SRI) University of Denver (DU) Denver CO 80208 U.S.A.

This paper proposes a real-time system for pose estimation of an unmanned aerial vehicle （UAV） using parallel image processing and a fiducial marker. The system exploits the capabilities of a high-performance CPU/GPU embedded system in order to provide on-board high-frequency pose estimation enabling autonomous takeoff and landing. The system is evaluated extensively with lab and field tests using a custom quadrotor. The autonomous landing is successfully demonstrated, through experimental tests, using the proposed algorithm. The results show that the system is able to provide precise pose estimation with a framerate of at least 30fps and an image resolution of 640x480 pixels. The main advantage of the proposed approach is in the use of the GPU for image filtering and marker detection. The GPU provides an upper bound on the required computation time regardless of the complexity of the image thereby allowing for robust marker detection even in cluttered environments.

关键词： UAV Vision GPU Kalman filter

Finite-time circulation changes from topological rearrangement of distinguished curves and non-advective fluxes

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Tropical Cyclone Research and Review 2020年第1期9卷 37-52页

作者： Blake rutherford Timothy j.Dunkerton Northwest Research Associates

A vorticity budget diagnoses the growth or decay of a vortex from advective transport,or non-advective fluxes such as those due to friction or vortex ***,when a budget calculation is performed with respect to a fixed coordinate,errors may result from time-dependence of the flow,leading to disagreement between the vorticity tendency and the observed vorticity *** adaptive Lagrangian coordinate resolves this problem,provided that the resulting Lagrangian structure does not become too *** this study,a numerical simulation of Hurricane Nate(2011),the vorticity tendency is evaluated along distinguished material *** can be no net advective flux along a closed material curve,therefore,the total circulation tendency for a material region includes only the non-advective uxes acting along its boundary.A distinguished set of material curves(DMCs)associated with a distinguished hyperbolic trajectory(DHT)form a Lagrangian topology similar to that of a cat’s eye flow or"pouch"at each Eulerian *** time-dependence of velocities allows additional regions called lobes,which are formed by the intersections of DMCs,to exchange fluid across the vortex boundary by redefining the *** the vortex boundary changes,we refer to this redefinition of material boundary as"topological rearrangement".The method is useful for unsteady cat’s-eye flows and more complex interactions of multiple waves,vortices and background *** advective changes of the vortex circulation are identified by exchanges of the lobes,and all non-advective uxes act between the vortex and either the lobes or environmental *** Lagrangian topology and combination of advective and non-advective uxes relative to the topology is used to describe the evolution of the circulation of Nate during its time of formation.

关键词： red DMC Finite-time circulation changes from topological rearrangement of distinguished curves and non-advective fluxes

Ground-based and additional science support for SMILE

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Earth and Planetary Physics 2024年第1期8卷 275-298页

作者： j.A.Carter M.Dunlop C.Forsyth K.Oksavik E.Donovon A.Kavanagh S.E.Milan T.Sergienko R.C.Fear D.G.Sibeck M.Connors T.Yeoman X.Tan M.G.G.T.Taylor K.McWilliams j.Gjerloev R.Barnes D.D.Billet G.Chisham A.Dimmock M.P.Freeman D.-S.Han M.D.Hartinger S.-Y.W.Hsieh Z.-j.Hu M.K.james L.juusola K.Kauristie E.A.Kronberg M.Lester j.Manuel j.Matzka I.McCrea Y.Miyoshi j.Rae L.Ren F.Sigernes E.Spanswick K.Sterne A.Steuwer T.Sun M.-T.Walach B.Walsh C.Wang j.Weygand j.Wild j.Yan j.Zhang Q.-H.Zhang Planetary Sciences Group School of Physics and AstronomyUniversity of LeicesterUniversity RoadLeicesterLE17RHUK rutherford Appleton Laboratory Space Science Technology Facilities CouncilOxfordshireUK School of Space and Environment Beihang UniversityBeijing 100191China Key Laboratory of Space Environment Monitoring and Information Processing Ministry of Industry and Information TechnologyBeijing 100017China Department of Space and Climate Physics UCLMullard Space Science LaboratoryHolmbury St.MaryDorkingSurreyRH56NTUK Birkeland Centre for Space Science Department of Physics and Technology.University of BergenBergenNorway Department of Physics and Astronomy University of Calgary2500 University DriveCalgaryAlbertaCanada T2N 1N4 British Antarctic Survey CambridgeUK Swedish Institute of Space Physics KirunaSweden West Highfield Campus University of SouthamptonUniversity RoadSO171BJUK Goddard Space Flight Center NASAGreenbeltMarylandUSA Athabasca University AthabascaCanada ESTEC European Space AgencyNetherlands University of Saskatchewan SaskatoonCanada The johns Hopkins University Applied Physics Laboratory LaurelMarylandUSA Swedish Institude of Space Physics UppsalaSE 75121Sweden Tongji University Shanghai 200092China Center for Space Plasma Physics Space Science Institute4765 Walnut Street Suite BBoulderColorado80301USA Polar Research Institute of China Shanghai 200136China Finnish Meteorological Institute(FMI) Finland Department of Earth and Environmental Sciences(Geophysics) Ludwig Maximilian University of Munich(LMU)MunichTheresienstr.41MunichD-80333Germany Canadian Space Agency MontrealCanada GFZ German Research Centre for Geosciences PotsdamGermany Nagoya University Institute for Space Earth Environment ResearchCenter for Integrated Data ScienceNagoyaAichiJP 464-8601 Northumbria University Newcastle upon TyneTyne and WearUK NE18ST National Space Science Center Chinese Academy SciencesBeijing 100190China Arctic Geophysics University Centre in Svalbard

The joint European Space Agency and Chinese Academy of Sciences Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)mission will explore global dynamics of the magnetosphere under varying solar wind and interplanetary magnetic field conditions,and simultaneously monitor the auroral response of the Northern Hemisphere *** these large-scale responses with medium and fine-scale measurements at a variety of cadences by additional ground-based and space-based instruments will enable a much greater scientific impact beyond the original goals of the SMILE ***,we describe current community efforts to prepare for SMILE,and the benefits and context various experiments that have explicitly expressed support for SMILE can offer.A dedicated group of international scientists representing many different experiment types and geographical locations,the Ground-based and Additional Science Working Group,is facilitating these *** include constructing an online SMILE Data Fusion Facility,the discussion of particular or special modes for experiments such as coherent and incoherent scatter radar,and the consideration of particular observing strategies and spacecraft *** anticipate growing interest and community engagement with the SMILE mission,and we welcome novel ideas and insights from the solar-terrestrial community.

关键词： magnetosphere ionosphere magnetosphere-ionosphere coupling ground-based experimentation SMILE conjunctions missions

Model for end-stage liver disease score versus Child score in predicting the outcome of surgical procedures in patients with cirrhosis

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World journal of Gastroenterology 2008年第11期14卷 1774-1780页

作者： Maarouf A Hoteit Amaar H Ghazale Andrew j Bain Eli S Rosenberg Kirk A Easley Frank A Anania Robin E rutherford Division of Digestive Diseases Emory UniversityAtlanta GeorgiaUnited States Department of Internal Medicine Emory UniversityAtlantaGeorgiaUnited States Department of Biostatistics-Rollins School of Public Health Emory UniversityAtlanta GeorgiaUnited States

AIM： To determine factors affecting the outcome of patients with cirrhosis undergoing surgery and to compare the capacities of the Child-Turcotte-Pugh （CTP） and model for end-stage liver disease （MELD） score to predict that outcome. METHODS： We reviewed the charts of 195 patients with cirrhosis who underwent surgery at two teaching hospitals over a five-year period. The combined endpoint of death or hepatic decompensation was considered to be the primary endpoint. RESULTS： Patients who reached the endpoint had a higher MELD score, a higher CTP score and were more likely to have undergone an urgent procedure. Among patients undergoing elective surgical procedures, no statistically significant difference was noted in the mean MELD （12.8 ＋ 3.9 vs 12.6 ＋ 4.7, P = 0.9） or in the mean CTP （7.6 ± 1.2 vs 7.7 ± 1.7, P = 0.8） between patients who reached the endpoint and those who did not. Both mean scores were higher in the patients reaching the endpoint in the case of urgent procedures （MELD： 22.4 ± 8.7 vs 15.2 ± 6.4, P = 0.0007; CTP： 9.9 ± 1.8 vs 8.5 ± 1.8, P = 0.008）. The performances of the MELD and CTP scores in predicting the outcome of urgent surgery were only fair, without a significant difference between them （AUC = 0.755 ± 0.066 for MELD vs AUC = 0.696 ± 0.070 for CTP, P = 0.3）. CONCLUSION： The CTP and MELD scores performed equally, but only fairly in predicting the outcome of urgent surgical procedures. Larger studies are needed to better define the factors capable of predicting the outcome of elective surgical procedures in patients with ***, but only fairly in predicting the outcome of urgent surgical procedures. Larger studies are needed to better define the factors capable of predicting the outcome of elective surgical procedures in patients with cirrhosis.

关键词： Liver cirrhosis Prognosis Severity of illness index Surgical procedures Operative Postoperative complications

Stathmin over-expression predicts poor survival for ovarian cancer patients treated with paclitaxel and platinum chemotherapy

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Stathmin over-expression predicts poor survival for ovarian ...

2007医学前沿论坛暨第十届全国肿瘤药理与化疗学术会议

作者： Stephanie Smith Irene.A.Rigault de la Longrais Peter Schwartz Manuela Puopolo Thomas j.rutherford Herbert Yu Dionyssios Katsaros Departments of Epidemiology and Public Health and Obstetrics and Gynecology Yale Cancer CenterYale University School of MedicineNew HavenConnecticutUSA Department of Obstetrics and Gynecology Gynecologic Oncology and Breast Cancer UnitUniversity of TurinTurinItaly Departments of Epidemiology and Public Health and Obstetrics and Gynecology Yale Cancer CenterYale University School of MedicineNew HavenConnecticutUSA Department of Obstetrics and Gynecology Gynecologic Oncology and Breast Cancer UnitUniversity of TurinTurinItaly Departments of Epidemiology and Public Health and Obstetrics and Gynecology Yale Cancer CenterYale University School of MedicineNew HavenConnecticutUSA Departments of Epidemiology and Public Health and Obstetrics and Gynecology Yale Cancer CenterYale University School of MedicineNew HavenConnecticutUSA Department of Obstetrics and Gynecology Gynecologic Oncology and Breast Cancer UnitUniversity of TurinTurinItaly

＜正＞Background Standard treatment for advanced ovarian cancer includes cytoreductive surgery followed by paclitaxel and platinum *** 75% of patients respond well to treatment initially,the majority experience disease progression:the 5-year survival is only around 35%.Intrinsic and acquired drug resistance contribute to poor clinical outcomes and present an opportunity for further

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应用实验岩石学研究火山活动过程

地震地质译丛 1994年第2期16卷 19-23页

作者： M.j.rutherford

近年来,圣海伦斯、基拉韦厄、皮纳图波,阿留申群岛的火山喷发,以及加州长谷的侵入活动,激起了人们对火山活动的关注。由理论模拟、野外和分析研究这些及其他火山中心,对岩浆体系和火山活动过程得出的新认识,已由实验岩石学的新近结果所... 详细信息

近年来,圣海伦斯、基拉韦厄、皮纳图波,阿留申群岛的火山喷发,以及加州长谷的侵入活动,激起了人们对火山活动的关注。由理论模拟、野外和分析研究这些及其他火山中心,对岩浆体系和火山活动过程得出的新认识,已由实验岩石学的新近结果所补充。这些实验使得我们可以测定喷发前的条件,如压力P、温度T、氧化状态(fo_2)和灰分含量(f_(H_2O),f_(CO_2))。这种信息提供着岩浆贮存区深度的估算值,灰份对喷发过程的作用,和火山下岩浆的成分分带。已经从实验上研究了各种灰分(H_2O,OH,CO_2,SO_2,S^-,Cl^-)的溶解度与P、T和熔浆成分的关系。结果,可以评价出火山灰分进入大气中的严重性。并与卫星光谱得出的估算值相对比,例如与1982年埃尔奇冲和1991年皮纳图波火山喷发的硫进入大气中的估算值对比。还可以利用实验速率数据,例如最近对角闪石的反应环发展和斜长石生长与时间关系得出的数据,说明火山体系的动力学问题。本文评述实验火山学的这方面研究的一些新近展。

关键词：实验岩石学火山活动火山喷发

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影响松材线虫病发生与分布的因素

山东林业科技 1991年第2期21卷 70-73页

作者： T.A.rutherford 真宫靖治 j.M.Webster 申荷丽

松材线虫病是日本本土日本黑松(Pinus thunbergii)和日本赤松(***)最严重的病害。病原由松材线虫(Bursaphelenchus xylophilus(Steiner et Buhrer)Nickle)引起。曾重新发现于美国枯死的欧洲黑松(***)和欧洲赤松(***)上,使人们担心它有... 详细信息

松材线虫病是日本本土日本黑松(Pinus thunbergii)和日本赤松(***)最严重的病害。病原由松材线虫(Bursaphelenchus xylophilus(Steiner et Buhrer)Nickle)引起。曾重新发现于美国枯死的欧洲黑松(***)和欧洲赤松(***)上,使人们担心它有可能在北美及欧洲(通过木材产品的贸易)成为流行性病害。鉴于该病在日本对森林的破坏,以及在温室对松苗进行的试验结果。

关键词：松线虫病发生分布

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影响由线虫引起的松枯萎病发生和分布的因子

湖南林业科技 1992年第2期19卷 62-64页

作者： T. A. rutherford Y. Mamiya j. M. Webster 王明旭

松材线虫Bursaphelenchus xylophilus和拟松材线***属于北半球林区松林线虫复合种(PWNSC),在温暖的气候下,复合种的致病类型可导致感病松树枯萎。

关键词：线虫松树枯萎病病害发生分布

Expression of O<sup>6</sup>-Methylguanine-DNA Methyltransferase Examined by Alkyl-Transfer Assays, Methylation-Specific PCR and Western Blots in Tumors and Matched Normal Tissue

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journal of Cancer Therapy 2013年第4期4卷 919-931页

作者： Kimiko Ishiguro Krishnamurthy Shyam Philip G. Penketh Raymond P. Baumann Alan C. Sartorelli Thomas j. rutherford Elena S. Ratner Department of Pharmacology and Developmental Therapeutics Program Cancer Center Yale University School of Medicine New Haven USA Division of Gynecologic Oncology Department of Obstetrics and Gynecology Yale University School of Medicine New Haven USA

The tumor selectivity of alkylating agents that produce guanine O6-chloroethyl (laromustine and carmustine) and O6-methyl (temozolomide) lesions depends upon O6-methylguanine-DNA methyltransferase (MGMT) activity being lower in tumor than in host tissue. Despite the established role of MGMT as a tumor resistance factor, consensus on how to assess MGMT expression in clinical samples is unsettled. The aim of this study is to examine the relationship between the values derived from distinctive MGMT measurements in 13, 12, 6 and 2 pairs of human tumors and matched normal adjacent tissue from the colon, kidney, lung and liver, respectively, and in human cell lines. The MGMT measurements included 1) alkyl-transfer assays using [benzene-3H]O6-benzylguanine as a substrate to assess functional MGMT activity, 2) methylation-specific PCR (MSP) to probe MGMT gene promoter CpG methylations as a measure of gene silencing, and 3) western immunoblots to analyze the MGMT protein. In human cell lines, a strict negative correlation existed between MGMT activity and the extent of promoter methylation. In tissue specimens, by contrast, the correlation between these two variables was low. Moreover, alkyl-transfer assays identified 3 pairs of tumors and normal tissue with tumor-selective reduction in MGMT activity in the absence of promoter methylation. Cell line MGMT migrated as a single band in western analyses, whereas tissue MGMT was heterogeneous around its molecular size and at much higher molecular masses, indicative of multi-layered post-translational modifications. Malignancy is occasionally associated with a mobility shift in MGMT. Contrary to the prevalent expectation that MGMT expression is governed at the level of gene silencing, these data suggest that other mechanisms that can lead to tumorselective reduction in MGMT activity exist in human tissue.

关键词： O6-Methylguanine-DNA Methyltransferase (MGMT O6-Alkylguanine-DNA Alkyltransferase AGT) [Benzene-3H]O6-Benzylguanine Methylation-Specific PCR (MSP) Laromustine (Onrigin Cloretazine VNP40101M 101M) Temozolomide