State Estimation and Modeling of a Model Helicopter

Miles Colman,Shinji Suzuki 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-

This paper presents simulation results for vehicle state estimation using the Extended Kalman Filter (EKF) to combine high-frequency high-drift inertial sensor data with zero-drifty noisy low-frequency heading, position and velocity information. The filter is outlined. The EKF also estimates gyro and accelerometer biases of an inertial measurement unit (IMU). which measures 3-axis acceleration and 3-axis angular velocities. Attitude is maintained in the unit quaternion representation to provide a singularity-free heading estimate at extreme attitudes. The attitude error is maintained in Gibbs vector form. allowing the use of 6 states for attitude error and gyro bias. The EKF fuses the IMU data with bias-free noisy position and velocity information from a GPS receiver, and Euler angles measured by a 3-axis compass. Comparison is made between results from straightforward implementation of the EKF. and an EKF implemented using both first-order state transitions and an Upper Diagonal-factored form of the covariance matrix update. We plan to present modeled and actual flight paths of the helicopter at the conference. The model used was originally used by V. Gavrilets for a heavier gas-powered helicopter.

Hierarchical growth of TiO₂ nanosheets on anodic ZnO nanowires for high efficiency dye-sensitized solar cells

Miles, David O.,Lee, Chang Soo,Cameron, Petra J.,Mattia, Davide,Kim, Jong Hak Elsevier 2016 Journal of Power Sources Vol.325 No.-

<P><B>Abstract</B></P> <P>We present a novel route to hierarchical core-shell structures consisting of an anodic ZnO nanowire core surrounded by a shell of TiO<SUB>2</SUB> nanosheets (ZNW@TNS). This material combines the beneficial properties of enhanced electron transport, provided by the nanowire core, with the high surface area and chemical stability of the TiO<SUB>2</SUB> shell. Quasi-solid-state dye-sensitized solar cells (qssDSSCs) are prepared using different quantities of either the bare ZnO nanowires or the hierarchical nanowire structures and the effect on cell performance is examined. It is found that whilst the addition of the bare ZnO nanowires results in a decrease in cell performance, significant improvements can be achieved with the addition of small quantities of the hierarchical structures. Power conversion efficiencies of up to 7.5% are achieved under 1 Sun, AM 1.5 simulated sunlight, with a ∼30% increase compared to non-hierarchical mesoporous TiO<SUB>2</SUB> films. A solid-state DSSC (ssDSSC) with a single component solid polymer also exhibits excellent efficiency of 7.2%. The improvement in cell performance is related to the improved light scattering, surface area and electron transport properties <I>via</I> the use of reflectance spectroscopy, BET surface area measurements and electrochemical impedance spectroscopy.</P> <P><B>Highlights</B></P> <P> <UL> <LI> An effective route to hierarchical core-shell structures is demonstrated. </LI> <LI> Anodic ZnO nanowire core was surrounded by TiO<SUB>2</SUB> nanosheets shell (ZNW@TNS). </LI> <LI> High efficiency of 7.5% is achieved for ZNW@TNS quasi-solid-state DSSCs. </LI> <LI> It is due to the improved light scattering, surface area and electron transport. </LI> <LI> Solid-state DSSC with single component polymer exhibits high efficiency of 7.2%. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>

Healer or Healing? An Exploratory Analysis of Becoming a Counselor

Miles Matis 한국상담학회 2021 Journal of Asia Pacific counseling Vol.11 No.2

The process of becoming a professional counselor can be long and arduous. It can be fraught with anxiety, ambiguity, and doubt about one’s motivations to pursue such a profession. However, it can also be characterized by hopefulness to grow, heal, and recover from experiences in the life of the student. The current study investigated the early life experiences of counselors-in-training enrolled in a graduate master’s CACREP (Council for Accreditation of Counseling and Related Educational Programs) program. The author examined themes from the lives of twenty-four counseling students and how their past experiences were transformative to better prepare them to help others.

Glider observations of the Dotson Ice Shelf outflow

Miles, T.,Lee, S.H.,Wahlin, A.,Ha, H.K.,Kim, T.W.,Assmann, K.M.,Schofield, O. Pergamon Press 2016 Deep-sea research. Part II, Topical studies in oce Vol.123 No.-

The Amundsen Sea is one of the most productive polynyas in the Antarctic per unit area and is undergoing rapid changes including a reduction in sea ice duration, thinning ice sheets, retreat of glaciers and the potential collapse of the Thwaites Glacier in Pine Island Bay. A growing body of research has indicated that these changes are altering the water mass properties and associated biogeochemistry within the polynya. Unfortunately difficulties in accessing the remote location have greatly limited the amount of in situ data that has been collected. In this study data from a Teledyne-Webb Slocum glider was used to supplement ship-based sampling along the Dotson Ice Shelf (DIS). This autonomous underwater vehicle revealed a detailed view of a meltwater laden outflow from below the western flank of the DIS. Circumpolar Deep Water intruding onto the shelf drives glacial melt and the supply of macronutrients that, along with ample light, supports the large phytoplankton blooms in the Amundsen Sea Polynya. Less well understood is the source of micronutrients, such as iron, necessary to support this bloom to the central polynya where chlorophyll concentrations are highest. This outflow region showed decreasing optical backscatter with proximity to the bed indicating that particulate matter was sourced from the overlying glacier rather than resuspended sediment. This result suggests that particulate iron, and potentially phytoplankton primary productivity, is intrinsically linked to the magnitude and duration of sub-glacial melt from Circumpolar Deep Water intrusions onto the shelf.

<i>ZC4H2</i> , an XLID gene, is required for the generation of a specific subset of CNS interneurons

May, Melanie,Hwang, Kyu-Seok,Miles, Judith,Williams, Charlie,Niranjan, Tejasvi,Kahler, Stephen G.,Chiurazzi, Pietro,Steindl, Katharina,Van Der Spek, Peter J.,Swagemakers, Sigrid,Mueller, Jennifer,Stef Oxford University Press 2015 Human Molecular Genetics Vol.24 No.17

<P>Miles–Carpenter syndrome (MCS) was described in 1991 as an XLID syndrome with fingertip arches and contractures and mapped to proximal Xq. Patients had microcephaly, short stature, mild spasticity, thoracic scoliosis, hyperextendable MCP joints, rocker-bottom feet, hyperextended elbows and knees. A mutation, p.L66H, in <I>ZC4H2</I>, was identified in a XLID re-sequencing project. Additional screening of linked families and next generation sequencing of XLID families identified three <I>ZC4H2</I> mutations: p.R18K, p.R213W and p.V75in15aa. The families shared some relevant clinical features. <I>In silico</I> modeling of the mutant proteins indicated all alterations would destabilize the protein. Knockout mutations in <I>zc4h2</I> were created in zebrafish and homozygous mutant larvae exhibited abnormal swimming, increased twitching, defective eye movement and pectoral fin contractures. Because several of the behavioral defects were consistent with hyperactivity, we examined the underlying neuronal defects and found that sensory neurons and motoneurons appeared normal. However, we observed a striking reduction in GABAergic interneurons. Analysis of cell-type-specific markers showed a specific loss of V2 interneurons in the brain and spinal cord, likely arising from mis-specification of neural progenitors. Injected human wt <I>ZC4H2</I> rescued the mutant phenotype. Mutant zebrafish injected with human p.L66H or p.R213W mRNA failed to be rescued, while the p.R18K mRNA was able to rescue the interneuron defect. Our findings clearly support <I>ZC4H2</I> as a novel XLID gene with a required function in interneuron development. Loss of function of <I>ZC4H2</I> thus likely results in altered connectivity of many brain and spinal circuits.</P>

Effectiveness of CALL Vocabulary and Silent Sustained Reading on TOEIC Scores

Miles, Scott Waston 한국영어교육학회 2012 ENGLISH TEACHING(영어교육) Vol.67 No.3

TOEIC continues to be an important test in Asia and TOEIC preparation classes are as popular as they have ever been. Little research has been done, however, to determine the most effective ways to help students prepare for this test. This study sought to analyze the impact of explicit TOEIC instruction when supplemented with Silent Sustained Reading (SSR) and an online vocabulary learning program. Four combinations of these practices were tested: (1) explicit instruction supplemented by online vocabulary instruction, 2) a combination of explicit instruction, SSR and online vocabulary practice, 3) explicit instruction supplemented by SSR, and 4)explicit instruction only. Total time for instruction and practice were kept constant among the four groups. Due to between-group differences on pre-test TOEIC scores,an ANCOVA analysis was used. On total TOEIC scores, all groups made significant and statistically equal gains. However, on an analysis of the reading portion of the TOEIC results, group 2 (combination of explicit instruction, SSR, and online vocabulary practice) outperformed group 4 (explicit practice only group). The author concludes that the combination of all three practices had a synergistic effect on the reading portion of the test and led to superior gains.

Asia’s Trump Peril

Miles Kahler 동아시아재단 2017 Global Asia Vol.12 No.4

Weak Ties Don’t Bind

Miles Kahler 동아시아재단 2011 Global Asia Vol.6 No.2

Good Timing: The Spacing Effect and Grammar Acquisition

Miles, Scott Waston 한국영어교육학회 2010 ENGLISH TEACHING(영어교육) Vol.65 No.2

This study aims to investigate the effect of spaced distribution versus massed distribution learning on grammar acquisition. Memory research has shown that presenting information in increasing time intervals (spaced repetition) results in better learning and retention than presenting the information in one lengthy and uninterrupted session (massed repetition). This phenomenon is called the spacing effect. Though research in second language vocabulary has been well developed in regards to spacing effect methodology, very little has been done on the possible application to second language grammar acquisition. Using a quasi-experimental pre-test post-test design, a study was performed to trial an investigation on the impact of spaced repetition instruction on grammar acquisition versus the more traditional massed repetition (block) instruction. The results of the post tests showed the spaced instruction group outperformed the massed instruction group.

Estimating the determinants of the demographic mismatch between schools and neighborhood

Miles M. Finney 한양대학교 경제연구소 2018 JOURNAL OF ECONOMIC RESEARCH Vol.23 No.3

This paper estimates the determinants of demographic mismatch between urban schools and surrounding neighborhood using data for elementary schools from the Los Angeles Unified School District. It compares the effect income and neighborhood ethnic composition have on school-neighborhood ethnic disparities. White and Asian households are found to be quite sensitive to neighborhood ethnic composition in using local public schools. Neighborhood income is found to promote demographic matching but the effects are generally not statistically significant.