This paper focuses on safe navigation of an unmanned surface vehicle in proximity to a submerged autonomous underwater vehicle so as to maximise short-range, through-water data transmission while minimising the probability that the two vehicles will accidentally collide. A sliding mode navigation law is developed, and a rigorous proof of optimality of the proposed navigation law is presented. The developed navigation algorithm is relatively computationally simple and easily implementable in real time. Illustrative examples with extensive computer simulations demonstrate the effectiveness of the proposed method.

Idiopathic hypertrophic spinal pachymeningitis (IHSP) is a rare inflammatory condition characterized by chronic inflammatory hypertrophy of the dura mater. It can involve the entire spine. However, most cases are reported in the cervical and thoracic spine. It can progress from local pain to radiculopathy and eventually develop myelopathy. The aetiology of IHSP is not known. However, it has been suggested to be associated with many diseases. Here we report a case of IHSP in 21-year-old female who presented with paraplegia. The diagnosis was made on MRI Spine and histopathological examination.  It was treated with surgical decompression, steroid therapy and patient improved gradually.

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