Collision-Free Pattern Formation

Shoals of small fishes can change their collective shape and form a specific pattern. They do so efficiently (in parallel) and without collision. In this paper, we study the analog problem of distributed pattern formation. A set of processes needs to move from a set of initial positions to a set of final positions. The processes are oblivious (no internal memory) and must preserve, at any time, a minimal distance between them. A naive solution would be to move the processes one by one, but this would take too long. The difficulty here is to move the processes simultaneously in clearly delimited phases, no matter how unfavorable the initial configuration may be. We solve this by treating the problem "dimension by dimension": the processes first form 1D trails, then gather into a 2D shape (this technique can be generalized to higher dimensions). We present an optimal algorithm which time complexity depends linearly on the radius of the smallest circle containing both initial and final positions. The algorithm is self-stabilizing, as the processes are oblivious and the initial positions are arbitrary

Pattern formation with voluminous processes

When a shoal of small fishes notices a predator, they typically change their collective shape and form a specific pattern. They do so efficiently (in parallel) and without collision. This motivates us to design algorithms with similar properties. In this paper, we study the problem of distributed pattern formation. A set of processes needs to move from a set of initial positions to a set of final positions. The processes are oblivious (no internal memory) and must preserve, at any time, a minimal distance between them. A naive solution would be to move the processes one by one, but this would have a poor time complexity. The difficulty here is to move the processes simultaneously in clearly delimited phases (as there is no internal memory), no matter how unfavorable the initial configuration may be. We solve this by treating the problem ``dimension by dimension'': the processes first form 1D trails, then gather into a 2D shape (this technique can be generalized to higher dimensions). We present an optimal algorithm which time complexity depends linearly on the radius of the smallest circle containing both initial and final positions. The algorithm is self-stabilizing, as the processes are oblivious and the initial positions are arbitrary

DRONE DELIVERY OF CBNRECy – DEW WEAPONS Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD)

Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD) is our sixth textbook in a series covering the world of UASs and UUVs. Our textbook takes on a whole new purview for UAS / CUAS/ UUV (drones) – how they can be used to deploy Weapons of Mass Destruction and Deception against CBRNE and civilian targets of opportunity. We are concerned with the future use of these inexpensive devices and their availability to maleficent actors. Our work suggests that UASs in air and underwater UUVs will be the future of military and civilian terrorist operations. UAS / UUVs can deliver a huge punch for a low investment and minimize human casualties.https://newprairiepress.org/ebooks/1046/thumbnail.jp

Gathering fat mobile robots with slim omnidirectional cameras

International audienceMost distributed solutions for swarms of oblivious mobile robots consider that individual robots are represented by points that can overlap, which is physically impossible. A recent trend is to consider ``fat'' robots, i.e. robots that are represented by unit discs and cannot overlap, but still assume that robots can be seen if there exists a point in the unit disc that has a line of sight with the target robot. Again, this does not match practical sensing devices implementations. We propose a new model for sensing devices that originates from embedded omnidirectional cameras, sonars, or lasers found on real robots. This model opens new algorithmic issues since the visibility relation becomes asymmetric. As a case study, we consider the gathering problem for four volumic robots and provide an algorithm to solve the problem in the fully asynchronous setting in our extended model

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

The Second Conference on Lunar Bases and Space Activities of the 21st Century, volume 2

These 92 papers comprise a peer-reviewed selection of presentations by authors from NASA, the Lunar and Planetary Institute (LPI), industry, and academia at the Second Conference on Lunar Bases and Space Activities of the 21st Century. These papers go into more technical depth than did those published from the first NASA-sponsored symposium on the topic, held in 1984. Session topics included the following: (1) design and operation of transportation systems to, in orbit around, and on the Moon; (2) lunar base site selection; (3) design, architecture, construction, and operation of lunar bases and human habitats; (4) lunar-based scientific research and experimentation in astronomy, exobiology, and lunar geology; (5) recovery and use of lunar resources; (6) environmental and human factors of and life support technology for human presence on the Moon; and (7) program management of human exploration of the Moon and space

Multibody dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version

The Next Generation Space Telescope

In Space Science in the Twenty-First Century, the Space Science Board of the National Research Council identified high-resolution-interferometry and high-throughput instruments as the imperative new initiatives for NASA in astronomy for the two decades spanning 1995 to 2015. In the optical range, the study recommended an 8 to 16-meter space telescope, destined to be the successor of the Hubble Space Telescope (HST), and to complement the ground-based 8 to 10-meter-class telescopes presently under construction. It might seem too early to start planning for a successor to HST. In fact, we are late. The lead time for such major missions is typically 25 years, and HST has been in the making even longer with its inception dating back to the early 1960s. The maturity of space technology and a more substantial technological base may lead to a shorter time scale for the development of the Next Generation Space Telescope (NGST). Optimistically, one could therefore anticipate that NGST be flown as early as 2010. On the other hand, the planned lifetime of HST is 15 years. So, even under the best circumstances, there will be a five year gap between the end of HST and the start of NGST. The purpose of this first workshop dedicated to NGST was to survey its scientific potential and technical challenges. The three-day meeting brought together 130 astronomers and engineers from government, industry and universities. Participants explored the technologies needed for building and operating the observatory, reviewed the current status and future prospects for astronomical instrumentation, and discussed the launch and space support capabilities likely to be available in the next decade. To focus discussion, the invited speakers were asked to base their presentations on two nominal concepts, a 10-meter telescope in space in high earth orbit, and a 16-meter telescope on the moon. The workshop closed with a panel discussion focused mainly on the scientific case, siting, and the programmatic approach needed to bring NGST into being. The essential points of this panel discussion have been incorporated into a series of recommendations that represent the conclusions of the workshop. Speakers were asked to provide manuscripts of their presentation. Those received were reproduced here with only minor editorial changes. The few missing papers have been replaced by the presentation viewgraphs. The discussion that follows each speaker's paper was derived from the question and answer sheets, or if unavailable, from the tapes of the meeting. In the latter case, the editors have made every effort to faithfully represent the discussion

Obiter Dicta

"Stitched together over five years of journaling, Obiter Dicta is a commonplace book of freewheeling explorations representing the transcription of a dozen notebooks, since painstakingly reimagined for publication. Organized after Theodor Adorno’s Minima Moralia, this unschooled exercise in aesthetic thought—gleefully dilettantish, oftentimes dangerously close to the epigrammatic—interrogates an array of subject matter (although inescapably circling back to the curiously resemblant histories of Western visual art and instrumental music) through the lens of drive-by speculation. Erick Verran’s approach to philosophical inquiry follows the brute-force literary technique of Jacques Derrida to exhaustively favor the material grammar of a signifier over hand-me-down meaning, juxtaposing outer semblances with their buried systems and our etched-in-stone intuitions about color and illusion, shape and value, with lessons stolen from seemingly unrelatable disciplines. Interlarded with extracts of Ludwig Wittgenstein but also Wallace Stevens, Cormac McCarthy as well as Roland Barthes, this cache of incidental remarks eschews what’s granular for the biggest picture available, leaving below the hyper-specialized fields of academia for a bird’s-eye view of their crop circles. Obiter Dicta is an unapologetic experiment in intellectual dot-connecting that challenges much long-standing wisdom about everything from illuminated manuscripts to Minecraft and the evolution of European music with lyrical brevity; that is, before jumping to the next topic.

Safety and Reliability - Safe Societies in a Changing World

The contributions cover a wide range of methodologies and application areas for safety and reliability that contribute to safe societies in a changing world. These methodologies and applications include: - foundations of risk and reliability assessment and management - mathematical methods in reliability and safety - risk assessment - risk management - system reliability - uncertainty analysis - digitalization and big data - prognostics and system health management - occupational safety - accident and incident modeling - maintenance modeling and applications - simulation for safety and reliability analysis - dynamic risk and barrier management - organizational factors and safety culture - human factors and human reliability - resilience engineering - structural reliability - natural hazards - security - economic analysis in risk managemen