Development and evaluation of vision processing algorithms in multi-robotic systems.

The trend in swarm robotics research is shifting to the design of more complicated systems in which the robots have abilities to form a robotic organism. In such systems, a single robot has very limited memory and processing resources, but the complete system is rich in these resources. As vision sensors provide rich surrounding awareness and vision algorithms also requires intensive processing. Therefore, vision processing tasks are the best candidate for distributed processing in such systems. To perform distributed vision processing, a number of scenarios are considered in swarm and the robotic organism form. In the swarm form, as the robots use low bandwidth wireless communication medium, so the exchange of simple visual features should be made between robots. This is addressed in a swarm mode scenario, where novel distance vector features are exchanged within a swarm of robots to generate a precise environmental map. The generated map facilitates the robot navigation in the environment. If features require encoding with high density information, then sharing of such features is not possible using the wireless channel with limited bandwidth. So methods were devised which process such features onboard and then share the process outcome to perform vision processing in a distributed fashion. This is shown in another swarm mode scenario in which a number of optimisation stages are followed and novel image pre-processing techniques are developed which enable the robots to perform onboard object recognition, and then share the process outcome in terms of object identity and its distance from the robot, to localise the objects. In the robotic organism, the use of reliable communication medium facilitates vision processing in distributed fashion, and this is presented in two scenarios. In the first scenario, the robotic organism detect objects in the environment in distributed fashion, but to get detailed surrounding awareness, the organism needs to learn these objects. This leads to a second scenario, which presents a modular approach to object classification and recognition. This approach provides a mechanism to learn newly detected objects and also ensure faster response to object recognition. Using the modular approach, it is also demonstrated that the collective use of 4 distributed processing resources in a robotic organism can provide 5 times the performance of an individual robot module. The overall performance was comparable to an individual less flexible robot (e.g., Pioneer-3AT) with significant higher processing capability

Information technology and military performance

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Political Science, 2011.Cataloged from PDF version of thesis.Includes bibliographical references (p. 519-544).Militaries have long been eager to adopt the latest technology (IT) in a quest to improve knowledge of and control over the battlefield. At the same time, uncertainty and confusion have remained prominent in actual experience of war. IT usage sometimes improves knowledge, but it sometimes contributes to tactical blunders and misplaced hubris. As militaries invest intensively in IT, they also tend to develop larger headquarters staffs, depend more heavily on planning and intelligence, and employ a larger percentage of personnel in knowledge work rather than physical combat. Both optimists and pessimists about the so-called "revolution in military affairs" have tended to overlook the ways in which IT is profoundly and ambiguously embedded in everyday organizational life. Technocrats embrace IT to "lift the fog of war," but IT often becomes a source of breakdowns, misperception, and politicization. To describe the conditions under which IT usage improves or degrades organizational performance, this dissertation develops the notion of information friction, an aggregate measure of the intensity of organizational struggle to coordinate IT with the operational environment. It articulates hypotheses about how the structure of the external battlefield, internal bureaucratic politics, and patterns of human-computer interaction can either exacerbate or relieve friction, which thus degrades or improves performance. Technological determinism alone cannot account for the increasing complexity and variable performances of information phenomena. Information friction theory is empirically grounded in a participant-observation study of U.S. special operations in Iraq from 2007 to 2008. To test the external validity of insights gained through fieldwork in Iraq, an historical study of the 1940 Battle of Britain examines IT usage in a totally different structural, organizational, and technological context.(cont.) These paired cases show that high information friction, and thus degraded performance, can arise with sophisticated IT, while lower friction and impressive performance can occur with far less sophisticated networks. The social context, not just the quality of technology, makes all the difference. Many shorter examples from recent military history are included to illustrate concepts. This project should be of broad interest to students of organizational knowledge, IT, and military effectiveness.by Jon Randall Lindsay.Ph.D

Irrigation district sustainability

Presented at Irrigation district sustainability - strategies to meet the challenges: USCID irrigation district specialty conference held on June 3-6, 2009 in Reno, Nevada.Fresno Irrigation District (FID) serves irrigation water to approximately 245,000 acres including the Cities of Fresno and Clovis, in California's Central San Joaquin Valley. As Clovis has developed they have looked for ways to diversify their water supply portfolio. Until recently, this mainly consisted of groundwater wells with some surface water supplies coming from FID. Clovis, in an effort to increase their dry year supplies, partnered with FID to develop the Waldron Banking Facilities. Through the agreement developed between Clovis and FID, Clovis provided half of the capital to develop the project in return for half of the project yield. Clovis also has the first right of refusal, on an annual basis, for any yield developed from the project. The Waldron Banking Facilities are comprised of three groundwater banking facilities located in the western portion of the District. In exchange for the banked supplies, FID then provides an equivalent amount of surface water to Clovis (in the eastern portion of FID). To develop a new water supply for the City and FID, during wet years and other times when surplus surface water supplies are available these supplies are routed to the groundwater recharge basins. In dry years, these banked supplies are then recovered from the aquifer, and delivered to FID growers. Two of the recharge basin sites were existing regulation basins, which were significantly expanded to add recharge capabilities. One of the sites is new, and placed at the bifurcation of one of FID's laterals. The recharge basin sites were strategically selected in order to provide an added benefit as regulation and storage basins that could be utilized during the irrigation season. The project was built over the course of three years, in phases. Now complete, the project includes approximately 250 acres of recharge basins, new measurement and control sites, seven recovery wells, and a network of monitoring wells. This paper will discuss the financial aspects of the project, project planning issues, design considerations, and how the twelve construction contracts were developed, managed and executed

Irrigation district sustainability

Presented at Irrigation district sustainability - strategies to meet the challenges: USCID irrigation district specialty conference held on June 3-6, 2009 in Reno, Nevada.The Yolo County Flood Control & Water Conservation District (District) releases about 250,000 acre-feet per year from two water supply reservoirs in the Cache Creek watershed for the irrigation of about 60,000 acres of farmland in Yolo County, California. That water is diverted into the Winters Canal and the West Adams Canal at Capay Diversion Dam on Cache Creek. The continued operation of Capay Dam is vital to the sustained future of irrigated agriculture of the District. Urbanization and infrastructure construction in California resulted in extensive sand and gravel extraction from Cache Creek downstream of Capay Dam. Although that mineral extraction ceased many years ago, the streambed of Cache Creek has degraded. Presently the streambed elevation at the toe of Capay Dam is as much as 15 feet below the elevation of the apron of the dam and the dam is at risk due to downstream channel bed degradation and local scour during floods. Capay Dam is a concrete diversion that was constructed in 1915. The main portion of the dam is an overflow section about 475 feet long with low-level sluice gates and service spillways at both abutments. The abutments also contain the headworks for the irrigation canals. Due to streambed degradation, local scour at the toe of the apron and the more than 90-year service life of the structure, the District embarked on a program of dam inspection, including the use of non destructive testing of the concrete, and rehabilitating the dam and headworks so as to continue to provide a sustainable irrigation supply of surface water from Cache Creek. The dam inspection and rehabilitation and betterment program for Capay Diversion Dam is presented. This includes the issues of environmental permitting, stream morphology, sediment transport and historic data collection

Robotics, AI, and Humanity

This open access book examines recent advances in how artificial intelligence (AI) and robotics have elicited widespread debate over their benefits and drawbacks for humanity. The emergent technologies have for instance implications within medicine and health care, employment, transport, manufacturing, agriculture, and armed conflict. While there has been considerable attention devoted to robotics/AI applications in each of these domains, a fuller picture of their connections and the possible consequences for our shared humanity seems needed. This volume covers multidisciplinary research, examines current research frontiers in AI/robotics and likely impacts on societal well-being, human – robot relationships, as well as the opportunities and risks for sustainable development and peace. The attendant ethical and religious dimensions of these technologies are addressed and implications for regulatory policies on the use and future development of AI/robotics technologies are elaborated

On the frontier: Flight research at Dryden 1946-1981

The history of flight research at the NASA Hugh L. Dryden Flight Research Center is recounted. The period of emerging supersonic flight technology (1944 to 1959) is reviewed along with the era of flight outside the Earth's atmosphere (1959 to 1981). Specific projects such as the X-15, Gemini, Apollo, and the space shuttle are addressed. The flight chronologies of various aircraft and spacecraft are given