Airborne chemical sensing with mobile robots

Airborne chemical sensing with mobile robots has been an active research areasince the beginning of the 1990s. This article presents a review of research work in this field,including gas distribution mapping, trail guidance, and the different subtasks of gas sourcelocalisation. Due to the difficulty of modelling gas distribution in a real world environmentwith currently available simulation techniques, we focus largely on experimental work and donot consider publications that are purely based on simulations

A Neural Model of How the Brain Computes Heading from Optic Flow in Realistic Scenes

Animals avoid obstacles and approach goals in novel cluttered environments using visual information, notably optic flow, to compute heading, or direction of travel, with respect to objects in the environment. We present a neural model of how heading is computed that describes interactions among neurons in several visual areas of the primate magnocellular pathway, from retina through V1, MT+, and MSTd. The model produces outputs which are qualitatively and quantitatively similar to human heading estimation data in response to complex natural scenes. The model estimates heading to within 1.5° in random dot or photo-realistically rendered scenes and within 3° in video streams from driving in real-world environments. Simulated rotations of less than 1 degree per second do not affect model performance, but faster simulated rotation rates deteriorate performance, as in humans. The model is part of a larger navigational system that identifies and tracks objects while navigating in cluttered environments.National Science Foundation (SBE-0354378, BCS-0235398); Office of Naval Research (N00014-01-1-0624); National-Geospatial Intelligence Agency (NMA201-01-1-2016

Gravitational waves from coalescing binaries and Doppler experiments

Doppler tracking of interplanetary spacecraft provides the only method presently available for broad-band searches of low frequency gravitational waves. The instruments have a peak sensitivity around the reciprocal of the round-trip light-time T of the radio link connecting the Earth to the space-probe and therefore are particularly suitable to search for coalescing binaries containing massive black holes in galactic nuclei. A number of Doppler experiments -- the most recent involving the probes ULYSSES, GALILEO and MARS OBSERVER -- have been carried out so far; moreover, in 2002-2004 the CASSINI spacecraft will perform three 40 days data acquisition runs with expected sensitivity about twenty times better than that achieved so far. Central aims of this paper are: (i) to explore, as a function of the relevant instrumental and astrophysical parameters, the Doppler output produced by in-spiral signals -- sinusoids of increasing frequency and amplitude (the so-called chirp); (ii) to identify the most important parameter regions where to concentrate intense and dedicated data analysis; (iii) to analyze the all-sky and all-frequency sensitivity of the CASSINI's experiments, with particular emphasis on possible astrophysical targets, such as our Galactic Centre and the Virgo Cluster.Comment: 52 pages, LaTeX, 19 Postscript Figures, submitted to Phys. Rev.

Using 3D Voronoi grids in radiative transfer simulations

Probing the structure of complex astrophysical objects requires effective three-dimensional (3D) numerical simulation of the relevant radiative transfer (RT) processes. As with any numerical simulation code, the choice of an appropriate discretization is crucial. Adaptive grids with cuboidal cells such as octrees have proven very popular, however several recently introduced hydrodynamical and RT codes are based on a Voronoi tessellation of the spatial domain. Such an unstructured grid poses new challenges in laying down the rays (straight paths) needed in RT codes. We show that it is straightforward to implement accurate and efficient RT on 3D Voronoi grids. We present a method for computing straight paths between two arbitrary points through a 3D Voronoi grid in the context of a RT code. We implement such a grid in our RT code SKIRT, using the open source library Voro++ to obtain the relevant properties of the Voronoi grid cells based solely on the generating points. We compare the results obtained through the Voronoi grid with those generated by an octree grid for two synthetic models, and we perform the well-known Pascucci RT benchmark using the Voronoi grid. The presented algorithm produces correct results for our test models. Shooting photon packages through the geometrically much more complex 3D Voronoi grid is only about three times slower than the equivalent process in an octree grid with the same number of cells, while in fact the total number of Voronoi grid cells may be lower for an equally good representation of the density field. We conclude that the benefits of using a Voronoi grid in RT simulation codes will often outweigh the somewhat slower performance.Comment: 9 pages, 7 figures, accepted by A

Vision technology/algorithms for space robotics applications

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed

Design optimization of ocean renewable energy converter using a combined Bi-level metaheuristic approach

In recent years, there has been an increasing interest in renewable energies in view of the fact that fossil fuels are the leading cause of catastrophic environmental consequences. Ocean wave energy is a renewable energy source that is particularly prevalent in coastal areas. Since many countries have tremendous potential to extract this type of energy, a number of researchers have sought to determine certain effective factors on wave converters’ performance, with a primary emphasis on ambient factors. In this study, we used metaheuristic optimization methods to investigate the effects of geometric factors on the performance of an Oscillating Surge Wave Energy Converter (OSWEC), in addition to the effects of hydrodynamic parameters. To do so, we used CATIA software to model different geometries which were then inserted into a numerical model developed in Flow3D software. A Ribed-surface design of the converter's flap is also introduced in this study to maximize wave-converter interaction. Besides, a Bi-level Hill Climbing Multi-Verse Optimization (HCMVO) method was also developed for this application. The results showed that the converter performs better with greater wave heights, flap freeboard heights, and shorter wave periods. Additionally, the added ribs led to more wave-converter interaction and better performance, while the distance between the flap and flume bed negatively impacted the performance. Finally, tracking the changes in the five-dimensional objective function revealed the optimum value for each parameter in all scenarios. This is achieved by the newly developed optimization algorithm, which is much faster than other existing cutting-edge metaheuristic approaches