Directed Exploration using a Modified Distance Transform

Mobile robots operating in unknown environments need to build maps. To do so they must have an exploration algorithm to plan a path. This algorithm should guarantee that the whole of the environment, or at least some designated area, will be mapped. The path should also be optimal in some sense and not simply a "random walk" which is clearly inefficient. When multiple robots are involved, the algorithm also needs to take advantage of the fact that the robots can share the task. In this paper we discuss a modification to the well-known distance transform that satisfies these requirements

Platform Relative Sensor Abstractions across Mobile Robots using Computer Vision and Sensor Integration

Uniform sensor management and abstraction across different robot platforms is a difficult task due to the sheer diversity of sensing devices. However, because these sensors can be grouped into categories that in essence provide the same information, we can capture their similarities and create abstractions. An example would be distance data measured by an assortment of range sensors, or alternatively extracted from a camera using image processing. This paper describes how using software components it is possible to uniformly construct high-level abstractions of sensor information across various robots in a way to support the portability of common code that uses these abstractions (e.g. obstacle avoidance, wall following). We demonstrate our abstractions on a number of robots using different configurations of range sensors and cameras

Against the Tide. A Critical Review by Scientists of How Physics and Astronomy Get Done

Nobody should have a monopoly of the truth in this universe. The censorship and suppression of challenging ideas against the tide of mainstream research, the blacklisting of scientists, for instance, is neither the best way to do and filter science, nor to promote progress in the human knowledge. The removal of good and novel ideas from the scientific stage is very detrimental to the pursuit of the truth. There are instances in which a mere unqualified belief can occasionally be converted into a generally accepted scientific theory through the screening action of refereed literature and meetings planned by the scientific organizing committees and through the distribution of funds controlled by "club opinions". It leads to unitary paradigms and unitary thinking not necessarily associated to the unique truth. This is the topic of this book: to critically analyze the problems of the official (and sometimes illicit) mechanisms under which current science (physics and astronomy in particular) is being administered and filtered today, along with the onerous consequences these mechanisms have on all of us.\ud \ud The authors, all of them professional researchers, reveal a pessimistic view of the miseries of the actual system, while a glimmer of hope remains in the "leitmotiv" claim towards the freedom in doing research and attaining an acceptable level of ethics in science

Astrophysics in 2006

The fastest pulsar and the slowest nova; the oldest galaxies and the youngest stars; the weirdest life forms and the commonest dwarfs; the highest energy particles and the lowest energy photons. These were some of the extremes of Astrophysics 2006. We attempt also to bring you updates on things of which there is currently only one (habitable planets, the Sun, and the universe) and others of which there are always many, like meteors and molecules, black holes and binaries.Comment: 244 pages, no figure

Development and Evaluation of Mission Task Elements for Certification of Aircraft with Non-Conventional Control Interfaces

Electrification of aircraft is resulting in configurations that had not been possible. These configurations use fly-by-wire flight controls and introduce novel control concepts that do not map back to traditional mechanical flight controls. The control concepts also do not map to existing Federal Aviation Administration (FAA) certification requirements and therefore need alternate means of compliance. This report addresses that need by considering the use of Cooper-Harper Ratings, ADS-33, and developing a means of compliance for transportation missions. Additionally, a lift + cruise aircraft simulation was developed and implemented in the National Aeronautics and Space Administration (NASA) Langley Research Center\u2019s Cockpit Motion Facility to evaluate the means of compliance developed. The report presents a possible approach and discussion for using the Cooper-Harper rating scale. It also contains discussion about the use of ADS-33. A means of compliance for evaluating 14 CFR Part 23 rules for stability and controllability is presented. The means of compliance was evaluated in the simulation and results are discussed. The researchers did not conclude that use of CHR was helpful for certification

Vision-based Pirouettes using the Radial Obstacle Profile

Mapping algorithms commonly use "radial sweeps" of the surrounding environment as input. Producing a sweep is a challenging task for a robot using only vision. With no odometers to measure turn angles, a vision-based robot must have another method to verify rotations. In this paper we propose using the Radial Obstacle Profile (ROP) which gives the radial distance to the nearest obstacle in any direction in the robot’s field of view. By matching the ROPs before and after a turn, the robot should be able to verify that the expected angle of rotation matches the actual angle. Combining successive ROPs then produces a radial sweep

Delirious USA: the representation of capital in the fiction of Don DeLillo

In this thesis I offer a new reading of Don DeLillo’s fiction through an engagement with contemporary Marxist literary theory and political economy. Beginning in the 1960s, the thesis traces the launch, expansion, and shattering of DeLillo’s narrative apparatus as it recomposes itself across the genres of the short story, the conspiratorial thriller, the historical novel, and the novel of time. Developing on theories of the novel as a capitalist epic, the thesis takes the insistent appearance of surplus populations in DeLillo’s work as an opportunity to reflect on, but also to revise and reconceptualise, Marxist accounts of the novel and its philosophy of history. The DeLillo that emerges from this thesis is less an exemplar of postmodernism and more a novelist of the dispossessed whose central representational task is the invention of a multitude. Chapter One contends that DeLillo’s early short stories from the 1960s acquire a new recognisability in the wake of his late turn towards an aesthetic of suspension. The chapter questions whether the forms of stasis depicted in DeLillo’s short fiction generate new historical futures or if they contribute to a de-collectivised eternal present that later consumes his work. Chapter Two addresses DeLillo’s off-kilter conspiracy novels and reads their discovery of pockets of uneven development through and against the concept of ‘cognitive mapping’. Chapter Three examines the formal means by which DeLillo appropriates Georg Lukács’s classic account of the historical novel and reconfigures it through an irrational historicism that hinges on the non-presupposition of the people. Chapter Four considers the extent to which the non-anthropogenic subjects of history that constrain and inform DeLillo’s twenty-first century fiction constitute political resignation or if they intimate historical futures beyond a catastrophic present. The thesis concludes with a brief reflection on passages out of DeLillo’s epic representation of capitalism

Delirious USA: the representation of capital in the fiction of Don DeLillo

In this thesis I offer a new reading of Don DeLillo’s fiction through an engagement with contemporary Marxist literary theory and political economy. Beginning in the 1960s, the thesis traces the launch, expansion, and shattering of DeLillo’s narrative apparatus as it recomposes itself across the genres of the short story, the conspiratorial thriller, the historical novel, and the novel of time. Developing on theories of the novel as a capitalist epic, the thesis takes the insistent appearance of surplus populations in DeLillo’s work as an opportunity to reflect on, but also to revise and reconceptualise, Marxist accounts of the novel and its philosophy of history. The DeLillo that emerges from this thesis is less an exemplar of postmodernism and more a novelist of the dispossessed whose central representational task is the invention of a multitude. Chapter One contends that DeLillo’s early short stories from the 1960s acquire a new recognisability in the wake of his late turn towards an aesthetic of suspension. The chapter questions whether the forms of stasis depicted in DeLillo’s short fiction generate new historical futures or if they contribute to a de-collectivised eternal present that later consumes his work. Chapter Two addresses DeLillo’s off-kilter conspiracy novels and reads their discovery of pockets of uneven development through and against the concept of ‘cognitive mapping’. Chapter Three examines the formal means by which DeLillo appropriates Georg Lukács’s classic account of the historical novel and reconfigures it through an irrational historicism that hinges on the non-presupposition of the people. Chapter Four considers the extent to which the non-anthropogenic subjects of history that constrain and inform DeLillo’s twenty-first century fiction constitute political resignation or if they intimate historical futures beyond a catastrophic present. The thesis concludes with a brief reflection on passages out of DeLillo’s epic representation of capitalism