Beyond Reynolds: A Constraint-Driven Approach to Cluster Flocking

In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize energy consumption subject to safety and task constraints. We prove several properties about the feasible space of the optimal control problem and show that velocity consensus is an optimal solution. We also motivate the inclusion of slack variables in constraint-driven problems when the global state is only partially observable by each agent. Finally, we analyze the case where the communication topology is fixed and connected, and prove that our proposed flocking rules achieve velocity consensus.Comment: 6 page

Digital multichannel photometer

System was developed for use in astronomy and other research areas concerned with detection of faint-light images. Photometer system is comparable in performance to good photomultiplier tube array except that digital electronics are used instead of analog

Experimental Validation of a Real-Time Optimal Controller for Coordination of CAVs in a Multi-Lane Roundabout

Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to various disturbances. Research efforts have shown that smoothing traffic flow and eliminating stop-and-go driving can both improve fuel efficiency of the vehicles and the throughput of a roundabout. In this paper, we validate an optimal control framework developed earlier in a multi-lane roundabout scenario using the University of Delaware's scaled smart city (UDSSC). We first provide conditions where the solution is optimal. Then, we demonstrate the feasibility of the solution using experiments at UDSSC, and show that the optimal solution completely eliminates stop-and-go driving while preserving safety.Comment: 6 Pages, 4 Figures, 1 tabl

Adaptation of a Low-Cost Hyperpolarization Technique for Use with Single-Sided NMR

Nuclear magnetic resonance (NMR) suffers from inherent signal problems due to low levels of nuclear polarization at room temperature. These problems are especially prevalent in single-sided NMR, which allows for a more flexible measurement geometry and simpler, cheaper instrumentation than traditional NMR. Hyperpolarization techniques can remedy this by providing artificially high levels of polarization for a single measurement. Signal Amplification By Reversible Exchange (SABRE) hyperpolarization is particularly advantageous, since it can be produced quickly using relatively cheap and simple instrumentation. While SABRE hyperpolarization has been successfully demonstrated with traditional NMR, it has not yet been adapted for single-sided NMR. Here, an apparatus for performing SABRE hyperpolarization with single-sided NMR is constructed and verified. With this apparatus, signal enhancements of over two orders of magnitude are achieved. Finally, simple proof-of-concept measurements are performed to evaluate and demonstrate the potential of the new technique

GraphSE2^2: An Encrypted Graph Database for Privacy-Preserving Social Search

In this paper, we propose GraphSE$^2$, an encrypted graph database for online social network services to address massive data breaches. GraphSE$^2$ preserves the functionality of social search, a key enabler for quality social network services, where social search queries are conducted on a large-scale social graph and meanwhile perform set and computational operations on user-generated contents. To enable efficient privacy-preserving social search, GraphSE$^2$ provides an encrypted structural data model to facilitate parallel and encrypted graph data access. It is also designed to decompose complex social search queries into atomic operations and realise them via interchangeable protocols in a fast and scalable manner. We build GraphSE$^2$ with various queries supported in the Facebook graph search engine and implement a full-fledged prototype. Extensive evaluations on Azure Cloud demonstrate that GraphSE$^2$ is practical for querying a social graph with a million of users.Comment: This is the full version of our AsiaCCS paper "GraphSE$^2$: An Encrypted Graph Database for Privacy-Preserving Social Search". It includes the security proof of the proposed scheme. If you want to cite our work, please cite the conference version of i

A Geometric Analysis to Protect Manned Assets from Newly Launched Objects - COLA Gap Analysis

A safety risk was identified for the International Space Station (ISS) by The Aerospace Corporation following the launch of GPS IIR-20 (March 24, 2009), when the spent upper stage of the launch vehicle unexpectedly crossed inside the ISS notification box shortly after launch. This event highlighted a 56-hour vulnerability period following the end of the launch Collision Avoidance (COLA) process where the ISS would be unable to react to a conjunction with a newly launched object. Current launch COLA processes screen each launched object across the launch window to determine if an object's nominal trajectory is predicted to pass within 200 km of the ISS (or any other manned/mannable object), resulting in a launch time closure. These launch COLA screens are performed from launch through separation plus I 00 minutes. Once the objects are in orbit, they are cataloged and evaluated as part of routine on-orbit conjunction assessment processes. However, as the GPS IIR-20 scenario illustrated, there is a vulnerability period in the time line between the end of launch COLA coverage and the beginning of standard on-orbit COLA assessment activities. The gap between existing launch and on-orbit COLA processes is driven by the time it takes to track and catalog a launched object, identify a conjunction, and plan and execute a collision avoidance maneuver. For the ISS, the total time required to accomplish an of these steps is 56 hours. To protect human lives, NASA/JSC has requested that an US launches take additional steps to protect the ISS during this "COLA gap" period. The uncertainty in the state of a spent upper stage can be quite large after all bums are complete and all remaining propellants are expelled to safe the stage. Simply extending the launch COLA process an additional 56 hours is not a viable option as the 3-sigma position uncertainty will far exceed the 200 km miss-distance criterion. Additionally, performing a probability of collision (Pc) analysis over this period is also not practical due to the limiting effects of these large orbit state uncertainties. An estimated upper bound for Pc for a typical spent upper stage if nominally aligned for a direct broadside collision with the ISS is only on the order of 10-6. For a smaller manned object such as a Soyuz capsule, the risk level decreases to an order of 10'8 . In comparison, the Air Force Range policy (AFI 91-217) for launch COLAs would only eliminate launch opportunities when conjunctions with objects exceed a Pc of 10'5 This paper demonstrates a conservative geometry-based methodology that may be used to determine if launch opportunities pose a threat to the ISS during the COLA gap period. The NASA Launch Services Program at Kennedy Space Center has developed this COLA gap analysis method and employed it fQr three NASA missions to identify potential ISS conjunctions and corresponding launch window closures during the 56-hour at-risk period. In the analysis, for each launch opportunity, the nominal trajectory of the spent upper stage and the orbit state of the ISS are propagated over the 56 hour period. Each time the upper stage crosses the orbit plane of the ISS, the relative radial and argument of latitude separations are calculated. A window cutout is identified if these separation differences fall within a mission-specific violation box, which is determined from the evaluation of a Monte Carlo dispersions analysis that quantifies the potential variation in the upper stage radial and argument of latitude differences. This paper details the results of these analyses and their impacts to each mission

Comparing hospital and telephone follow-up after treatment for breast cancer: randomised equivalence trial

Objective To compare traditional hospital follow-up with telephone follow-up by specialist nurses after treatment for breast cancer. Design A two centre randomised equivalence trial in which women remained in the study for a mean of 24 months. Setting Outpatient clinics in two NHS hospital trusts in the north west of England Participants 374 women treated for breast cancer who were at low to moderate risk of recurrence. Interventions Participants were randomised to traditional hospital follow-up (consultation, clinical examination, and mammography as per hospital policy) or telephone follow-up by specialist nurses (consultation with structured intervention and mammography according to hospital policy). Main outcome measures Psychological morbidity (state-trait anxiety inventory, general health questionnaire (GHQ-12)), participants’ needs for information, participants’ satisfaction, clinical investigations ordered, and time to detection of recurrent disease. Results The 95% confidence interval for difference in mean state-trait scores adjusted for treatment received (−3.33 to 2.07) was within the predefined equivalence region (−3.5 to 3.5). The women in the telephone group were no more anxious as a result of foregoing clinic examinations and face-to-face consultations and reported higher levels of satisfaction than those attending hospital clinics (intention to treat P<0.001). The numbers of clinical investigations ordered did not differ between groups. Recurrences were few (4.5%), with no differences between groups for time to detection (median 60.5 (range 37-131) days in hospital group v 39.0 (10-152) days in telephone group; P=0.228). Conclusions Telephone follow-up was well received by participants, with no physical or psychological disadvantage. It is suitable for women at low to moderate risk of recurrence and those with long travelling distances or mobility problems and decreases the burden on busy hospital clinics