Collaborative Collective Algorithms to Coordinate UGVs

Sentel/Brilliant Innovations has developed autonomous UGVs (unmanned ground vehicles) capable of generating a map of an unknown location through exploration using local software and the power of Google Tango technology. This project was tasked with developing an efficient and capable map-stitching solution allowing multiple UGVs to coordinate their movements and share information in order to greatly improve the speed at which these drones can be used to generate maps. The solution utilizes the processing power of a Raspberry Pi to pull maps from a Redis server and stitch them together. Once stitched, the maps are redistributed via the Redis server back through the network, providing every UGV the opportunity to obtain the global map. All of this stitching is performed on a single UGV, freeing the other drones to focus on generating and uploading their own unique maps to the server. The drones can use this new information to better inform their next move to prevent multiple drones from generating a map of the same location. In the future, Sentel/Brilliant Innovations hopes to take this technology and attach more advanced sensors to the drones, allowing them to add greater detail of the environment to the map rather than simply drawing boundaries. These drones have many potential applications, such as search and rescue, seeking out potential hazards, and intelligence for military and civil use.https://scholarscompass.vcu.edu/capstone/1187/thumbnail.jp

MOON: MapReduce On Opportunistic eNvironments

Abstract—MapReduce offers a flexible programming model for processing and generating large data sets on dedicated resources, where only a small fraction of such resources are every unavailable at any given time. In contrast, when MapReduce is run on volunteer computing systems, which opportunistically harness idle desktop computers via frameworks like Condor, it results in poor performance due to the volatility of the resources, in particular, the high rate of node unavailability. Specifically, the data and task replication scheme adopted by existing MapReduce implementations is woefully inadequate for resources with high unavailability. To address this, we propose MOON, short for MapReduce On Opportunistic eNvironments. MOON extends Hadoop, an open-source implementation of MapReduce, with adaptive task and data scheduling algorithms in order to offer reliable MapReduce services on a hybrid resource architecture, where volunteer computing systems are supplemented by a small set of dedicated nodes. The adaptive task and data scheduling algorithms in MOON distinguish between (1) different types of MapReduce data and (2) different types of node outages in order to strategically place tasks and data on both volatile and dedicated nodes. Our tests demonstrate that MOON can deliver a 3-fold performance improvement to Hadoop in volatile, volunteer computing environments

Supersonic dislocations observed in a plasma crystal

Experimental results on the dislocation dynamics in a two-dimensional plasma crystal are presented. Edge dislocations were created in pairs in lattice locations where the internal shear stress exceeded a threshold and then moved apart in the glide plane at a speed higher than the sound speed of shear waves, $C_T$. The experimental system, a plasma crystal, allowed observation of this process at an atomistic (kinetic) level. The early stage of this process is identified as a stacking fault. At a later stage, supersonically moving dislocations generated shear-wave Mach cones

Seismicity in a model governed by competing frictional weakening and healing mechanisms

Observations from laboratory, field and numerical work spanning a wide range of space and time scales suggest a strain dependent progressive evolution of material properties that control the stability of earthquake faults. The associated weakening mechanisms are counterbalanced by a variety of restrengthening mechanisms. The efficiency of the healing processes depends on local material properties and on rheologic, temperature, and hydraulic conditions. We investigate the relative effects of these competing non-linear feedbacks on seismogenesis in the context of evolving frictional properties, using a mechanical earthquake model that is governed by slip weakening friction. Weakening and strengthening mechanisms are parametrized by the evolution of the frictional control variable—the slip weakening rate R—using empirical relationships obtained from laboratory experiments. In our model, weakening depends on the slip of an earthquake and tends to increase R, following the behaviour of real and simulated frictional interfaces. Healing causes R to decrease and depends on the time passed since the last slip. Results from models with these competing feedbacks are compared with simulations using non-evolving friction. Compared to fixed R conditions, evolving properties result in a significantly increased variability in the system dynamics. We find that for a given set of weakening parameters the resulting seismicity patterns are sensitive to details of the restrengthening process, such as the healing rate b and a lower cutoff time, tc , up to which no significant change in the friction parameter is observed. For relatively large and small cutoff times, the statistics are typical of fixed large and small R values, respectively. However, a wide range of intermediate values leads to significant fluctuations in the internal energy levels. The frequency-size statistics of earthquake occurrence show corresponding non-stationary characteristics on time scales over which negligible fluctuations are observed in the fixed-R case. The progressive evolution implies that -— except for extreme weakening and healing rates -— faults and fault networks possibly are not well characterized by steady states on typical catalogue time scales, thus highlighting the essential role of memory and history dependence in seismogenesis. The results suggest that an extrapolation to future seismicity occurrence based on temporally limited data may be misleading due to variability in seismicity patterns associated with competing mechanisms that affect fault stability

Effects of fault finiteness on near-source ground motion

Near-source ground motion at four azimuths but constant epicentral range is computed from a buried circular strike-slip fault in a half-space. Particle acceleration, velocity, and displacement at each station on the free surface is computed in the frequency band 0.0 to 5.0 Hz. The assumed dislocation is derived from the Kostrov (1964) displacement function for a continuously propagating stress relaxation. The azimuthal variations in the amplitudes and waveforms directly result from spatially varying slip on the fault, spatially varying radiation pattern over the fault, and the magnitude and direction of the rupture velocity. The near-source ground motions are dominated by the rupture in the direction of the receiver. Using a 100-bar effective stress (initial stress minus sliding friction) in a Poisson solid with β = 3.0 km/sec the shear wave speed, and shear modulus μ = 3.0 × 10^(11) dyne/cm^2, the simulated earthquake has a moment M_o = 4.5 × 10^(25) dyne-cm. Using a rupture velocity of 0.9β, the peak acceleration is 1195 cm/sec^2 and velocity 10^4 cm/sec for the receiver directly on strike. For a receiver 30° off strike, the maximum acceleration 236 cm/sec^2 occurs on the vertical component

Architectural Refactoring for Fast and Modular Bioinformatics Sequence Search

Bioinformaticists use the Basic Local Alignment Search Tool (BLAST) to characterize an unknown sequence by comparing it against a database of known sequences, thus detecting evolutionary relationships and biological properties. mpiBLAST is a widely-used, high-performance, open-source parallelization of BLAST that runs on a computer cluster delivering super-linear speedups. However, the Achilles heel of mpiBLAST is its lack of modularity, adversely affecting maintainability and extensibility; an effective architectural refactoring will benefit both users and developers. This paper describes our experiences in the architectural refactoring of mpiBLAST into a modular, high-performance software package. Our evaluation of five component-oriented designs culminated in a design that enables modularity while retaining high-performance. Furthermore, we achieved this refactoring effectively and efficiently using eXtreme Programming techniques. These experiences will be of value to software engineers faced with the challenge of creating maintainable and extensible, high-performance, bioinformatics software

Differential Tethering of Log Phase Trypanosoma brucei onto Chemically Distinct Surfaces

Our long-term objective is to understand and model the motility of T. brucei. Obtaining high quality images of T. brucei that allow one to differentiate between cell body movement and flagallar movement is difficult with T. brucei because the flagellum is attached along the cell body. Currently, our approach his to tether T. brucei onto a microscope friendly surface. The contributions to the ISIS our progress to date. Specifically, we look at the adhesion density of T. brucei to numerous microscope friendly surfaces and at the optimum adhesion conditions for T. brucei