Coordinated Robot Navigation via Hierarchical Clustering

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in the configuration space. We apply these methods to the centralized coordination and control of $n$ perfectly sensed and actuated Euclidean spheres in a $d$-dimensional ambient space (for arbitrary $n$ and $d$). Given a desired configuration supporting a desired hierarchy, we construct a hybrid controller which is quadratic in $n$ and algebraic in $d$ and prove that its execution brings all but a measure zero set of initial configurations to the desired goal with the guarantee of no collisions along the way.Comment: 29 pages, 13 figures, 8 tables, extended version of a paper in preparation for submission to a journa

Anytime Hierarchical Clustering

We propose a new anytime hierarchical clustering method that iteratively transforms an arbitrary initial hierarchy on the configuration of measurements along a sequence of trees we prove for a fixed data set must terminate in a chain of nested partitions that satisfies a natural homogeneity requirement. Each recursive step re-edits the tree so as to improve a local measure of cluster homogeneity that is compatible with a number of commonly used (e.g., single, average, complete) linkage functions. As an alternative to the standard batch algorithms, we present numerical evidence to suggest that appropriate adaptations of this method can yield decentralized, scalable algorithms suitable for distributed/parallel computation of clustering hierarchies and online tracking of clustering trees applicable to large, dynamically changing databases and anomaly detection.Comment: 13 pages, 6 figures, 5 tables, in preparation for submission to a conferenc

Energy Relaxation Rates in AlInN/AlN/GaN Heterostructures

Cataloged from PDF version of article.The two-dimensional (2D) electron energy relaxation in Al0.83In0.17N/AlN/GaN heterostructures has been investigated experimentally. Shubnikov-de Haas (SdH) effect measurements were employed in the investigations. The electron temperature (T (e)) of hot electrons was obtained from the lattice temperature (T (L)) and the applied electric field dependencies of the amplitude of SdH oscillations. The experimental results for the electron temperature dependence of power loss are also compared with current theoretical models for power loss in 2D semiconductors. The power loss from the electrons was found to be proportional to (T (e) (3) - T (L) (3) ) for electron temperatures in the range 1.8 K < T (e) < 14 K, indicating that the energy relaxation of electrons is due to acoustic phonon emission via unscreened piezoelectric interaction. The effective mass and quantum lifetime of the 2D electrons have been determined from the temperature and magnetic field dependencies of the amplitude of SdH oscillations, respectively. The values obtained for quantum lifetime suggest that remote ionized impurity scattering is the dominant scattering mechanism in Al0.83In0.17N/AlN/GaN heterostructures

Forward tunneling current in Pt/p-InGaN and Pt/n-InGaN Schottky barriers in a wide temperature range

Cataloged from PDF version of article.The current-transport mechanisms of the Pt contacts on p-InGaN and n-InGaN were investigated in a wide temperature range (80-360 K) and in the forward bias regime. It was found that the ideality factor (n) values and Schottky barrier heights (SBHs), as determined by thermionic emission (TE), were a strong function of temperature and Phi(b0) show the unusual behavior of increasing linearly with an increase in temperature from 80 to 360 K for both Schottky contacts. The tunneling saturation (J(TU)(0)) and tunneling parameters (E-0) were calculated for both Schottky contacts. We observed a weak temperature dependence of the saturation current and a fairly small dependence on the temperature of the tunneling parameters in this temperature range. The results indicate that the dominant mechanism of the charge transport across the Pt/p-InGaN and Pt/n-InGaN Schottky contacts are electron tunneling to deep levels in the vicinity of mixed/screw dislocations in the temperature range of 80-360 K. (c) 2012 Elsevier B.V. All rights reserved

Improvement of the Wastewater Biodegradability by Means of Photocatalytic and Wet Oxidation Processes in the Presence of Hydrogen Peroxide

In this study, the effectiveness of photocatalytic oxidation (PO) and wet oxidation (WO) processes as a pre-treatment step on improvement of biodegradability and colour removal of mixture of raw domestic and pre-treated industrial wastewaters, have been evaluated. More oxygen was obtained by H2O2 (as an oxidant in WO and PO processes) than stoichiometric demand. PO of the wastewater was carried out by illumination of the wastewater with UV lamp (at room temperature, atmospheric pressure, 16.5 h reaction time) and WO of the wastewater was carried out by means of thermal oxidation at autoclave conditions (at 118–120 oC, 1.9–2 bar, 3 h reaction time). 1 g L–1 TiO2 in PO process and 0.2 mg L–1 Cu++ in WO process were used as catalyst. The results obtained from experiments were not compared with each other due to the difference between the quality and quantity of the used catalyst and the consumed energy. Colour removal efficiency was 33 % for WO process and 77.6 % for PO process. By applying WO process, 72.7 % increase in the reaction rate coefficient describing the degradability of organic compounds in wastewater was obtained, but this value was 34.5 % in PO process

Impacts of battery characteristics, driver preferences and road network features on travel costs of a plug-in hybrid electric vehicle (PHEV) for long-distance trips

Cataloged from PDF version of article.In a road network with refueling and fast charging stations, the minimum-cost driving path of a plug-in hybrid electric vehicle (PHEV) depends on factors such as location and availability of refueling/fast charging stations, capacity and cost of PHEV batteries, and driver tolerance towards extra mileage or additional stopping. In this paper, our focus is long-distance trips of PHEVs. We analyze the impacts of battery characteristics, often-overlooked driver preferences and road network features on PHEV travel costs for long-distance trips and compare the results with hybrid electric and conventional vehicles. We investigate the significance of these factors and derive critical managerial insights for shaping the future investment decisions about PHEVs and their infrastructure. In particular, our findings suggest that with a certain level of deployment of fast charging stations, well established cost and emission benefits of PHEVs for the short range trips can be extended to long distance. Drivers׳ stopping intolerance may hamper these benefits; however, increasing battery capacity may help overcome the adverse effects of this intolerance

Spatial Distribution of the Incompressible Strips at Aharonov-Bohm Interferometer

In this work, the edge physics of an Aharonov-Bohm interferometer (ABI) defined on a two dimensional electron gas, subject to strong perpendicular magnetic field B, is investigated. We solve the three dimensional Poisson equation using numerical techniques starting from the crystal growth parameters and surface image of the sample. The potential profiles of etched and gate defined geometries are compared and it is found that the etching yields a steeper landscape. The spatial distribution of the incompressible strips is investigated as a function of the gate voltage and applied magnetic field, where the imposed current is confined to. AB interference is investigated due to scattering processes between two incompressible "edge-states".Comment: 5 pages, 3 figure

A color and shape based algorithm for segmentation of white blood cells in peripheral blood and bone marrow images

Cataloged from PDF version of article.Computer-based imaging systems are becoming important tools for quantitative assessment of peripheral blood and bone marrow samples to help experts diagnose blood disorders such as acute leukemia. These systems generally initiate a segmentation stage where white blood cells are separated from the background and other nonsalient objects. As the success of such imaging systems mainly depends on the accuracy of this stage, studies attach great importance for developing accurate segmentation algorithms. Although previous studies give promising results for segmentation of sparsely distributed normal white blood cells, only a few of them focus on segmenting touching and overlapping cell clusters, which is usually the case when leukemic cells are present. In this article, we present a new algorithm for segmentation of both normal and leukemic cells in peripheral blood and bone marrow images. In this algorithm, we propose to model color and shape characteristics of white blood cells by defining two transformations and introduce an efficient use of these transformations in a marker-controlled watershed algorithm. Particularly, these domain specific characteristics are used to identify markers and define the marking function of the watershed algorithm as well as to eliminate false white blood cells in a postprocessing step. Working on 650 white blood cells in peripheral blood and bone marrow images, our experiments reveal that the proposed algorithm improves the segmentation performance compared with its counterparts, leading to high accuracies for both sparsely distributed normal white blood cells and dense leukemic cell clusters. (C) 2014 International Society for Advancement of Cytometr