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

Reusable Software Components for Robots Using Fuzzy Abstractions

Mobile robots today, while varying greatly in design, often have a large number of similarities in terms of their tasks and goals. Navigation, obstacle avoidance, and vision are all examples. In turn, robots of similar design, but with varying configurations, should be able to share the bulk of their controlling software. Any changes required should be minimal and ideally only to specify new hardware configurations. However, it is difficult to achieve such flexibility, mainly due to the enormous variety of robot hardware available and the huge number of possible configurations. Monolithic controllers that can handle such variety are impossible to build. This paper will investigate these portability problems, as well as techniques to manage common abstractions for user-designed components. The challenge is in creating new methods for robot software to support a diverse variety of robots, while also being easily upgraded and extended. These methods can then provide new ways to support the operational and functional reuse of the same high-level components across a variety of robots

Software Reuse across Robotic Platforms: Limiting the effects of diversity

Robots have diverse capabilities and complex interactions with their environment. Software development for robotic platforms is time consuming due to the complex nature of the tasks to be performed. Such an environment demands sound software engineering practices to produce high quality software. However software engineering in the robotics domain fails to facilitate any significant level of software reuse or portability. This paper identifies the major issues limiting software reuse in the robotics domain. Lack of standardisation, diversity of robotic platforms, and the subtle effects of environmental interaction all contribute to this problem. It is then shown that software components, fuzzy logic, and related techniques can be used together to address this problem. While complete software reuse is not possible, it is demonstrated that significant levels of software reuse can be obtained. Without an acceptable level of reuse or portability, software engineering in the robotics domain will not be able to meet the demands of a rapidly developing field. The work presented in this paper demonstrates a method for supporting software reuse across robotic platforms and hence facilitating improved software engineering practices

Management issues in systems engineering

When applied to a system, the doctrine of successive refinement is a divide-and-conquer strategy. Complex systems are sucessively divided into pieces that are less complex, until they are simple enough to be conquered. This decomposition results in several structures for describing the product system and the producing system. These structures play important roles in systems engineering and project management. Many of the remaining sections in this chapter are devoted to describing some of these key structures. Structures that describe the product system include, but are not limited to, the requirements tree, system architecture and certain symbolic information such as system drawings, schematics, and data bases. The structures that describe the producing system include the project's work breakdown, schedules, cost accounts and organization

Prediction and integration of semantics during L2 and L1 listening

Using the visual world paradigm, we tested whether Dutch-English bilinguals predict upcoming semantic information in auditory sentence comprehension to the same extent in their native (L1) and second language (L2). Participants listened to sentences in L1 and L2 while their eye-movements were measured. A display containing a picture of either a target word or a semantic competitor, and three unrelated objects was shown before the onset of the auditory target word in the sentence. There were more fixations on the target and competitor pictures relative to the unrelated pictures in both languages, before hearing the target word could affect fixations. Also, semantically stronger related competitors attracted more fixations. This relatedness effect was stronger, and it started earlier in the L1 than in the L2. These results suggest that bilinguals predict semantics in the L2, but the spread of semantic activation during prediction is slower and weaker than in the L1

Exclusive development of T cell neoplasms in mice transplanted with bone marrow expressing activated Notch alleles

Notch is a highly conserved transmembrane protein that is involved in cell fate decisions and is found in organisms ranging from Drosophila to humans. A human homologue of Notch, TAN1, was initially identified at the chromosomal breakpoint of a subset of T-cell lymphoblastic leukemias/lymphomas containing a t(7;9) chromosomal translocation; however, its role in oncogenesis has been unclear. Using a bone marrow reconstitution assay with cells containing retrovirally transduced TAN1 alleles, we analyzed the oncogenic potential of both nuclear and extranuclear forms of truncated TAN1 in hematopoietic cells. Although the Moloney leukemia virus long terminal repeat drives expression in most hematopoietic cell types, retroviruses encoding either form of the TAN1 protein induced clonal leukemias of exclusively immature T cell phenotypes in approximately 50% of transplanted animals. All tumors overexpressed truncated TAN1 of the size and subcellular localization predicted from the structure of the gene. These results show that TAN1 is an oncoprotein and suggest that truncation and overexpression are important determinants of transforming activity. Moreover, the murine tumors caused by TAN1 in the bone marrow transplant model are very similar to the TAN1-associated human tumors and suggest that TAN1 may be specifically oncotropic for T cells

Seasonal and spatial variations in the ocean-coupled ambient wavefield of the Ross Ice Shelf

© The Author(s), 2019. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Baker, M. G., Aster, R. C., Anthony, R. E., Chaput, J., Wiens, D. A., Nyblade, A., Bromirski, P. D., Gerstoft, P., & Stephen, R. A. Seasonal and spatial variations in the ocean-coupled ambient wavefield of the Ross Ice Shelf. Journal of Glaciology, 65(254), (2019): 912-925, doi:10.1017/jog.2019.64.The Ross Ice Shelf (RIS) is host to a broadband, multimode seismic wavefield that is excited in response to atmospheric, oceanic and solid Earth source processes. A 34-station broadband seismographic network installed on the RIS from late 2014 through early 2017 produced continuous vibrational observations of Earth's largest ice shelf at both floating and grounded locations. We characterize temporal and spatial variations in broadband ambient wavefield power, with a focus on period bands associated with primary (10–20 s) and secondary (5–10 s) microseism signals, and an oceanic source process near the ice front (0.4–4.0 s). Horizontal component signals on floating stations overwhelmingly reflect oceanic excitations year-round due to near-complete isolation from solid Earth shear waves. The spectrum at all periods is shown to be strongly modulated by the concentration of sea ice near the ice shelf front. Contiguous and extensive sea ice damps ocean wave coupling sufficiently so that wintertime background levels can approach or surpass those of land-sited stations in Antarctica.This research was supported by NSF grants PLR-1142518, 1141916, 1142126, 1246151 and 1246416. JC was additionally supported by Yates funds in the Colorado State University Department of Mathematics. PDB also received support from the California Department of Parks and Recreation, Division of Boating and Waterways under contract 11-106-107. We thank Reinhard Flick and Patrick Shore for their support during field work, Tom Bolmer in locating stations and preparing maps, and the US Antarctic Program for logistical support. The seismic instruments were provided by the Incorporated Research Institutions for Seismology (IRIS) through the PASSCAL Instrument Center at New Mexico Tech. Data collected are available through the IRIS Data Management Center under RIS and DRIS network code XH. The PSD-PDFs presented in this study were processed with the IRIS Noise Tool Kit (Bahavar and others, 2013). The facilities of the IRIS Consortium are supported by the National Science Foundation under Cooperative Agreement EAR-1261681 and the DOE National Nuclear Security Administration. The authors appreciate the support of the University of Wisconsin-Madison Automatic Weather Station Program for the data set, data display and information; funded under NSF grant number ANT-1543305. The Ross Ice Shelf profiles were generated using the Antarctic Mapping Tools (Greene and others, 2017). Regional maps were generated with the Generic Mapping Tools (Wessel and Smith, 1998). Topography and bathymetry data for all maps in this study were sourced from the National Geophysical Data Center ETOPO1 Global Relief Model (doi:10.7289/V5C8276M). We thank two anonymous reviewers for suggestions on the scope and organization of this paper

Interstellar Comets from Post-Main Sequence Systems as Tracers of Extrasolar Oort Clouds

Interstellar small bodies are unique probes into the histories of exoplanetary systems. One hypothesized class of interlopers are "Jurads," exo-comets released into the Milky Way during the post-main sequence as the thermally-pulsing asymptotic giant branch (AGB) host stars lose mass. In this study, we assess the prospects for the Legacy Survey of Space and Time (LSST) to detect a Jurad and examine whether such an interloper would be observationally distinguishable from exo-comets ejected during the (pre-)main sequence. Using analytic and numerical methods, we estimate the fraction of exo-Oort Cloud objects that are released from 1-8 solar mass stars during post-main sequence evolution. We quantify the extent to which small bodies are altered by the increased luminosity and stellar outflows during the AGB, finding that some Jurads may lack hypervolatiles and that stellar winds could deposit dust that covers the entire exo-comet surface. Next, we construct models of the interstellar small body reservoir for various size-frequency distribution slopes, characteristic sizes, and the total mass sequestered in the minor planets of exo-Oort Clouds. Even with the LSST's increased search volume compared to contemporary surveys, we find that detecting a Jurad is unlikely but not infeasible given the current understanding of (exo)planet formation.Comment: 28 pages, 13 figures; accepted to PS

The Seismic Noise Environment of Antarctica

This characterization of the seismic noise environment of Antarctica, documentation of instrument performance, and comparisons of installation conditions (e.g., ice vaults vs. rock sites) is intended to facilitate optimization of future seismological deployments in such environments. We analyze data from a range of recent experiments to provide a broad geographical characterization of Antarctica’s seismic noise environment, which can now include more substantial observations from regions that are free from anthropogenic noise contamination