An artificial immune system for self-healing in swarm robotic systems

Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. In response this, we have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots

An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems

© 2016 Elsevier Ireland Ltd Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots

An artificial immune system for self-healing in swarm robotic systems

Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. In response this, we have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots

Subsynoptic-scale features associated with extreme surface gusts in UK extratropical cyclone events

Numerous studies have addressed the mesoscale features within extratropical cyclones (ETCs) that are responsible for the most destructive winds, though few have utilized surface observation data, and most are based on case studies. By using a 39-station UK surface observation network, coupled with in-depth analysis of the causes of extreme gusts during the period 2008–2014, we show that larger-scale features (warm and cold conveyer belts) are most commonly associated with the top 1% of UK gusts but smaller-scale features generate the most extreme winds. The cold conveyor belt is far more destructive when joining the momentum of the ETC, rather than earlier in its trajectory, ahead of the approaching warm front. Sting jets and convective lines account for two thirds of severe surface gusts in the UK

Global Existence and Regularity for the 3D Stochastic Primitive Equations of the Ocean and Atmosphere with Multiplicative White Noise

The Primitive Equations are a basic model in the study of large scale Oceanic and Atmospheric dynamics. These systems form the analytical core of the most advanced General Circulation Models. For this reason and due to their challenging nonlinear and anisotropic structure the Primitive Equations have recently received considerable attention from the mathematical community. In view of the complex multi-scale nature of the earth's climate system, many uncertainties appear that should be accounted for in the basic dynamical models of atmospheric and oceanic processes. In the climate community stochastic methods have come into extensive use in this connection. For this reason there has appeared a need to further develop the foundations of nonlinear stochastic partial differential equations in connection with the Primitive Equations and more generally. In this work we study a stochastic version of the Primitive Equations. We establish the global existence of strong, pathwise solutions for these equations in dimension 3 for the case of a nonlinear multiplicative noise. The proof makes use of anisotropic estimates, $L^{p}_{t}L^{q}_{x}$ estimates on the pressure and stopping time arguments.Comment: To appear in Nonlinearit

Robustness of serial clustering of extratropical cyclones to the choice of tracking method

Cyclone clusters are a frequent synoptic feature in the Euro-Atlantic area. Recent studies have 24 shown that serial clustering of cyclones generally occurs on both flanks and downstream 25 regions of the North Atlantic storm track, while cyclones tend to occur more regulary on the 26 eastern side of the North Atlantic basin near Newfoundland. This study explores the 27 sensitivity of serial clustering to the choice of cyclone tracking method using cyclone track 28 data from 15 methods derived from ERA-Interim data (1979-2010). Clustering is estimated by 29 the dispersion (ratio of variance to mean) of winter (DJF) cyclones passages near each grid 30 point over the Euro-Atlantic area. The mean number of cyclone counts and their variance are 31 compared between methods, revealing considerable differences, particularly for the latter. 32 Results show that all different tracking methods qualitatively capture similar large-scale 33 spatial patterns of underdispersion / overdispersion over the study region. The quantitative 34 differences can primarily be attributed to the differences in the variance of cyclone counts 35 between the methods. Nevertheless, overdispersion is statistically significant for almost all 36 methods over parts of the Eastern North Atlantic and Western Europe, and is therefore 37 considered as a robust feature. The influence of the North Atlantic Oscillation on cyclone 38 clustering displays a similar pattern for all tracking methods, with one maximum near Iceland 39 and another between the Azores and Iberia. The differences in variance between methods are 40 not related with different sensitivities to the NAO, which can account to over 50% of the 41 clustering in some regions. We conclude that the general features of underdispersion / 42 overdispersion of extra-tropical cyclones over the North Atlantic and Western Europe is 43 robust to the choice of tracking method. The same is true for the influence of the North 44 Atlantic Oscillation on cyclone dispersion

Intestinal epithelial stem cells do not protect their genome by asymmetric chromosome segregation

The idea that stem cells of adult tissues with high turnover are protected from DNA replication-induced mutations by maintaining the same 'immortal' template DNA strands together through successive divisions has been tested in several tissues. In the epithelium of the small intestine, the provided evidence was based on the assumption that stem cells are located above Paneth cells. The results of genetic lineage-tracing experiments point instead to crypt base columnar cells intercalated between Paneth cells as bona fide stem cells. Here we show that these cells segregate most, if not all, of their chromosomes randomly, both in the intact and in the regenerating epithelium. Therefore, the 'immortal' template DNA strand hypothesis does not apply to intestinal epithelial stem cells, which must rely on other strategies to avoid accumulating mutations

Meridional Circulation and Global Solar Oscillations

We investigate the influence of large-scale meridional circulation on solar p-modes by quasi-degenerate perturbation theory, as proposed by \cite{lavely92}. As an input flow we use various models of stationary meridional circulation obeying the continuity equation. This flow perturbs the eigenmodes of an equilibrium model of the Sun. We derive the signatures of the meridional circulation in the frequency multiplets of solar p-modes. In most cases the meridional circulation leads to negative average frequency shifts of the multiplets. Further possible observable effects are briefly discussed.Comment: 14 pages, 5 figures, submittted to Solar Physics Topical Issue "HELAS

Different atmospheric moisture divergence responses to extreme and moderate El Niños

On seasonal and inter-annual time scales, vertically integrated moisture divergence provides a useful measure of the tropical atmospheric hydrological cycle. It reflects the combined dynamical and thermodynamical effects, and is not subject to the limitations that afflict observations of evaporation minus precipitation. An empirical orthogonal function (EOF) analysis of the tropical Pacific moisture divergence fields calculated from the ERA-Interim reanalysis reveals the dominant effects of the El Niño-Southern Oscillation (ENSO) on inter-annual time scales. Two EOFs are necessary to capture the ENSO signature, and regression relationships between their Principal Components and indices of equatorial Pacific sea surface temperature (SST) demonstrate that the transition from strong La Niña through to extreme El Niño events is not a linear one. The largest deviation from linearity is for the strongest El Niños, and we interpret that this arises at least partly because the EOF analysis cannot easily separate different patterns of responses that are not orthogonal to each other. To overcome the orthogonality constraints, a self-organizing map (SOM) analysis of the same moisture divergence fields was performed. The SOM analysis captures the range of responses to ENSO, including the distinction between the moderate and strong El Niños identified by the EOF analysis. The work demonstrates the potential for the application of SOM to large scale climatic analysis, by virtue of its easier interpretation, relaxation of orthogonality constraints and its versatility for serving as an alternative classification method. Both the EOF and SOM analyses suggest a classification of “moderate” and “extreme” El Niños by their differences in the magnitudes of the hydrological cycle responses, spatial patterns and evolutionary paths. Classification from the moisture divergence point of view shows consistency with results based on other physical variables such as SST