Improving local path planning for UAV flight in challenging environments by refining cost function weights

Unmanned Aerial Vehicles (UAV) constantly gain in versatility. However, more reliable path planning algorithms are required until full autonomous UAV operation is possible. This work investigates the algorithm 3DVFH* and analyses its dependency on its cost function weights in 2400 environments. The analysis shows that the 3DVFH* can find a suitable path in every environment. However, a particular type of environment requires a specific choice of cost function weights. For minimal failure, probability interdependencies between the weights of the cost function have to be considered. This dependency reduces the number of control parameters and simplifies the usage of the 3DVFH*. Weights for costs associated with vertical evasion (pitch cost) and vicinity to obstacles (obstacle cost) have the highest influence on the failure probability of the local path planner. Environments with mainly very tall buildings (like large American city centres) require a preference for horizontal avoidance manoeuvres (achieved with high pitch cost weights). In contrast, environments with medium-to-low buildings (like European city centres) benefit from vertical avoidance manoeuvres (achieved with low pitch cost weights). The cost of the vicinity to obstacles also plays an essential role and must be chosen adequately for the environment. Choosing these two weights ideal is sufficient to reduce the failure probability below 10%

Properties of the Bose glass phase in irradiated superconductors near the matching field

Structural and transport properties of interacting localized flux lines in the Bose glass phase of irradiated superconductors are studied by means of Monte Carlo simulations near the matching field B_Phi, where the densities of vortices and columnar defects are equal. For a completely random columnar pin distribution in the xy-plane transverse to the magnetic field, our results show that the repulsive vortex interactions destroy the Mott insulator phase which was predicted to occur at B = B_Phi. On the other hand, for ratios of the penetration depth to average defect distance lambda/d <= 1, characteristic remnants of the Mott insulator singularities remain visible in experimentally accessible quantities as the magnetization, the bulk modulus, and the magnetization relaxation, when B is varied near B_Phi. For spatially more regular disorder, e.g., a nearly triangular defect distribution, we find that the Mott insulator phase can survive up to considerably large interaction range \lambda/d, and may thus be observable in experiments.Comment: RevTex, 17 pages, eps files for 12 figures include

The ‘digital glimpse’ as imagining home

This paper proposes the concept of the ‘digital glimpse’, which develops the existing framing of imaginative travel. Here it articulates the experiences of mobile workers digitally connecting into family life and everyday rituals when physically absent with work. The recent embedding of digital communication technologies into personal relationships and family life is reconfiguring how absence is experienced and practiced by workers on the move, and through this, new digital paradigms for life on-the-move are emerging. This paper explores how such social relationships are maintained at-a-distance through digital technology – using evidence from qualitative interviews with mobile workers and their families. Digital technology now enables expressive forms of ‘virtual travel’, including video calling, picture sharing, and instant messaging. This has implications for the ways in which families can manage the social and relational pressures of being apart. Experiences of imaginative travel created through novel media can enrich the experience and give a greater sense of connection for both those who are at home and those who are away. While technology is limited in its ability to replicate a sense of co-presence, ‘digital glimpses’ are an emergent set of sociotechnical practices that can reduce the negative impact of absence on family relationships

Flux noise in high-temperature superconductors

Spontaneously created vortex-antivortex pairs are the predominant source of flux noise in high-temperature superconductors. In principle, flux noise measurements allow to check theoretical predictions for both the distribution of vortex-pair sizes and for the vortex diffusivity. In this paper the flux-noise power spectrum is calculated for the highly anisotropic high-temperature superconductor Bi-2212, both for bulk crystals and for ultra-thin films. The spectrum is basically given by the Fourier transform of the temporal magnetic-field correlation function. We start from a Berezinskii-Kosterlitz-Thouless type theory and incorporate vortex diffusion, intra-pair vortex interaction, and annihilation of pairs by means of a Fokker-Planck equation to determine the noise spectrum below and above the superconducting transition temperature. We find white noise at low frequencies omega and a spectrum proportional to 1/omega^(3/2) at high frequencies. The cross-over frequency between these regimes strongly depends on temperature. The results are compared with earlier results of computer simulations.Comment: 9 pages, 4 PostScript figures, to be published in Phys. Rev.

A simulation of the Neolithic transition in Western Eurasia

Farming and herding were introduced to Europe from the Near East and Anatolia; there are, however, considerable arguments about the mechanisms of this transition. Were it people who moved and outplaced the indigenous hunter- gatherer groups or admixed with them? Or was it just material and information that moved-the Neolithic Package-consisting of domesticated plants and animals and the knowledge of its use? The latter process is commonly referred to as cultural diffusion and the former as demic diffusion. Despite continuous and partly combined efforts by archaeologists, anthropologists, linguists, paleontologists and geneticists a final resolution of the debate has not yet been reached. In the present contribution we interpret results from the Global Land Use and technological Evolution Simulator (GLUES), a mathematical model for regional sociocultural development embedded in the western Eurasian geoenvironmental context during the Holocene. We demonstrate that the model is able to realistically hindcast the expansion speed and the inhomogeneous space-time evolution of the transition to agropastoralism in Europe. GLUES, in contrast to models that do not resolve endogenous sociocultural dynamics, also describes and explains how and why the Neolithic advanced in stages. In the model analysis, we uncouple the mechanisms of migration and information exchange. We find that (1) an indigenous form of agropastoralism could well have arisen in certain Mediterranean landscapes, but not in Northern and Central Europe, where it depended on imported technology and material, (2) both demic diffusion by migration or cultural diffusion by trade may explain the western European transition equally well, (3) [...]Comment: Accepted Author Manuscript version accepted for publication in Journal of Archaeological Science. A definitive version will be subsequently published in the Journal of Archaological Scienc

The illusion of inclusion: contextual behavioral science and the Black community

Anti-racism approaches require an honest examination of cause, impact, and committed action to change, despite discomfort and without experiential avoidance. While contextual behavioral science (CBS) and third wave cognitive-behavioral modalities demonstrate efficacy among samples composed of primarily White individuals, data regarding their efficacy with people of color, and Black Americans in particular, is lacking. It is important to consider the possible effects of racial stress and trauma on Black clients, and to tailor approaches and techniques grounded in CBS accordingly. We describe how CBS has not done enough to address the needs of Black American communities, using Acceptance and Commitment Therapy (ACT) and Functional Analytic Psychotherapy (FAP) as examples. We also provide examples at the level of research representation, organizational practices, and personal experiences to illuminate covert racist policy tools that maintain inequities. Towards eradicating existing racism in the field, we conclude with suggestions for researchers and leadership in professional psychological organizations