Laboratory on Legs: An Architechture for Adjustable Morphology with Legged Robots

For mobile robots, the essential units of actuation, computation, and sensing must be designed to fit within the body of the robot. Additional capabilities will largely depend upon a given activity, and should be easily reconfigurable to maximize the diversity of applications and experiments. To address this issue, we introduce a modular architecture originally developed and tested in the design and implementation of the X-RHex hexapod that allows the robot to operate as a mobile laboratory on legs. In the present paper we will introduce the specification, design and very earliest operational data of Canid, an actively driven compliant-spined quadruped whose completely different morphology and intended dynamical operating point are nevertheless built around exactly the same “Lab on Legs” actuation, computation, and sensing infrastructure. We will review as well, more briefly a second RHex variation, the XRL latform, built using the same components. For more information: Kod*La

Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped

We document initial experiments with Canid, a freestanding, power-autonomous quadrupedal robot equipped with a parallel actuated elastic spine. Research into robotic bounding and galloping platforms holds scientific and engineering interest because it can both probe biological hypotheses regarding bounding and galloping mammals and also provide the engineering community with a new class of agile, efficient and rapidly-locomoting legged robots. We detail the design features of Canid that promote our goals of agile operation in a relatively cheap, conventionally prototyped, commercial off-the-shelf actuated platform. We introduce new measurement methodology aimed at capturing our robot’s “body energy” during real time operation as a means of quantifying its potential for agile behavior. Finally, we present joint motor, inertial and motion capture data taken from Canid’s initial leaps into highly energetic regimes exhibiting large accelerations that illustrate the use of this measure and suggest its future potential as a platform for developing efficient, stable, hence useful bounding gaits. For more information: Kod*La

SubmilliJansky Transients in Archival Radio Observations

[ABRIDGED] We report the results of a 944-epoch survey for transient sources with archival data from the Very Large Array spanning 22 years with a typical epoch separation of 7 days. Observations were obtained at 5 or 8.4 GHz for a single field of view with a full-width at half-maximum of 8.6' and 5.1', respectively, and achieved a typical point-source detection threshold at the beam center of ~300 microJy per epoch. Ten transient sources were detected with a significance threshold such that only one false positive would be expected. Of these transients, eight were detected in only a single epoch. Two transients were too faint to be detected in individual epochs but were detected in two-month averages. None of the ten transients was detected in longer-term averages or associated with persistent emission in the deep image produced from the combination of all epochs. The cumulative rate for the short timescale radio transients above 370 microJy at 5 and 8.4 GHz is 0.07 < R < 40 deg^-2 yr^-1, where the uncertainty is due to the unknown duration of the transients, 20 min < t_char < 7 days. A two-epoch survey for transients will detect 1.5 +/- 0.4 transient per square degrees above a flux density of 370 microJy. Two transients are associated with galaxies at z=0.040 and z=0.249. These may be similar to the peculiar Type Ib/c radio supernova SN 1998bw associated with GRB 980428. Six transients have no counterparts in the optical or infrared (R=27, Ks=18). The hosts and progenitors of these transients are unknown.Comment: Accepted for ApJ; full quality figures available at http://astro.berkeley.edu/~gbower/ps/rt.pd

Few-body spin couplings and their implications for universal quantum computation

Electron spins in semiconductor quantum dots are promising candidates for the experimental realization of solid-state qubits. We analyze the dynamics of a system of three qubits arranged in a linear geometry and a system of four qubits arranged in a square geometry. Calculations are performed for several quantum dot confining potentials. In the three-qubit case, three-body effects are identified that have an important quantitative influence upon quantum computation. In the four-qubit case, the full Hamiltonian is found to include both three-body and four-body interactions that significantly influence the dynamics in physically relevant parameter regimes. We consider the implications of these results for the encoded universality paradigm applied to the four-electron qubit code; in particular, we consider what is required to circumvent the four-body effects in an encoded system (four spins per encoded qubit) by the appropriate tuning of experimental parameters.Comment: 1st version: 33 pages, 25 figures. Described at APS March Meeting in 2004 (P36.010) and 2005 (B17.00009). Most figures made uglier here to reduce file size. 2nd version: 19 pages, 9 figures. Much mathematical detail chopped away after hearing from journal referee; a few typos correcte

Exposing Surveillance Detection Routes via Reinforcement Learning, Attack Graphs, and Cyber Terrain

Reinforcement learning (RL) operating on attack graphs leveraging cyber terrain principles are used to develop reward and state associated with determination of surveillance detection routes (SDR). This work extends previous efforts on developing RL methods for path analysis within enterprise networks. This work focuses on building SDR where the routes focus on exploring the network services while trying to evade risk. RL is utilized to support the development of these routes by building a reward mechanism that would help in realization of these paths. The RL algorithm is modified to have a novel warm-up phase which decides in the initial exploration which areas of the network are safe to explore based on the rewards and penalty scale factor

X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks

We report on the design and development of X-RHex, a hexapedal robot with a single actuator per leg, intended for real-world mobile applications. X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable footprint and weight. Furthermore, X-RHex is designed to be easier to build and maintain by using a variety of commercial off-the-shelf (COTS) components for a majority of its internals. This document describes the X-RHex architecture and design, with a particular focus on the new ability of this robot to carry modular payloads as a laboratory on legs. X-RHex supports a variety of sensor suites on a small, mobile robotic platform intended for broad, general use in research, defense, and search and rescue applications. Comparisons with previous RHex platforms are presented throughout, with preliminary tests indicating that the locomotive capabilities of X-RHex can meet or exceed the previous platforms. With the additional payload capabilities of X-RHex, we claim it to be the first robot of its size to carry a fully programmable GPU for fast, parallel sensor processing

The Snf2 Homolog Fun30 acts as a homodimeric ATP-dependent chromatin-remodeling enzyme

The Saccharomyces cerevisiae Fun30 (Function unknown now 30) protein shares homology with an extended family of Snf2-related ATPases. Here we report the purification of Fun30 principally as a homodimer with a molecular mass of about 250 kDa. Biochemical characterization of this complex reveals that it has ATPase activity stimulated by both DNA and chromatin. Consistent with this, it also binds to both DNA and chromatin. The Fun30 complex also exhibits activity in ATP-dependent chromatin remodeling assays. Interestingly, its activity in histone dimer exchange is high relative to the ability to reposition nucleosomes. Fun30 also possesses a weakly conserved CUE motif suggesting that it may interact specifically with ubiquitinylated proteins. However, in vitro Fun30 was found to have no specificity in its interaction with ubiquitinylated histones

The Local Group dwarf Leo T: HI on the brink of star formation

We present Giant Meterwave Radio Telescope (GMRT) and Westerbork ynthesis Radio Telescope (WSRT) observations of the recently discovered Local Group dwarf galaxy, Leo T. The peak HI column density is measured to be 7x10^20 cm^-2, and the total HI mass is 2.8Xx10^5 Msun, based on a distance of 420 kpc. Leo T has both cold (~ 500 K) and warm (~ 6000 K) HI at its core, with a global velocity dispersion of 6.9 km/s, from which we derive a dynamical mass within the HI radius of 3.3x10^6 Msun, and a mass-to-light ratio of greater than 50. We calculate the Jeans mass from the radial profiles of the HI column density and velocity dispersion, and predict that the gas should be globally stable against star formation. This finding is inconsistent with the half light radius of Leo T, which extends to 170 pc, and indicates that local conditions must determine where star formation takes place. Leo T is not only the lowest luminosity galaxy with on-going star formation discovered to date, it is also the most dark matter dominated, gas-rich dwarf in the Local Group.Comment: 6 pages, 7 figures, accepted for publication in MNRAS on November 15th 2007, full resolution version at: http://www.ast.cam.ac.uk/~eryan/leot.pdf . Typographical error in sound speed equation has led to a new Figure 6 and minor changes to the tex

Bay Breeze Influence on Surface Ozone at Edgewood, MD During July 2011

Surface ozone (O3) was analyzed to investigate the role of the bay breeze on air quality at two locations in Edgewood, Maryland (lat: 39.4deg, lon: 76.3deg) for the month of July 2011. Measurements were taken as part of the first year of NASA's "Deriving Information on Surface Conditions from Column and Vertically Resolved Observations Relevant to Air Quality" (DISCOVER-AQ) Earth Venture campaign and as part of NASA's Geostationary for Coastal and Air Pollution Events Chesapeake Bay Oceanographic campaign with DISCOVER-AQ (Geo-CAPE CBODAQ). Geo-CAPE CBODAQ complements DISCOVER-AQ by providing ship-based observations over the Chesapeake Bay. A major goal of DISCOVER-AQ is determining the relative roles of sources, photochemistry and local meteorology during air quality events in the Mid-Atlantic region of the U.S. Surface characteristics, transport and vertical structures of O3 during bay breezes were identified using in-situ surface, balloon and aircraft data, along with remote sensing equipment. Localized late day peaks in O3 were observed during bay breeze days, maximizing an average of 3 h later compared to days without bay breezes. Of the 10 days of July 2011 that violated the U.S. Environmental Protection Agency (EPA) 8 h O3 standard of 75 parts per billion by volume (ppbv) at Edgewood, eight exhibited evidence of a bay breeze circulation. The results indicate that while bay breezes and the processes associated with them are not necessary to cause exceedances in this area, bay breezes exacerbate poor air quality that sustains into the late evening hours at Edgewood. The vertical and horizontal distributions of O3 from the coastal Edgewood area to the bay also show large gradients that are often determined by boundary layer stability. Thus, developing air quality models that can sufficiently resolve these dynamics and associated chemistry, along with more consistent monitoring of O3 and meteorology on and along the complex coastline of Chesapeake Bay must be a high priority