Tele-autonomous systems: New methods for projecting and coordinating intelligent action at a distance

There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. It is asserted that a blending of human intelligence, modern information technology, remote control, and intelligent autonomous systems is required, and have coined the term tele-autonomous technology, or tele-automation, for methods producing intelligent action at a distance. Tele-automation goes beyond autonomous control by blending in human intelligence. It goes beyond tele-operation by incorporating as much autonomy as possible and/or reasonable. A new approach is discussed for solving one of the fundamental problems facing tele-autonomous systems: The need to overcome time delays due to telemetry and signal propagation. New concepts are introduced called time and position clutches, that allow the time and position frames between the local user control and the remote device being controlled, to be desynchronized respectively. The design and implementation of these mechanisms are described in detail. It is demonstrated that these mechanisms lead to substantial telemanipulation performance improvements, including the result of improvements even in the absence of time delays. The new controls also yield a simple protocol for control handoffs of manipulation tasks between local operators and remote systems

Battle River Wilderness Retreat Brochure

Fly-fishing, bear photography and complete wilderness solitude—welcome to Battle River Wilderness Retreat. This small, unknown lodge in Katmai National Park is one of Alaska’s famous fishing destinations. The current brochure, which markets the lodge to the outside customers, is from the 1990s. The author is conducting a study to modify the brochure by updating the advertising pamphlet with new multimedia, personal stories, wildlife information, and the history of the lodge. The author plans to travel to the lodge in Alaska and will photograph new images for the revision, interview guests, and study the environment and surrounding wildlife. The revised brochure will provide more information to potential customers and bring more business to the lodge

Seed Yield Prediction Models of Four Common Moist-Soil Plant Species in Texas

Seed production by moist-soil plant species often varies within and among managed wetlands and on larger landscapes. Quantifying seed production of moist-soil plants can be used to evaluate wetland management strategies and estimate wetland energetic carrying capacity, specifically for waterfowl. In the past, direct estimation techniques were used, but due to excessive personnel and time costs, other indirect methods have been developed. Because indirect seed yield models do not exist for moist-soil plant species in east-central or coastal Texas, we developed direct and indirect methods to model seed production on regional managed wetlands. In September 2004 and 2005, we collected Echinochloa crusgalli (barnyard grass), E. walterii (wild millet), E. colona (jungle rice), and Oryza sativa (cultivated rice) for phytomorphological measurements and seed yield modeling. Initial simple linear and point of origin regression analyses demonstrate strong relationships (P \u3c 0.001) among phytomorphological and dot grid methods in predicting seed production for all four species. These models should help regional wetland managers evaluate moist-soil management success and create models for seed production for other moist-soil plants in this region

Quaternionic Root Systems and Subgroups of the Aut(F4)Aut(F_{4})

Cayley-Dickson doubling procedure is used to construct the root systems of some celebrated Lie algebras in terms of the integer elements of the division algebras of real numbers, complex numbers, quaternions and octonions. Starting with the roots and weights of SU(2) expressed as the real numbers one can construct the root systems of the Lie algebras of SO(4),SP(2)= SO(5),SO(8),SO(9),F_{4} and E_{8} in terms of the discrete elements of the division algebras. The roots themselves display the group structures besides the octonionic roots of E_{8} which form a closed octonion algebra. The automorphism group Aut(F_{4}) of the Dynkin diagram of F_{4} of order 2304, the largest crystallographic group in 4-dimensional Euclidean space, is realized as the direct product of two binary octahedral group of quaternions preserving the quaternionic root system of F_{4}.The Weyl groups of many Lie algebras, such as, G_{2},SO(7),SO(8),SO(9),SU(3)XSU(3) and SP(3)X SU(2) have been constructed as the subgroups of Aut(F_{4}). We have also classified the other non-parabolic subgroups of Aut(F_{4}) which are not Weyl groups. Two subgroups of orders192 with different conjugacy classes occur as maximal subgroups in the finite subgroups of the Lie group $G_{2}$ of orders 12096 and 1344 and proves to be useful in their constructions. The triality of SO(8) manifesting itself as the cyclic symmetry of the quaternionic imaginary units e_{1},e_{2},e_{3} is used to show that SO(7) and SO(9) can be embedded triply symmetric way in SO(8) and F_{4} respectively

Tele-Autonomous control involving contact

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed

The Primary Pretenders

We call a composite number q such that there exists a positive integer b with b^p == b (mod q) a prime pretender to base b. The least prime pretender to base b is the primary pretender q_b. It is shown that there are only 132 distinct primary pretenders, and that q_b is a periodic function of b whose period is the 122-digit number 19568584333460072587245340037736278982017213829337604336734362- 294738647777395483196097971852999259921329236506842360439300.Comment: 7 page

Quaternions, octonions and Bell-type inequalities

Multipartite Bell-type inequalities are derived for general systems. They involve up to eight observables with arbitrary spectra on each site. These inequalities are closely related to the algebras of quaternions and octonions.Comment: 4 pages, no figure

Solving the polarization problem in ALMA-VLBI observations

The Atacama Large mm-submm Array (ALMA) is, by far, the most sensitive mm/submm telescope in the World. The ALMA Phasing Project (APP) will allow us to phase-up all the ALMA antennas and use them as one single VLBI station. This will be a key component of the Event Horizon Telescope (EHT), a Global VLBI array at millimeter wavelengths. A problem in the APP is the calibration and conversion of the polarization channels. Most VLBI stations record their signals in a circular basis, but the ALMA receivers record in a linear basis. The strategy that will be followed in the phased-ALMA VLBI observations will be to correlate in "mixed" basis (i.e., linear versus circular) and convert the visibilities to a pure circular basis after the correlation. We have developed an algorithm to perform such a polarization conversion of the VLBI visibilities. In these proceedings, we present the basics of the PolConvert algorithm and discuss on the polarization conversion in the general case were single dishes (besides phased arrays) record with linear receivers in VLBI observations. We show some results of PolConvert applied to realistic simulations, as well as a test with real VLBI observations at 86\,GHz between the Onsala radiotelescope (recording in linear basis) and the Effelsberg radiotelescope (recording in circular basis).Comment: To appear in the Proceedings of the 12th European VLBI Network Symposium (7-10 Oct 2014, Cagliary, Italy