Mini-rovers for Mars explorations

Rovers are desirable for surface exploration because they allow sampling, and sample returns from several diverse locations on a planet's surface. Unfortunately, the rovers currently being examined for Mars exploration have several undesirable features. These rovers are quite massive (500 kg to one ton), have very complicated operations, and are very expensive. A possible alternative is described to using large rovers for exploring the surface of Mars. The idea of mini-rovers is proposed. Mini-rovers weigh less than 5 kg, are trivial to control from the ground, and can do a more thorough survey of the terrain (per kilogram of mass) than can be obtained by large rovers. By redesigning the Mars sample return mission to accommodate the idea of mini-rovers and small spacecraft, considerable mass and cost savings can be achieved

The real-time control of planetary rovers through behavior modification

It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed

Submission to standards committee consultation on lobbying the Scottish Parliament, 28 February

The Stirling Media Research Institute has been engaged in an ongoing programme of research into the public relations and lobbying industry in Scotland, the UK and Europe since 1996 . We have been encouraged by the Standards Committee's recognition of the importance of lobbying as a matter of both professional and public concern, and we welcome the opportunity to respond to the consultation paper. Our contribution is offered in the spirit of independent academic analysis. We have monitored the growth and development of the lobbying industry in Scotland and interviewed a wide range of lobbyists and public relations professionals ranging across the commercial (consultancy and in-house) and voluntary sectors. As part of our research activity, the SMRI has been a corporate member of ASPA since its inception. When we joined, it was made clear we were researchers and not in any way engaged in professional lobbying. Our research at the UK and European levels has also brought us into contact with commercial and voluntary sector lobbyists who work in other jurisdictions, and has broadened our perspective on the issues relating to lobbying

On the Areas of Cyclic and Semicyclic Polygons

We investigate the ``generalized Heron polynomial'' that relates the squared area of an n-gon inscribed in a circle to the squares of its side lengths. For a (2m+1)-gon or (2m+2)-gon, we express it as the defining polynomial of a certain variety derived from the variety of binary (2m-1)-forms having m-1 double roots. Thus we obtain explicit formulas for the areas of cyclic heptagons and octagons, and illuminate some mysterious features of Robbins' formulas for the areas of cyclic pentagons and hexagons. We also introduce a companion family of polynomials that relate the squared area of an n-gon inscribed in a circle, one of whose sides is a diameter, to the squared lengths of the other sides. By similar algebraic techniques we obtain explicit formulas for these polynomials for all n <= 7.Comment: 22 page

Planning for execution monitoring on a planetary rover

A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation

Structural relaxation in Morse clusters: Energy landscapes

We perform a comprehensive survey of the potential energy landscapes of 13-atom Morse clusters, and describe how they can be characterized and visualized. Our aim is to detail how the global features of the funnel-like surface change with the range of the potential, and to relate these changes to the dynamics of structural relaxation. We find that the landscape becomes rougher and less steep as the range of the potential decreases, and that relaxation paths to the global minimum become more complicated.Comment: 21 pages, 3 tables, 5 figure

No well-defined remnant Fermi surface in Sr2CuO2Cl2

In angle-resolved photoelectron spectra of the antiferromagnetic insulators Ca2CuO2Cl2 and Sr2CuO2Cl2 a sharp drop of the spectral intensity of the lowest-lying band is observed along a line in k space equivalent to the Fermi surface of the optimally doped high-temperature superconductors. This was interpreted as a signature of the existence of a remnant Fermi surface in the insulating phase of the high-temperature superconductors. In this paper it is shown that the drop of the spectral intensity is not related to the spectral function but is a consequence of the electron-photon matrix elementComment: 4 pages, 3 figure

Relationships between land use and nitrogen and phosphorus in New Zealand lakes

Developing policies to address lake eutrophication requires an understanding of the relative contribution of different nutrient sources and of how lake and catchment characteristics interact to mediate the source–receptor pathway. We analysed total nitrogen (TN) and total phosphorus (TP) data for 101 New Zealand lakes and related these to land use and edaphic sources of phosphorus (P). We then analysed a sub-sample of lakes in agricultural catchments to investigate how lake and catchment variables influence the relationship between land use and in-lake nutrients. Following correction for the effect of co-variation amongst predictor variables, high producing grassland (intensive pasture) was the best predictor of TN and TP, accounting for 38.6% and 41.0% of variation, respectively. Exotic forestry and urban area accounted for a further 18.8% and 3.6% of variation in TP and TN, respectively. Soil P (representing naturally-occurring edaphic P) was negatively correlated with TP, owing to the confounding effect of pastoral land use. Lake and catchment morphology (zmax and lake : catchment area) and catchment connectivity (lake order) mediated the relationship between intensive pasture and in-lake nutrients. Mitigating eutrophication in New Zealand lakes requires action to reduce nutrient export from intensive pasture and quantifying P export from plantation forestry requires further consideration