Safe, Remote-Access Swarm Robotics Research on the Robotarium

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference

Sustainable construction for affordable housing program in Kabul

Afghanistan suffers from four decades of war, caused a massive migration of the rural population to the cities. Kabul was originally designed for 1,5 million people, where now 5 million people live. The importation of modern western styles housing for rapid reconstruction reveals apparent cultural conflict and significant environmental footprint. The new constructive cultures for sustainable reconstruction should necessary consider the use of local materials combined with modern technologies. Earthen architecture underlies the embodiment of Afghanistan architecture. The aim of this research is to revisit traditional afghan earthen construction with the tools of industrial modernity. Three soils of the Kabul region were first characterized. Then, sun-dried mud brick and compressive earth block, with and without stabilization have been prepared and tested in the laboratory to develop the most suitable earth construction element which is cost effective and easily available compared to the imported modern products

Long-term thinking in UK family business

This working paper explores long-term thinking in family businesses based in the United Kingdom. The objectives of the paper are: to investigate the emergence and impact of long-term orientation (LTO) within family business; to explore the fit between LTO and specific types of family business; to investigate the balance between short-term and long-term orientations in these firms; and to explore the associated risks that may attach to both types of orientation. The data collection process for this research project comprised two stages: first, data were collected via surveys of senior members of family businesses; secondly, to help clarify the findings from the first stage, three individual family business case studies were conducted in order to provide a deeper account of family firms’ experience of LTO. The research findings offer new insights into UK family businesses in terms of their long- term objectives and strategies, non-economic goals, and LTO in the context of continuity, perseverance and legacy. The paper concludes with practical recommendations for consideration by both family and non-family stakeholders, pending further research on the subject

Biodeterioration of cementeous matrix by fungi // Biodeterioration d'une matrice cimentaire par les champignons

International audienceBiodeterioration mechanisms are complex and not yet absolutely understood. To control and to act efficiently against deterioration by fungi, it is necessary to have a better understanding of those mechanisms. The aim of this paper is to present different stages taken into account for the setting up of a laboratory accelerated test of biodeterioration of cementeous matrix by fungi. Indeed in natural environment, biodeterioration takes place after several years. Incubation tests performed on non weathered and weathered specimens underline the importance of pH surface on fungi development. Best solution for the moment appears to be carbonation and leaching of specimens for matrix weathering and inoculation with spores suspension of specimen covered by a thin agar-agar film. Les mécanismes de la biodeterioration sont complexes et pas encore totalement compris. Afin de contrôler et d'agir efficacement contre la biodétérioration par les champignons, il est nécessaire d'avoir une meilleure compréhension de ces mécanismes. Le but de cet article est de présenter les différents étapes intervenant dans la mise au point d'un test accéléré de laboratoire sur la biodétérioration d'une matrice cimentaire par les champignons. En effet, en environnement naturel, la biodétérioration s'établie après plusieurs années. Les tests d'incubations réalisés sur des éprouvettes non vieillies et vieillies soulignent l'importance du pH de surface sur le développement fongique. Actuellement la meilleure solution semble être pour le vieillissement de la matrice : la carbonatation et lixiviation des éprouvettes, et l'inoculation par une suspension de spore d'éprouvettes recouvertes d'un fin film de gélose

Biodétérioration d'une matrice cimentaire par les champignons : influence du vieillissement accéléré sur le développement fongique // Biodeterioration of cementeous matrix by fungi: Influence of accelerated weathering on fungal development.

National audienceLes micro-organismes ont la capacité de se développer sur les matériaux de construction et sont susceptibles de dégrader les fonctions des matériaux, d'abréger leur durée de vie et d'en modifier l'aspect esthétique. La biodétérioration est associée aux mécanismes physique, chimique et esthétique. Elle est amplifiée par les facteurs environnementaux tels que la pollution atmosphérique ou les cycles gel-dégel, par exemple. Pour contrôler et lutter efficacement contre la biodétérioration des matériaux de construction, il est nécessaire d'avoir une meilleure compréhension de ces mécanismes. L'objectif de cette étude est de mettre au point un essai accéléré de laboratoire pour étudier la biodétérioration d'une pâte de ciment par deux souches de champignons "Alternaria alternata" et "Aspergillus niger". L'influence du mode de conservation et le vieillissement des éprouvettes sont étudiés : certains échantillons sont carbonatés afin de réduire le pH de la matrice. Les premiers résultats obtenus montrent que la carbonatation n'est pas suffisante pour permettre un développement fongique. En revanche, la carbonatation couplée à une lixiviation permet d'obtenir de meilleurs résultats. En parallèle, des essais sont réalisés afin d'optimiser l'étape d'inoculation des échantillons. // Micro-organisms can grow on building materials. They are liable to degrade materials properties: from an alteration of aesthetic aspect to a reduction of its service life. Biodeterioration is associated to chemical, physical and aesthetic mechanisms. Biodeterioration is enhanced by environmental factors such as air pollution or freeze/thaw cycles. To control and to act efficiently against biodeterioration of buildings materials it is necessary to have a better understanding of those mechanisms. The aim of this study is to set up an accelerated laboratory test in order to study biodeterioration of a cement paste by two fungal strains: "Alternaria alternata" et "Aspergillus niger" Influence of conservation and weathering of specimens is studied: some samples are carbonated in order to reduce matrix pH. First results show that carbonation isn't sufficient to trigger fungal development. Carbonation associated to leaching give better results. Tests are performed too, in order to optimize inoculation stage

S986 in M67: A Totally-Eclipsing Binary at the Cluster Turnoff

We have discovered that the star S986 in the old open cluster M67 has detectable total eclipses of depth 0.08 mag for the primary eclipse and 0.011 mag for the secondary eclipse (in I only). We confirm the detection of a third star in spectra contributing 11.5% +/- 1.5% of the total light in V band. The radial velocity of the third star indicates that it is a cluster member, but it is unclear whether it is physically associated with the eclipsing binary. Using spectroscopic and photometric data, we deconvolve the photometry of the three stars, and find that the primary star in the eclipsing binary is significantly hotter than the turnoff. The two most likely explanations are that the primary star is in a rapid phase of evolution near core hydrogen exhaustion (associated with the turnoff gap in M67's color-magnitude diagram), or that it is a blue straggler created during a stellar collision earlier in the cluster's history. Our detection of Li in the primary star tightly constrains possible formation mechanisms in the blue straggler explanation. Because S986 is often used to constrain tidal dissipation models, this may imply that the strength of tidal effects is underestimated.Comment: 27 pages, 8 figures, accepted for A

Corn Response as Affected by Planting Distance from the Center of Strip-Till Fertilized Rows

Citation: Adee, E., Hansel, F. D., Diaz, D. A. R., & Janssen, K. (2016). Corn Response as Affected by Planting Distance from the Center of Strip-Till Fertilized Rows. Frontiers in Plant Science, 7, 9. doi:10.3389/fpfs.2016.01232Strip-till has been used at a large scale in east central Kansas as an alternative to earlier planting dates under a no-till system. To determine the effects of planting corn (Zea mays) under previously established strip-tilled fertilized rows, experiments were conducted on an Osage silty clay loam soil in 2006 and 2008 and on a Woodson silt loam soil in 2009, 2010, and 2011 using three different planting distances from the strip-tilled fertilized rows (0, 10, 20, and 38 cm) with a strip-till operation performed between 1 and 73 days before planting. The depth of the strip-till fertilizer application was 13-15 cm below the soil surface. Corn that was planted 10 cm from the fertilized row showed greater early season growth, higher plant population, and grain yield. Planting 20 and 38 cm from the center of the fertilized rows showed none of the benefits that are typically associated with strip-tillage system. Enough time should be allowed between the strip-till operation and planting to reach satisfactory soil conditions (e.g., moist and firm seedbed). Our results suggest that the best location for planting strip-tilled fertilized corn vary depending on soil and climatic conditions as well as the time between fertilizer application with the strip-till operation and planting. With fewer number of days, planting directly on the center of fertilized strip-till resulted in decreased plant population and lower grain yield. However, the greatest yield benefit across different planting conditions was attained when planting within 10 cm of the strip