A practical search with Voronoi distributed autonomous marine swarms

Submitted in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2022.The search for underwater threats in littoral regions is a problem that has been researched for nearly a century. However, recent developments in autonomy and robotics have made this issue more complex. The advent of capable autonomous underwater vehicles presents a 21st century flare to this traditional problem. These vehicles can be smaller, quieter, and expendable. Therefore, new methods and tactics used to detect and track these vehicles are needed. The use of a swarm of marine robots can increase the likelihood of uncovering these threats. This thesis provides various Voronoi partition-based methods to autonomously control a swarm of identically capable autonomous surface vessels in a limited coverage and tracking problem. These methods increase the probability of interdiction of an adversary vehicle crossing a defined region. The results achieved from Monte Carlo simulations demonstrate how different protocols of swarm movement can improve detection probability as compared to a stationary swarm provided the detection capability does not change. The swarm control algorithms are employed on Clearpath Heron USVs to validate the autonomy algorithms

Introduction: Reciprocals and semantic typology

Reciprocity lies at the heart of social cognition, and with it so does the encoding of reciprocity in language via reciprocal constructions. Despite the prominence of strong universal claims about the semantics of reciprocal constructions, there is considerable descriptive literature on the semantics of reciprocals that seems to indicate variable coding and subtle cross-linguistic differences in meaning of reciprocals, both of which would make it impossible to formulate a single, essentialising definition of reciprocal semantics. These problems make it vital for studies in the semantic typology of reciprocals to employ methodologies that allow the relevant categories to emerge objectively from cross-linguistic comparison of standardised stimulus materials. We situate the rationale for the 20-language study that forms the basis for this book within this empirical approach to semantic typology, and summarise some of the findings

Cybersecurity: mapping the ethical terrain

This edited collection examines the ethical trade-offs involved in cybersecurity: between security and privacy; individual rights and the good of a society; and between the types of burdens placed on particular groups in order to protect others. Foreword Governments and society are increasingly reliant on cyber systems. Yet the more reliant we are upon cyber systems, the more vulnerable we are to serious harm should these systems be attacked or used in an attack. This problem of reliance and vulnerability is driving a concern with securing cyberspace. For example, a ‘cybersecurity’ team now forms part of the US Secret Service. Its job is to respond to cyber-attacks in specific environments such as elevators in a building that hosts politically vulnerable individuals, for example, state representatives. Cybersecurity aims to protect cyberinfrastructure from cyber-attacks; the concerning aspect of the threat from cyber-attack is the potential for serious harm that damage to cyber-infrastructure presents to resources and people. These types of threats to cybersecurity might simply target information and communication systems: a distributed denial of service (DDoS) attack on a government website does not harm a website in any direct way, but prevents its normal use by stifling the ability of users to connect to the site. Alternatively, cyber-attacks might disrupt physical devices or resources, such as the Stuxnet virus, which caused the malfunction and destruction of Iranian nuclear centrifuges. Cyber-attacks might also enhance activities that are enabled through cyberspace, such as the use of online media by extremists to recruit members and promote radicalisation. Cyber-attacks are diverse: as a result, cybersecurity requires a comparable diversity of approaches. Cyber-attacks can have powerful impacts on people’s lives, and so—in liberal democratic societies at least—governments have a duty to ensure cybersecurity in order to protect the inhabitants within their own jurisdiction and, arguably, the people of other nations. But, as recent events following the revelations of Edward Snowden have demonstrated, there is a risk that the governmental pursuit of cybersecurity might overstep the mark and subvert fundamental privacy rights. Popular comment on these episodes advocates transparency of government processes, yet given that cybersecurity risks represent major challenges to national security, it is unlikely that simple transparency will suffice. Managing the risks of cybersecurity involves trade-offs: between security and privacy; individual rights and the good of a society; and types of burdens placed on particular groups in order to protect others. These trade-offs are often ethical trade-offs, involving questions of how we act, what values we should aim to promote, and what means of anticipating and responding to the risks are reasonably—and publicly—justifiable. This Occasional Paper (prepared for the National Security College) provides a brief conceptual analysis of cybersecurity, demonstrates the relevance of ethics to cybersecurity and outlines various ways in which to approach ethical decision-making when responding to cyber-attacks

Solution phase, solid state, and theoretical investigations on the MacMillan imidazolidinone

A combination of soln. phase NMR, X-ray crystallog. studies, and DFT calcns. provide a consistent structural conformation for iminium ions derived from the MacMillan imidazolidinone

Concurrent Longitudinal EPR Monitoring of Tissue Oxygenation, Acidosis, and Reducing Capacity in Mouse Xenograft Tumor Models

Tissue oxygenation, extracellular acidity and tissue reducing capacity are among crucial parameters of tumor microenvironment (TME) of significant importance for tumor pathophysiology. In this paper we demonstrate the complementary application of particulate lithium octa-n-butoxy-naphthalocyanine (LiNc-BuO) and soluble nitroxide (NR) paramagnetic probes for monitoring of these TME parameters using electron paramagnetic resonance (EPR) technique. Two different types of therapeutic interventions were studied: hypothermia and systemic administration of metabolically active drug. In summary, the results demonstrate utility of EPR technique for noninvasive concurrent longitudinal monitoring of physiologically relevant chemical parameters of TME in a mouse xenograft tumor models including that under therapeutic intervention

Apatite: a U-Pb thermochronometer or geochronometer?

Apatite is an accessory mineral that is frequently found in both igneous and clastic sedimentary rocks. It is conventionally considered to be characterized by a closure temperature range between 375 and 600 °C and hence has been employed to address mid-temperature thermochronology questions relevant to the reconstruction of thermal events in the middle to lower crust. However, questions remain as to whether apatite faithfully records thermally-activated volume diffusion profiles, or rather is influenced by recrystallization and new growth processes. We present a case study of two apatite samples from the Akia Terrane in Greenland that help chart some of the post magmatic history of this region. Apatite in a tonalitic gneiss has distinct U-enriched rims and its U-Pb apparent ages correlate with Mn chemistry, with a high Mn group yielding an age of c. 2813 Ma. The U-Pb and trace element chemistry and morphology support an interpretation in which these apatite crystals are originally igneous and record cooling after metamorphism, with subsequent generation of discrete new rims. Epidote observed in the sample implies a <600 °C fluid infiltration event associated with apatite rims. The second sample, from a granitic leucosome, contains apparently homogeneous apatite, however U-Pb analyses define two distinct discordia arrays with different common Pb components. An older, c. 2490 Ma, component is associated with elevated Sr, whereas a younger, c. 1800 Ma, component has lower Sr concentration. A depth profile reveals an older core with progressively younger ages towards a compositionally discrete late Paleoproterozoic rim. The chemical and age profiles do not directly correspond, implying different diffusion rates between trace elements and U and Pb. The variation in core ages is interpreted to reflect radiogenic-Pb loss from a metamorphic population during new rim growth. The younger, c. 1800 Ma U-Pb age is interpreted to date new apatite growth from a compositionally distinct reservoir driven by tectonothermal and fluid activity, consistent with regional mica Ar-Ar ages. Results from these two samples show that recrystallization, dissolution and regrowth processes likely formed the younger rim overgrowths, and at temperatures below those often considered to be closure temperatures for Pb diffusion in apatite. The results from these samples imply many apatite grains may not record simple thermally activated Pb diffusion profiles and cautions against inversion of apatite U-Pb data to thermal histories without detailed knowledge of the grain growth/alteration processes

Physical characteristics and non-keplerian orbital motion of "propeller" moons embedded in Saturn's rings

We report the discovery of several large "propeller" moons in the outer part of Saturn's A ring, objects large enough to be followed over the 5-year duration of the Cassini mission. These are the first objects ever discovered that can be tracked as individual moons, but do not orbit in empty space. We infer sizes up to 1--2 km for the unseen moonlets at the center of the propeller-shaped structures, though many structural and photometric properties of propeller structures remain unclear. Finally, we demonstrate that some propellers undergo sustained non-keplerian orbit motion. (Note: This arXiv version of the paper contains supplementary tables that were left out of the ApJL version due to lack of space).Comment: 9 pages, 4 figures; Published in ApJ

Adaptive Coding and Modulation Experiment With NASA's Space Communication and Navigation Testbed

National Aeronautics and Space Administration (NASA)'s Space Communication and Navigation Testbed is an advanced integrated communication payload on the International Space Station. This paper presents results from an adaptive coding and modulation (ACM) experiment over S-band using a direct-to-earth link between the SCaN Testbed and the Glenn Research Center. The testing leverages the established Digital Video Broadcasting Second Generation (DVB-S2) standard to provide various modulation and coding options, and uses the Space Data Link Protocol (Consultative Committee for Space Data Systems (CCSDS) standard) for the uplink and downlink data framing. The experiment was con- ducted in a challenging environment due to the multipath and shadowing caused by the International Space Station structure. Several approaches for improving the ACM system are presented, including predictive and learning techniques to accommodate signal fades. Performance of the system is evaluated as a function of end-to-end system latency (round- trip delay), and compared to the capacity of the link. Finally, improvements over standard NASA waveforms are presented