Cooperative AUV Navigation using a Single Maneuvering Surface Craft

In this paper we describe the experimental implementation of an online algorithm for cooperative localization of submerged autonomous underwater vehicles (AUVs) supported by an autonomous surface craft. Maintaining accurate localization of an AUV is difficult because electronic signals, such as GPS, are highly attenuated by water. The usual solution to the problem is to utilize expensive navigation sensors to slow the rate of dead-reckoning divergence. We investigate an alternative approach that utilizes the position information of a surface vehicle to bound the error and uncertainty of the on-board position estimates of a low-cost AUV. This approach uses the Woods Hole Oceanographic Institution (WHOI) acoustic modem to exchange vehicle location estimates while simultaneously estimating inter-vehicle range. A study of the system observability is presented so as to motivate both the choice of filtering approach and surface vehicle path planning. The first contribution of this paper is to the presentation of an experiment in which an extended Kalman filter (EKF) implementation of the concept ran online on-board an OceanServer Iver2 AUV while supported by an autonomous surface vehicle moving adaptively. The second contribution of this paper is to provide a quantitative performance comparison of three estimators: particle filtering (PF), non-linear least-squares optimization (NLS), and the EKF for a mission using three autonomous surface craft (two operating in the AUV role). Our results indicate that the PF and NLS estimators outperform the EKF, with NLS providing the best performance.United States. Office of Naval Research (Grant N000140711102)United States. Office of Naval Research. Multidisciplinary University Research InitiativeSingapore. National Research FoundationSingapore-MIT Alliance for Research and Technology. Center for Environmental Sensing and Monitorin

Occupational Communication as Boundary Mechanism

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/69000/2/10.1177_073088847400100404.pd

Impact of early life exposures to geohelminth infections on the development of vaccine immunity, allergic sensitization, and allergic inflammatory diseases in children living in tropical Ecuador: the ECUAVIDA birth cohort study.

Background Geohelminth infections are highly prevalent infectious diseases of childhood in many regions of the Tropics, and are associated with significant morbidity especially among pre-school and school-age children. There is growing concern that geohelminth infections, particularly exposures occurring during early life in utero through maternal infections or during infancy, may affect vaccine immunogenicity in populations among whom these infections are endemic. Further, the low prevalence of allergic disease in the rural Tropics has been attributed to the immune modulatory effects of these infections and there is concern that widespread use of anthelmintic treatment in high-risk groups may be associated with an increase in the prevalence of allergic diseases. Because the most widely used vaccines are administered during the first year of life and the antecedents of allergic disease are considered to occur in early childhood, the present study has been designed to investigate the impact of early exposures to geohelminths on the development of protective immunity to vaccines, allergic sensitization, and allergic disease. Methods/Design A cohort of 2,403 neonates followed up to 8 years of age. Primary exposures are infections with geohelminth parasites during the last trimester of pregnancy and the first 2 years of life. Primary study outcomes are the development of protective immunity to common childhood vaccines (i.e. rotavirus, Haemophilus influenzae type B, Hepatitis B, tetanus toxoid, and oral poliovirus type 3) during the first 5 years of life, the development of eczema by 3 years of age, the development of allergen skin test reactivity at 5 years of age, and the development of asthma at 5 and 8 years of age. Potential immunological mechanisms by which geohelminth infections may affect the study outcomes will be investigated also. Discussion The study will provide information on the potential effects of early exposures to geohelminths (during pregnancy and the first 2 years of life) on the development of vaccine immunity and allergy. The data will inform an ongoing debate of potential effects of geohelminths on child health and will contribute to policy decisions on new interventions designed to improve vaccine immunogenicity and protect against the development of allergic diseases

Search for Pair-Produced Resonances Each Decaying into at Least Four Quarks in Proton-Proton Collisions at root s=13 TeV

This Letter presents the results of a search for pair-produced particles of masses above 100 GeV that each decay into at least four quarks. Using data collected by the CMS experiment at the LHC in 2015-2016, corresponding to an integrated luminosity of 38.2 fb(-1), reconstructed particles are clustered into two large jets of similar mass, each consistent with four-parton substructure. No statistically significant excess of data over the background prediction is observed in the distribution of average jet mass. Pair-produced squarks with dominant hadronic R-parity-violating decays into four quarks and with masses between 0.10 and 0.72 TeV are excluded at 95% confidence level. Similarly, pair-produced gluinos that decay into five quarks are also excluded with masses between 0.10 and 1.41 TeV at 95% confidence level. These are the first constraints that have been placed on pair-produced particles with masses below 400 GeV that decay into four or five quarks, bridging a significant gap in the coverage of R-parity-violating supersymmetry parameter space.Peer reviewe

Study of the underlying event in top quark pair production in pp collisions at 13 TeV

Measurements of normalized differential cross sections as functions of the multiplicity and kinematic variables of charged-particle tracks from the underlying event in top quark and antiquark pair production are presented. The measurements are performed in proton-proton collisions at a center-of-mass energy of 13<, and are based on data collected by the CMS experiment at the LHC in 2016 corresponding to an integrated luminosity of 35.9fb(-1). Events containing one electron, one muon, and two jets from the hadronization and fragmentation of b quarks are used. These measurements characterize, for the first time, properties of the underlying event in top quark pair production and show no deviation from the universality hypothesis at energy scales typically above twice the top quark mass.Peer reviewe

Measurement of exclusive rho(770)(0) photoproduction in ultraperipheral pPb collisions at root s(NN)=5.02 TeV

Exclusive.(770) 0 photoproduction is measured for the first time in ultraperipheral pPb collisions at v s NN = 5.02 TeV with the CMS detector. The cross section s(.p..(770) 0 p) is 11.0 +/- 1.4 (stat) +/- 1.0 (syst) mu b at W. p = 92.6GeV for photon-proton centre-of-mass energies W. p between 29 and 213 GeV. The differential cross section ds/d| t| is measured in the interval 0.025 <| t| <1GeV 2 as a function of W. p, where t is the squared four-momentum transfer at the proton vertex. The results are compared with previous measurements and theoretical predictions. The measured cross section s(.p..(770) 0 p) has a power-law dependence on the photon-proton centre-of-mass, consistent with electron-proton collision measurements performed at HERA. The W. p dependence of the exponential slope of the differential cross section ds/d| t| is also measured.Peer reviewe

Searches for pair production of charginos and top squarks in final states with two oppositely charged leptons in proton-proton collisions at √s=13 TeV

A search for pair production of supersymmetric particles in events with two oppositely charged leptons (electrons or muons) and missing transverse momentum is reported. The data sample corresponds to an integrated luminosity of 35.9 fb−1 of proton-proton collisions at s √ =13 s=13 TeV collected with the CMS detector during the 2016 data taking period at the LHC. No significant deviation is observed from the predicted standard model background. The results are interpreted in terms of several simplified models for chargino and top squark pair production, assuming R-parity conservation and with the neutralino as the lightest supersymmetric particle. When the chargino is assumed to undergo a cascade decay through sleptons, with a slepton mass equal to the average of the chargino and neutralino masses, exclusion limits at 95% confidence level are set on the masses of the chargino and neutralino up to 800 and 320 GeV, respectively. For top squark pair production, the search focuses on models with a small mass difference between the top squark and the lightest neutralino. When the top squark decays into an off-shell top quark and a neutralino, the limits extend up to 420 and 360 GeV for the top squark and neutralino masses, respectively

Strange hadron production in pp and pPb collisions at √s_(NN) = 5.02 TeV

The transverse momentum (p_T) distributions of Λ, Ξ⁻, and Ω⁻ baryons, their antiparticles, and K⁰_S mesons are measured in proton-proton (pp) and proton-lead (pPb) collisions at a nucleon-nucleon center-of-mass energy of 5.02 TeV over a broad rapidity range. The data, corresponding to integrated luminosities of 40.2 nb⁻¹ and 15.6 μb⁻¹ for pp and pPb collisions, respectively, were collected by the CMS experiment. The nuclear modification factor R_(pPb), which is defined as the ratio of the particle yield in pPb collisions and a scaled pp reference, is measured for each particle. A strong dependence on particle species is observed in the p_T range from 2 to 7 GeV, where R_(pPb) for K⁰_S is consistent with unity, while an enhancement ordered by strangeness content and/or particle mass is observed for the three baryons. In pPb collisions, the strange hadron production is asymmetric about the nucleon-nucleon center-of-mass rapidity. Enhancements, which depend on the particle type, are observed in the direction of the Pb beam. The results are compared with predictions from EPOS LHC, which includes parametrized radial flow. The model is in qualitative agreement with the R_(pPb) data, but fails to describe the dependence on particle species in the yield asymmetries measured away from midrapidity in pPb collisions

Measurement of prompt psi(2S) production cross sections in proton-lead and proton-proton collisions at root s(NN)=5.02 TeV

Measurements of prompt ψ(2S) meson production cross sections in proton-lead (pPb) and proton-proton (pp) collisions at a nucleon-nucleon center-of-mass energy of √sNN = 5.02 TeV are reported. The results are based on pPb and pp data collected by the CMS experiment at the LHC, corresponding to integrated luminosities of 34.6 nb−1 and 28.0 pb−1, respectively. The nuclear modification factor RpPb is measured for prompt ψ(2S) in the transverse momentum range 4 < pT < 30 GeV/c and the center-of-mass rapidity range −2.4 < yCM < 1.93. The results on ψ(2S) RpPb are compared to the corresponding modification factor for prompt J/ψ mesons. The results point to different nuclear effects at play in the production of the excited charmonium state compared to the ground state, in the region of backward rapidity and for pT < 10 GeV/c. © 2019 The Author. Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/). Funded by SCOAP3.Peer reviewe

Search for beyond the standard model Higgs bosons decaying into a b b ¯ pair in pp collisions at √s=13 TeV

A search for Higgs bosons that decay into a bottom quark-antiquark pair and are accompanied by at least one additional bottom quark is performed with the CMS detector. The data analyzed were recorded in proton-proton collisions at a centre-of-mass energy of s√=13 TeV at the LHC, corresponding to an integrated luminosity of 35.7 fb−1. The final state considered in this analysis is particularly sensitive to signatures of a Higgs sector beyond the standard model, as predicted in the generic class of two Higgs doublet models (2HDMs). No signal above the standard model background expectation is observed. Stringent upper limits on the cross section times branching fraction are set for Higgs bosons with masses up to 1300 GeV. The results are interpreted within several MSSM and 2HDM scenarios