Human management of a robotic swarm

This paper proposes a management algorithm that allows a human operator to organize a robotic swarm via a robot leader. When the operator requests a robot to become a leader, nearby robots suspend their activities. The operator can then request a count of the robots, and assign them into subgroups, one for each task. Once the operator releases the leader, the robots perform the tasks they were assigned to. We report a series of experiments conducted with up to 30 e-puck mobile robots. On average, the counting and allocation algorithm correctly assigns 95 % of the robots in the swarm. The time to count the number of robots increases, on average, linearly with the number of robots, provided they are arranged in random formation

Using Google Glass in human-robot swarm interaction

We study how a human operator can guide a swarm of robots when transporting a large object through an environment with obstacles. The operator controls a leader robot that influences the other robots of the swarm. Follower robots push the object only if they have no line of sight of the leader. The leader represents a way point that the object should reach. By changing its position over time, the operator effectively guides the transporting robots towards the final destination. The operator uses the Google Glass device to interact with the swarm. Communication can be achieved via either touch or voice commands and the support of a graphical user interface. Experimental results with 20 physical e-puck robots show that the human–robot interaction allows the swarm to transport the object through a complex environment

Ternary cluster decay within the liquid drop model

Longitudinal ternary and binary fission barriers of $^{36}$Ar, $^{56}$Ni and $^{252}$Cf nuclei have been determined within a rotational liquid drop model taking into account the nuclear proximity energy. For the light nuclei the heights of the ternary fission barriers become competitive with the binary ones at high angular momenta since the maximum lies at an outer position and has a much higher moment of inertia.Comment: Talk presented at the 9th International Conference on Clustering Aspects of Nuclear Structure and Dynamics (CLUSTERS'07

Revising the retrieval technique of a long-term stratospheric HNO3 data set: from a constrained matrix inversion to the optimal estimation algorithm

The Ground-Based Millimeter-wave Spectrometer (GBMS) was designed and built at the State University of New York at Stony Brook in the early 1990s and since then has carried out many measurement campaigns of stratospheric O3, HNO3, CO and N2O at polar and mid-latitudes. Its HNO3 data set shed light on HNO3 annual cycles over the Antarctic continent and contributed to the validation of both generations of the satellite-based JPL Microwave Limb Sounder (MLS). Following the increasing need for long-term data sets of stratospheric constituents, we resolved to establish a long-term GMBS observation site at the Arctic station of Thule (76.5 N, 68.8 W), Greenland, beginning in January 2009, in order to track the long- and short-term interactions between the changing climate and the seasonal processes tied to the ozone depletion phenomenon. Furthermore, we updated the retrieval algorithm adapting the Optimal Estimation (OE) method to GBMS spectral data in order to conform to the standard of the Network for the Detection of Atmospheric Composition Change (NDACC) microwave group, and to provide our retrievals with a set of averaging kernels that allow more straightforward comparisons with other data sets. The new OE algorithm was applied to GBMS HNO3 data sets from 1993 South Pole observations to date, in order to produce HNO3 version 2 (v2) profiles. A sample of results obtained at Antarctic latitudes in fall and winter and at mid-latitudes is shown here. In most conditions, v2 inversions show a sensitivity (i.e., sum of column elements of the averaging kernel matrix) of 100±20% from 20 to 45 km altitude, with somewhat worse (better) sensitivity in the Antarctic winter lower (upper) stratosphere. The 1 uncertainty on HNO3 v2 mixing ratio vertical profiles depends on altitude and is estimated at 15% or 0.3 ppbv, whichever is larger. Comparisons of v2 with former (v1) GBMS HNO3 vertical profiles, obtained employing the constrained matrix inversion method, show that v1 and v2 profiles are overall consistent. The main difference is at the HNO3 mixing ratio maximum in the 20–25 km altitude range, which is smaller in v2 than v1 profiles by up to 2 ppbv at mid-latitudes and during the Antarctic fall. This difference suggests a better agreement of GBMS HNO3 v2 profiles with both UARS/ and EOS Aura/MLS HNO3 data than previous v1 profiles

On the cryogenic removal of NOy from the Antarctic polar stratosphere

We review current knowledge about the annual cycle of transport of nitrogen oxides to, and removal from, the polar stratosphere, with particular attention to Antarctica where the annual winter denitrifi cation process is both regular in occurrence and severe in effect. Evidence for a large downward fl ux of NOy from the mesosphere to the stratosphere, fi rst seen briefl y in the Limb Infrared Monitor of the Stratosphere (LIMS) data from the Arctic winter of 1978-1979, has been found during the 1990s in both satellite and ground-based observations, though this still seems to be omitted from many atmospheric models. When incorporated in the Stony Brook- St. Petersburg two dimensional (2D) transport and chemistry model, more realistic treatment of the NOy fl ux, along with sulfate transport from the mesosphere, sulfate aerosol formation where temperature is favorable, and the inclusion of a simple ion-cluster reaction, leads to good agreement with observed HNO3 formation in the mid-winter middle to upper stratosphere. To further emphasize the importance of large fl uxes of thermospheric and mesospheric NOy into the polar stratosphere, we have used observations, supplemented with model calculations, to defi ne new altitude dependent correlation curves between N2O and NOy. These are more suitable than those previously used in the literature to represent conditions within the Antarctic vortex region prior to and during denitrifi cation by Polar Stratospheric Cloud (PSC) particles. Our NOy -N2O curves lead to a 40% increase in the average amount of NOy removed during the Antarctic winter with respect to estimates calculated using NOy-N2O curves from the Atmospheric Trace Molecule Spectroscopy (ATMOS)/ATLAS-3 data set

Binary reaction decays from 24Mg+12C

Charged particle and gamma decays in 24Mg* are investigated for excitation energies where quasimolecular resonances appear in 12C+12C collisions. Various theoretical predictions for the occurence of superdeformed and hyperdeformed bands associated with resonance structures with low spin are discussed within the measured 24Mg* excitation energy region. The inverse kinematics reaction 24Mg+12C is studied at E_lab(24Mg) = 130 MeV, an energy which enables the population of 24Mg states decaying into 12C+12C resonant break-up states. Exclusive data were collected with the Binary Reaction Spectrometer in coincidence with EUROBALL IV installed at the VIVITRON Tandem facility at Strasbourg. Specific structures with large deformation were selectively populated in binary reactions and their associated gamma decays studied. Coincident events associated with inelastic and alpha-transfer channels have been selected by choosing the excitation energy or the entry point via the two-body Q-values. The analysis of the binary reaction channels is presented with a particular emphasis on 24Mg-gamma, 20Ne-gamma and 16O-gamma coincidences. New information (spin and branching ratios) is deduced on high-energy states in 24Mg and 16O, respectively.Comment: 27 pages, 8 figures, 1 tabl

Scaling Up Psychological Treatments: A Countrywide Test of the Online Training of Therapists.

BACKGROUND: A major barrier to the widespread dissemination of psychological treatments is the way that therapists are trained. The current method is not scalable. OBJECTIVE: Our objective was to conduct a proof-of-concept study of Web-centered training, a scalable online method for training therapists. METHODS: The Irish Health Service Executive identified mental health professionals across the country whom it wanted to be trained in a specific psychological treatment for eating disorders. These therapists were given access to a Web-centered training program in transdiagnostic cognitive behavior therapy for eating disorders. The training was accompanied by a scalable form of support consisting of brief encouraging telephone calls from a nonspecialist. The trainee therapists completed a validated measure of therapist competence before and after the training. RESULTS: Of 102 therapists who embarked upon the training program, 86 (84.3%) completed it. There was a substantial increase in their competence scores following the training (mean difference 5.84, 95% Cl -6.62 to -5.05; P<.001) with 42.5% (34/80) scoring above a predetermined cut-point indicative of a good level of competence. CONCLUSIONS: Web-centered training proved feasible and acceptable and resulted in a marked increase in therapist competence scores. If these findings are replicated, Web-centered training would provide a means of simultaneously training large numbers of geographically dispersed trainees at low cost, thereby overcoming a major obstacle to the widespread dissemination of psychological treatments

Increasing the Availability of Psychological Treatments: A Multinational Study of a Scalable Method for Training Therapists.

BACKGROUND: One of the major barriers to the dissemination and implementation of psychological treatments is the scarcity of suitably trained therapists. A highly scalable form of Web-centered therapist training, undertaken without external support, has recently been shown to have promise in promoting therapist competence. OBJECTIVE: The aim of this study was to conduct an evaluation of the acceptability and effectiveness of a scalable independent form of Web-centered training in a multinational sample of therapists and investigate the characteristics of those most likely to benefit. METHODS: A cohort of eligible therapists was recruited internationally and offered access to Web-centered training in enhanced cognitive behavioral therapy, a multicomponent, evidence-based, psychological treatment for any form of eating disorder. No external support was provided during training. Therapist competence was assessed using a validated competence measure before training and after 20 weeks. RESULTS: A total of 806 therapists from 33 different countries expressed interest in the study, and 765 (94.9%) completed a pretraining assessment. The median number of training modules completed was 15 out of a possible 18 (interquartile range, IQR: 4-18), and 87.9% (531/604) reported that they treated at least one patient during training as recommended. Median pretraining competence score was 7 (IQR: 5-10, range: 0-19; N=765), and following training, it was 12 (IQR: 9-15, range: 0-20; N=577). The expected change in competence scores from pretraining to posttraining was 3.5 (95% CI 3.1-3.8; P<.001). After training, 52% (300/574) of therapists with complete competence data met or exceeded the competence threshold, and 45% (95% CI 41-50) of those who had not met this threshold before training did so after training. Compliance with training predicted both an increase in competence scores and meeting or exceeding the competence threshold. Expected change in competence score increased for each extra training module completed (0.19, 95% CI 0.13-0.25), and those who treated a suitable patient during training had an expected change in competence score 1.2 (95% CI 0.4-2.1) points higher than those who did not. Similarly, there was an association between meeting the competence threshold after training and the number of modules completed (odds ratio, OR=1.11, 95% CI 1.07-1.15), and treating at least one patient during training was associated with competence after training (OR=2.2, 95% CI 1.2-4.1). CONCLUSIONS: Independent Web-centered training can successfully train large numbers of therapists dispersed across a wide geographical area. This finding is of importance because the availability of a highly scalable method of training potentially increases the number of people who might receive effective psychological treatments