Multi-Robot Adversarial Resilience using Control Barrier Functions

In this paper we present a control barrier functionbased (CBF) resilience controller that provides resilience in a multi-robot network to adversaries. Previous approaches provide resilience by virtue of specific linear combinations of multiple control constraints. These combinations can be difficult to find and are sensitive to the addition of new constraints. Unlike previous approaches, the proposed CBF provides network resilience and is easily amenable to multiple other control constraints, such as collision and obstacle avoidance. The inclusion of such constraints is essential in order to implement a resilience controller on realistic robot platforms. We demonstrate the viability of the CBF-based resilience controller on real robotic systems through case studies on a multi-robot flocking problem in cluttered environments with the presence of adversarial robots

Design and Construction of an Active Alignment Demonstrator for a Free-Space Optical Interconnect

An x-y active alignment system based on Risley beam steerers is described. The demonstrator features a quadrant detector which detects the misalignment error between the center of a spot of light and the center of the quadrant detector. This misalignment error is then used by a new algorithm to calculate the rotational displacement required for the two Risley beam steerers to steer the spot of light to the center of the quadrant detector. The experimental results indicate that any spot misaligned by up to 160 μm on the quadrant detector will be systematically centered by the demonstrator system

A statistical study of variation in the catch of plankton nets

Staternent of the Problern.----In a previous communication, Winsor and Walford (1936) analyzed the results of repeated vertical hauls of different types of plankton nets, making use of data available in the literature. They concluded that the observed results could be accounted for reasonably well on the assumptions that (a) the organisms were randomly distributed in the medium and (b) that the volume of medium effectively sampled varied from haul to haul. From this result it follows that as the total catch is increased (as by increasing the net size) the reliability of a population estimate is ultimately limited by variation in volume sampled; and that where such conditions hold, it is useless to attempt greater accuracy by increasing either the total catch or the fraction counted much beyond the point where 100 organisms of the kind in question are counted

The low-frequency radio catalog of flat spectrum sources

A well known property of the gamma-ray sources detected by COS-B in the 1970s, by the Compton Gamma-ray Observatory in the 1990s and recently by the Fermi observations is the presence of radio counterparts, in particular for those associated to extragalactic objects. This observational evidence is the basis of the radio-gamma-ray connection established for the class of active galactic nuclei known as blazars. In particular, the main spectral property of the radio counterparts associated with gamma-ray blazars is that they show a flat spectrum in the GHz frequency range. Our recent analysis dedicated to search blazar-like candidates as potential counterparts for the unidentified gamma-ray sources (UGSs) allowed us to extend the radio-gamma-ray connection in the MHz regime. We also showed that below 1 GHz blazars maintain flat radio spectra. Thus on the basis of these new results, we assembled a low-frequency radio catalog of flat spectrum sources built by combining the radio observations of the Westerbork Northern Sky Survey (WENSS) and of the Westerbork in the southern hemisphere (WISH) catalog with those of the NRAO Very Large Array Sky survey (NVSS). This could be used in the future to search for new, unknown blazar-like counterparts of the gamma-ray sources. First we found NVSS counterparts of WSRT radio sources and then we selected flat spectrum radio sources according to a new spectral criterion specifically defined for radio observations performed below 1 GHz. We also described the main properties of the catalog listing 28358 radio sources and their logN-logS distributions. Finally a comparison with with the Green Bank 6-cm radio source catalog has been performed to investigate the spectral shape of the low-frequency flat spectrum radio sources at higher frequencies.Comment: 10 pages, 10 figures, 1 table, ApJS published in 2014 (pre-proof version uploaded

Chemical Characterization and Source Apportionment of Household Fine Particulate Matter in Rural, Peri-urban, and Urban West Africa

Household air pollution in sub-Saharan Africa and other developing regions is an important cause of disease burden. Little is known about the chemical composition and sources of household air pollution in sub-Saharan Africa, and how they differ between rural and urban homes. We analyzed the chemical composition and sources of fine particles (PM2.5) in household cooking areas of multiple neighborhoods in Accra, Ghana, and in peri-urban (Banjul) and rural (Basse) areas in The Gambia. In Accra, biomass burning accounted for 39–62% of total PM2.5 mass in the cooking area in different neighborhoods; the absolute contributions were 10–45 μg/m3. Road dust and vehicle emissions comprised 12–33% of PM2.5 mass. Solid waste burning was also a significant contributor to household PM2.5 in a low-income neighborhood but not for those living in better-off areas. In Banjul and Basse, biomass burning was the single dominant source of cooking-area PM2.5, accounting for 74–87% of its total mass; the relative and absolute contributions of biomass smoke to PM2.5 mass were larger in households that used firewood than in those using charcoal, reaching as high as 463 μg/m3 in Basse homes that used firewood for cooking. Our findings demonstrate the need for policies that enhance access to cleaner fuels in both rural and urban areas, and for controlling traffic emissions in cities in sub-Saharan Africa

Two new genera of Aeschninae

p. 141-144 : ill. ; 24 cm

An Optical Backplane Demonstrator System Based on FET-SEED Smart Pixel Arrays and Diffractive Lenslet Arrays

We have demonstrated a representative portion of an optical backplane using FET-SEED smart pixels and free-space optics to interconnect printed circuit boards (PCB\u27s) in a two board, unidirectional link configuration. 4×4 arrays of FET-SEED transceivers were designed, fabricated, and packaged all the PCB level, The optical interconnection was constructed using diffractive microoptics, and custom optomechanics. The system was operated in two modes, one showing high data throughput, 100 MBit/sec, and the other demonstrating large connection densities, 2222 channel/cm2

Using hydraulic head, chloride and electrical conductivity data to distinguish between mountain-front and mountain-block recharge to basin aquifers

This work is distributed under the Creative Commons Attribution 4.0 License.Numerous basin aquifers in arid and semi-arid regions of the world derive a significant portion of their recharge from adjacent mountains. Such recharge can effectively occur through either stream infiltration in the mountain-front zone (mountain-front recharge, MFR) or subsurface flow from the mountain (mountain-block recharge, MBR). While a thorough understanding of recharge mechanisms is critical for conceptualizing and managing groundwater systems, distinguishing between MFR and MBR is difficult. We present an approach that uses hydraulic head, chloride and electrical conductivity (EC) data to distinguish between MFR and MBR. These variables are inexpensive to measure, and may be readily available from hydrogeological databases in many cases. Hydraulic heads can provide information on groundwater flow directions and stream–aquifer interactions, while chloride concentrations and EC values can be used to distinguish between different water sources if these have a distinct signature. Such information can provide evidence for the occurrence or absence of MFR and MBR. This approach is tested through application to the Adelaide Plains basin, South Australia. The recharge mechanisms of this basin have long been debated, in part due to difficulties in understanding the hydraulic role of faults. Both hydraulic head and chloride (equivalently, EC) data consistently suggest that streams are gaining in the adjacent Mount Lofty Ranges and losing when entering the basin. Moreover, the data indicate that not only the Quaternary aquifers but also the deeper Tertiary aquifers are recharged through MFR and not MBR. It is expected that this finding will have a significant impact on the management of water resources in the region. This study demonstrates the relevance of using hydraulic head, chloride and EC data to distinguish between MFR and MBR

Unbundling in Current Broadband and Next-Generation Ultra-Broadband Access Networks

This article overviews the methods that are currently under investigation for implementing multi-operator open-access/shared-access techniques in next-generation access ultra-broadband architectures, starting from the traditional "unbundling-of-the-local-loop" techniques implemented in legacy twisted-pair digital subscriber line access networks. A straightforward replication of these copper-based unbundling-of-the-local-loop techniques is usually not feasible on next-generation access networks, including fiber-to-the-home point-to-multipoint passive optical networks. To investigate this issue, the article first gives a concise description of traditional copper-based unbundling-of-the-local-loop solutions, then focalizes on both next-generation access hybrid fiber-copper digital subscriber line fiber-to-the-cabinet scenarios and on fiber to the home by accounting for the mix of regulatory and technological reasons driving the next-generation access migration path, focusing mostly on the European situation. © 2014 Taylor and Francis Group, LLC

On the influence of the cosmological constant on gravitational lensing in small systems

The cosmological constant Lambda affects gravitational lensing phenomena. The contribution of Lambda to the observable angular positions of multiple images and to their amplification and time delay is here computed through a study in the weak deflection limit of the equations of motion in the Schwarzschild-de Sitter metric. Due to Lambda the unresolved images are slightly demagnified, the radius of the Einstein ring decreases and the time delay increases. The effect is however negligible for near lenses. In the case of null cosmological constant, we provide some updated results on lensing by a Schwarzschild black hole.Comment: 8 pages, 1 figure; v2: extended discussion on the lens equation, references added, results unchanged, in press on PR