Directional Sensitivity of Echolocation System in Bats Producing Frequency-Modulated Signals

1. Radiation patterns of the 55, 75 and 95 kHz components in frequency-modulated sounds emitted by the grey bat (Myotis grisescens) were studied. FM sounds similar to species-specific orientation sounds were elicited by electrical stimuli applied to the midbrain while the head of the animal was immobilized by a nail cemented to its skull. The main beam was emitted 5-10° downward from the eye-nostril line. The radiation angle at one half of maximum amplitude was 38° lateral, 18° up and 50° down at 55 kHz, 34° lateral, 8° up and 32° down at 75 kHz, and 30° lateral, 5° up and 25° down at 95 kHz. At 95 kHz, two prominent side lobes were present. 2. The directional sensitivity of the auditory system (DSA) measured in terms of the potential evoked in the lateral lemniscus was studied with the grey bat (M. grisescens) and the little brown bat (M. lucifugus). The maximally sensitive direction moved toward the median plane with the increase in frequency from 35-95 kHz. The slope of the DSA curve increased from 0.3-0.6 dB/degree with frequency. 3. The directional sensitivity of the echolocation system (DSE) was calculated using both the DSA curve and the radiation pattern of the emitted sound. The maximally sensitive direction of the echolocation system was 15° lateral to the median plane at 55kHz and 2.5° lateral at 95 kHz. The slope of the DSE curve increased from o.6 to 1.0 dB/degree with frequency. Thus, the higher the frequency of sound, the sharper was the directional sensitivity of the echolocation system. 4. The interaural pressure difference (IPD), which appeared to be the essential cue for echolocation in Myotis, changed linearly with the azimuth angle from 0-30° lateral regardless of the frequency of sound, at respective rates of 0.4, 0.7, 0.3 and 0.4 dB/degree for 35, 55, 75 and 95 kHz sounds. Beyond 30°, the change in IPD was quite different depending on frequency. For 75 and 95 kHz sounds, the IPD stayed nearly the same between 30° and 90°. Thus, the 75-95 kHz components in FM orientation sounds were not superior to the 35 and 55 kHz components in terms of the IPD cue for echolocation. 5. Assuming the just-detectable IPD and ITD to be 0.5 dB and 5µsec respectively, as in man, the just-detectable azimuth difference of Myotis around the median plane would be 0.7-1.7° with the IPD cue and 11° with the ITD cue

Massively parallel support for a case-based planning system

Case-based planning (CBP), a kind of case-based reasoning, is a technique in which previously generated plans (cases) are stored in memory and can be reused to solve similar planning problems in the future. CBP can save considerable time over generative planning, in which a new plan is produced from scratch. CBP thus offers a potential (heuristic) mechanism for handling intractable problems. One drawback of CBP systems has been the need for a highly structured memory to reduce retrieval times. This approach requires significant domain engineering and complex memory indexing schemes to make these planners efficient. In contrast, our CBP system, CaPER, uses a massively parallel frame-based AI language (PARKA) and can do extremely fast retrieval of complex cases from a large, unindexed memory. The ability to do fast, frequent retrievals has many advantages: indexing is unnecessary; very large case bases can be used; memory can be probed in numerous alternate ways; and queries can be made at several levels, allowing more specific retrieval of stored plans that better fit the target problem with less adaptation. In this paper we describe CaPER's case retrieval techniques and some experimental results showing its good performance, even on large case bases

Formalizing behavior-based planning for nonholonomic robots

In this paper we present a formalization of behavior-based planning for nonholonomic robotic systems. This work provides a framework that integrates features of reactive planning models with modern control-theory-based robotic approaches in the area of path-planning for nonholonomic robots. In particular, we introduce a motion description language, MDLe, that provides a formal basis for robot programming using behaviors, and at the same time permits incorporation of kinematic models of robots given in the form of differential equations. The structure of the language MDLe is such as to allow descriptions of triggers (generated by sensors) in the language. Feedback and feedforward control laws are selected and executed by the triggering events. We demonstrate the use of MDLe in the area of motion planning for nonholonomic robots. Such models impose limitations on stabilizability via smooth feedback, i.e. piecing together open loop and closed loop trajectories becomes essential in these circumstances, and MDLe enables one to describe such piecing together in a systematic manner. A reactive planner using the formalism of the paper is described. We demonstrate obstacle avoidance with limited range sensors as a test of this planner.

Low EUV Luminosities Impinging on Protoplanetary Disks

The amount of high-energy stellar radiation reaching the surface of protoplanetary disks is essential to determine their chemistry and physical evolution. Here, we use millimetric and centimetric radio data to constrain the EUV luminosity impinging on 14 disks around young (~2-10Myr) sun-like stars. For each object we identify the long-wavelength emission in excess to the dust thermal emission, attribute that to free-free disk emission, and thereby compute an upper limit to the EUV reaching the disk. We find upper limits lower than 10$^{42}$ photons/s for all sources without jets and lower than $5 \times 10^{40}$ photons/s for the three older sources in our sample. These latter values are low for EUV-driven photoevaporation alone to clear out protoplanetary material in the timescale inferred by observations. In addition, our EUV upper limits are too low to reproduce the [NeII] 12.81 micron luminosities from three disks with slow [NeII]-detected winds. This indicates that the [NeII] line in these sources primarily traces a mostly neutral wind where Ne is ionized by 1 keV X-ray photons, implying higher photoevaporative mass loss rates than those predicted by EUV-driven models alone. In summary, our results suggest that high-energy stellar photons other than EUV may dominate the dispersal of protoplanetary disks around sun-like stars.Comment: Accepted for publication to The Astrophysical Journa

An ALMA Survey of faint disks in the Chamaeleon I star-forming region: Why are some Class II disks so faint?

ALMA surveys of nearby star-forming regions have shown that the dust mass in the disk is correlated with the stellar mass, but with a large scatter. This scatter could indicate either different evolutionary paths of disks or different initial conditions within a single cluster. We present ALMA Cycle 3 follow-up observations for 14 Class II disks that were low S/N detections or non-detections in our Cycle 2 survey of the $\sim 2$ Myr-old Chamaeleon I star-forming region. With 5 times better sensitivity, we detect millimeter dust continuum emission from six more sources and increase the detection rate to 94\% (51/54) for Chamaeleon I disks around stars earlier than M3. The stellar-disk mass scaling relation reported in \citet{pascucci2016} is confirmed with these updated measurements. Faint outliers in the $F_{mm}$--$M_*$ plane include three non-detections (CHXR71, CHXR30A, and T54) with dust mass upper limits of 0.2 M$_\oplus$ and three very faint disks (CHXR20, ISO91, and T51) with dust masses $\sim 0.5$ M$_\oplus$. By investigating the SED morphology, accretion property and stellar multiplicity, we suggest for the three millimeter non-detections that tidal interaction by a close companion ($<$100 AU) and internal photoevaporation may play a role in hastening the overall disk evolution. The presence of a disk around only the secondary star in a binary system may explain the observed stellar SEDs and low disk masses for some systems.Comment: ApJ accepte

The Evolution of Dust Disk Sizes from a Homogeneous Analysis of 1-10 Myr old Stars

We utilize ALMA archival data to estimate the dust disk size of 152 protoplanetary disks in Lupus (1-3 Myr), Chamaeleon I (2-3 Myr), and Upper-Sco (5-11 Myr). We combine our sample with 47 disks from Tau/Aur and Oph whose dust disk radii were estimated, as here, through fitting radial profile models to visibility data. We use these 199 homogeneously derived disk sizes to identify empirical disk-disk and disk-host property relations as well as to search for evolutionary trends. In agreement with previous studies, we find that dust disk sizes and millimeter luminosities are correlated, but show for the first time that the relationship is not universal between regions. We find that disks in the 2-3 Myr-old Cha I are not smaller than disks in other regions of similar age, and confirm the Barenfeld et al. (2017) finding that the 5-10 Myr USco disks are smaller than disks belonging to younger regions. Finally, we find that the outer edge of the Solar System, as defined by the Kuiper Belt, is consistent with a population of dust disk sizes which have not experienced significant truncation

The Case for Structure-based Representations

Case-based reasoning involves reasoning from {\em cases}: specific pieces of experience, the reasoner's or another's, that can be used to solve problems. As a result, case representation is critical: an incomplete case representation limits the system's reasoning power. In this paper we argue for {\em structure-based} case representations, which express arbitrary relations among objects in a flexible way, over more limited or inflexible methods. We motivate the distinction between these kinds of representations with examples from information retrieval systems, CBR systems, and computational models of human analogical reasoning. Structure-based representations provide the benefits of greater expressivity and economy. We give examples of these benefits from two case-based planning systems we have developed, CaPER and CHIRON, and show how the case matching and case acquisition costs can be reduced through the use of massively parallel techniques. (Also cross-referenced as UMIACS-TR-95-56

A likely planet-induced gap in the disc around T Cha

We present high-resolution (0.11 × 0.06 arcsec2) 3 mm ALMA observations of the highly inclined transition disc around the star T Cha. Our continuum image reveals multiple dust structures: an inner disc, a spatially resolved dust gap, and an outer ring. When fitting sky-brightness models to the real component of the 3 mm visibilities, we infer that the inner emission is compact (≤1 au in radius), the gap width is between 18 and 28 au, and the emission from the outer ring peaks at ∼36 au. We compare our ALMA image with previously published 1.6 μm VLT/SPHERE imagery. This comparison reveals that the location of the outer ring is wavelength dependent. More specifically, the peak emission of the 3 mm ring is at a larger radial distance than that of the 1.6 μm ring, suggesting that millimeter-sized grains in the outer disc are located farther away from the central star than micron-sized grains. We discuss different scenarios to explain our findings, including dead zones, star-driven photoevaporation, and planet-disc interactions. We find that the most likely origin of the dust gap is from an embedded planet, and estimate – for a single planet scenario – that T Cha's gap is carved by a 1.2MJup planet

A framework for deriving semantic web services

Web service-based development represents an emerging approach for the development of distributed information systems. Web services have been mainly applied by software practitioners as a means to modularize system functionality that can be offered across a network (e.g., intranet and/or the Internet). Although web services have been predominantly developed as a technical solution for integrating software systems, there is a more business-oriented aspect that developers and enterprises need to deal with in order to benefit from the full potential of web services in an electronic market. This ‘ignored’ aspect is the representation of the semantics underlying the services themselves as well as the ‘things’ that the services manage. Currently languages like the Web Services Description Language (WSDL) provide the syntactic means to describe web services, but lack in providing a semantic underpinning. In order to harvest all the benefits of web services technology, a framework has been developed for deriving business semantics from syntactic descriptions of web services. The benefits of such a framework are two-fold. Firstly, the framework provides a way to gradually construct domain ontologies from previously defined technical services. Secondly, the framework enables the migration of syntactically defined web services toward semantic web services. The study follows a design research approach which (1) identifies the problem area and its relevance from an industrial case study and previous research, (2) develops the framework as a design artifact and (3) evaluates the application of the framework through a relevant scenario