Stanford Aerospace Research Laboratory research overview

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator

Private Multiplicative Weights Beyond Linear Queries

A wide variety of fundamental data analyses in machine learning, such as linear and logistic regression, require minimizing a convex function defined by the data. Since the data may contain sensitive information about individuals, and these analyses can leak that sensitive information, it is important to be able to solve convex minimization in a privacy-preserving way. A series of recent results show how to accurately solve a single convex minimization problem in a differentially private manner. However, the same data is often analyzed repeatedly, and little is known about solving multiple convex minimization problems with differential privacy. For simpler data analyses, such as linear queries, there are remarkable differentially private algorithms such as the private multiplicative weights mechanism (Hardt and Rothblum, FOCS 2010) that accurately answer exponentially many distinct queries. In this work, we extend these results to the case of convex minimization and show how to give accurate and differentially private solutions to *exponentially many* convex minimization problems on a sensitive dataset

Comparative biogeochemistry of water in intertidal Onuphis (polychaeta) and Upogebia (crustacea) burrows: temporal patterns and causes

The burrows of macrobenthos represent an important class of sedimentary microenvironments which significantly influence chemical, biological, and physical characteristics of a deposit. In intertidal regions, the time-dependent changes in composition during ebb-tide of water contained in burrows is a sensitive indicator of biogenic and abiogenic chemical reactions in burrow walls and adjacent sediment. Comparison of time series water samples taken from Onuphis jenneri (polychaete) and Upogebia affinis (crustacean) burrows in the same tidal flat demonstrate substantial differences in biogeochemical microenvironments despite the spatial proximity of the two species. Both types of burrows are influenced by the same general kinds of biogeochemical reactions but the relative intensity of these reactions differs in each case. Evidence for both heterotrophic and chemoautotrophic metabolic activity in each burrow type comes from the build-up or consumption patterns in burrow water of solutes such as NH4+, NO3−, Mn++, l−, HPO4−, and HCO3−. Burrow irrigation models and the stoichiometry of solute build-up imply that Upogebia burrows are sites of more intense nitrification-denitrification and microbial activity generally than are Onuphis tubes. Upogebia burrow water is also distinctly undersaturated with respect to carbonate minerals and has high numbers of bacteria relative to Onuphis. In addition to reaction rates, burrow geometry and the adsorption-diffusive permeability properties of the burrow wall also affect transient behavior of solutes. The organic burrow lining of Onuphis shows linear adsorption isotherms for positive, negative, and neutrally charged solutes represented by NH4−, HP04−, and Si(OH)4. Diffusion-reaction modeling demonstrates that adsorption, in particular, can significantly lower the transient state concentrations of burrow water trace solutes even for tube wall thicknesses of only 200 μm. The observed differences between burrow microenvironments of the two species living in close proximity suggest distinct biogeochemical associations between microbes and species specific biogenic structures

Towards More Data-Aware Application Integration (extended version)

Although most business application data is stored in relational databases, programming languages and wire formats in integration middleware systems are not table-centric. Due to costly format conversions, data-shipments and faster computation, the trend is to "push-down" the integration operations closer to the storage representation. We address the alternative case of defining declarative, table-centric integration semantics within standard integration systems. For that, we replace the current operator implementations for the well-known Enterprise Integration Patterns by equivalent "in-memory" table processing, and show a practical realization in a conventional integration system for a non-reliable, "data-intensive" messaging example. The results of the runtime analysis show that table-centric processing is promising already in standard, "single-record" message routing and transformations, and can potentially excel the message throughput for "multi-record" table messages.Comment: 18 Pages, extended version of the contribution to British International Conference on Databases (BICOD), 2015, Edinburgh, Scotlan

Laboratory Determination of the Infrared Band Strengths of Pyrene Frozen in Water Ice: Implications for the Composition of Interstellar Ices

Broad infrared emission features (e.g., at 3.3, 6.2, 7.7, 8.6, and 11.3 microns) from the gas phase interstellar medium have long been attributed to polycyclic aromatic hydrocarbons (PAHs). A significant portion (10%-20%) of the Milky Way's carbon reservoir is locked in PAH molecules, which makes their characterization integral to our understanding of astrochemistry. In molecular clouds and the dense envelopes and disks of young stellar objects (YSOs), PAHs are expected to be frozen in the icy mantles of dust grains where they should reveal themselves through infrared absorption. To facilitate the search for frozen interstellar PAHs, laboratory experiments were conducted to determine the positions and strengths of the bands of pyrene mixed with H2O and D2O ices. The D2O mixtures are used to measure pyrene bands that are masked by the strong bands of H2O, leading to the first laboratory determination of the band strength for the CH stretching mode of pyrene in water ice near 3.25 microns. Our infrared band strengths were normalized to experimentally determined ultraviolet band strengths, and we find that they are generally ~50% larger than those reported by Bouwman et al. based on theoretical strengths. These improved band strengths were used to reexamine YSO spectra published by Boogert et al. to estimate the contribution of frozen PAHs to absorption in the 5-8 micron spectral region, taking into account the strength of the 3.25 micron CH stretching mode. It is found that frozen neutral PAHs contain 5%-9% of the cosmic carbon budget, and account for 2%-9% of the unidentified absorption in the 5-8 micron region.Comment: Accepted for publication in ApJ on 14 Feb 201

Network-wide Configuration Synthesis

Computer networks are hard to manage. Given a set of high-level requirements (e.g., reachability, security), operators have to manually figure out the individual configuration of potentially hundreds of devices running complex distributed protocols so that they, collectively, compute a compatible forwarding state. Not surprisingly, operators often make mistakes which lead to downtimes. To address this problem, we present a novel synthesis approach that automatically computes correct network configurations that comply with the operator's requirements. We capture the behavior of existing routers along with the distributed protocols they run in stratified Datalog. Our key insight is to reduce the problem of finding correct input configurations to the task of synthesizing inputs for a stratified Datalog program. To solve this synthesis task, we introduce a new algorithm that synthesizes inputs for stratified Datalog programs. This algorithm is applicable beyond the domain of networks. We leverage our synthesis algorithm to construct the first network-wide configuration synthesis system, called SyNET, that support multiple interacting routing protocols (OSPF and BGP) and static routes. We show that our system is practical and can infer correct input configurations, in a reasonable amount time, for networks of realistic size (> 50 routers) that forward packets for multiple traffic classes.Comment: 24 Pages, short version published in CAV 201

Observed Variability at 1um and 4um in the Y0 Brown Dwarf WISEP J173835.52+273258.9

We have monitored photometrically the Y0 brown dwarf WISEP J173835.52+273258.9 (W1738) at both near- and mid-infrared wavelengths. This ~1 Gyr-old 400K dwarf is at a distance of 8pc and has a mass around 5 M_Jupiter. We observed W1738 using two near-infrared filters at lambda~1um, Y and J, on Gemini observatory, and two mid-infrared filters at lambda~4um, [3.6] and [4.5], on the Spitzer observatory. Twenty-four hours were spent on the source by Spitzer on each of June 30 and October 30 2013 UT. Between these observations, around 5 hours were spent on the source by Gemini on each of July 17 and August 23 2013 UT. The mid-infrared light curves show significant evolution between the two observations separated by four months. We find that a double sinusoid can be fit to the [4.5] data, where one sinusoid has a period of 6.0 +/- 0.1 hours and the other a period of 3.0 +/- 0.1 hours. The near-infrared observations suggest variability with a ~3.0 hour period, although only at a <~2 sigma confidence level. We interpret our results as showing that the Y dwarf has a 6.0 +/- 0.1 hour rotation period, with one or more large-scale surface features being the source of variability. The peak-to-peak amplitude of the light curve at [4.5] is 3%. The amplitude of the near-infrared variability, if real, may be as high as 5 to 30%. Intriguingly, this size of variability and the wavelength dependence can be reproduced by atmospheric models that include patchy KCl and Na_2S clouds and associated small changes in surface temperature. The small number of large features, and the timescale for evolution of the features, is very similar to what is seen in the atmospheres of the solar system gas giants.Comment: Accepted by ApJ July 26 2016. Twenty-six pages include 8 Figures and 5 Table

Spectral absorption of biomass burning aerosol determined from retrieved single scattering albedo during ARCTAS

Actinic flux, as well as aerosol chemical and optical properties, were measured aboard the NASA DC-8 aircraft during the ARCTAS (Arctic Research of the Composition of the Troposphere from Aircraft and Satellites) mission in Spring and Summer 2008. These measurements were used in a radiative transfer code to retrieve spectral (350-550 nm) aerosol single scattering albedo (SSA) for biomass burning plumes encountered on 17 April and 29 June. Retrieved SSA values were subsequently used to calculate the absorption Angstrom exponent (AAE) over the 350-500 nm range. Both plumes exhibited enhanced spectral absorption with AAE values that exceeded 1 (6.78 ± 0.38 for 17 April and 3.34 ± 0.11 for 29 June). This enhanced absorption was primarily due to organic aerosol (OA) which contributed significantly to total absorption at all wavelengths for both 17 April (57.7%) and 29 June (56.2%). OA contributions to absorption were greater at UV wavelengths than at visible wavelengths for both cases. Differences in AAE values between the two cases were attributed to differences in plume age and thus to differences in the ratio of OA and black carbon (BC) concentrations. However, notable differences between AAE values calculated for the OA (AAEOA) for 17 April (11.15 ± 0.59) and 29 June (4.94 ± 0.19) suggested differences in the plume AAE values might also be due to differences in organic aerosol composition. The 17 April OA was much more oxidized than the 29 June OA as denoted by a higher oxidation state value for 17 April (+0.16 vs. -0.32). Differences in the AAEOA, as well as the overall AAE, were thus also possibly due to oxidation of biomass burning primary organic aerosol in the 17 April plume that resulted in the formation of OA with a greater spectral-dependence of absorption. © Author(s) 2012. CC Attribution 3.0 License