Symbiotic relationship between robots - a ROS ARDrone/YouBot library

A Symbiotic relationship between robots is theoretically developed. It is characterised by sharing sensory information and tightly coordinating operational logic by taking care of each other’s needs during missions. The system is characterised by an intertwined reasoning system while having separate conditioning and execution of plans to achieve subgoals to support each other. The results are illustrated on strong operational inter-dependence of a rover and a drone through shared logical inference. The drone uses the rover as a landing pad and the rover uses the drone to complements its sensor system by information gathering. There is a GitHub library provided in association with the demonstration for generic use of adding cameras and cooperation logic to a AR.Drone 2.0 and a KUKA youBot system. The benefits of symbiotic relationship are quantitatively evaluated on the demonstration example

Searching for galactic sources in the Swift GRB catalog

Since the early 1990s Gamma Ray Bursts have been accepted to be of extra-galactic origin due to the isotropic distribution observed by BATSE and the redshifts observed via absorption line spectroscopy. Nevertheless, upon further examination at least one case turned out to be of galactic origin. This particular event presented a Fast Rise, Exponential Decay (FRED) structure which leads us to believe that other FRED sources might also be Galactic. This study was set out to estimate the most probable degree of contamination by galactic sources that certain samples of FREDs have. In order to quantify the degree of anisotropy the average dipolar and quadripolar moments of each sample of GRBs with respect to the galactic plane were calculated. This was then compared to the probability distribution of simulated samples comprised of a combination of isotropically generated sources and galactic sources. We observe that the dipolar and quadripolar moments of the selected subsamples of FREDs are found more than two standard deviations outside those of random isotropically generated samples.The most probable degree of contamination by galactic sources for the FRED GRBs of the Swift catalog detected until February 2011 that do not have a known redshift is about 21 out of 77 sources which is roughly equal to 27%. Furthermore we observe, that by removing from this sample those bursts that may have any type of indirect redshift indicator and multiple peaks gives the most probable contamination increases up to 34% (17 out of 49 sources). It is probable that a high degree of contamination by galactic sources occurs among the single peak FREDs observed by Swift.Comment: Published to A&A, 4 pages, 5 figures, this arXiv version includes appended table with all the bursts considered in this stud

The obscured hyper-energetic GRB 120624B hosted by a luminous compact galaxy at z = 2.20

Gamma-ray bursts are the most luminous explosions that we can witness in the Universe. Studying the most extreme cases of these phenomena allows us to constrain the limits for the progenitor models. In this Letter, we study the prompt emission, afterglow, and host galaxy of GRB 120624B, one of the brightest GRBs detected by Fermi, to derive the energetics of the event and characterise the host galaxy in which it was produced. Following the high-energy detection we conducted a multi-wavelength follow-up campaign, including near-infrared imaging from HAWKI/VLT, optical from OSIRIS/GTC, X-ray observations from the Chandra X-ray Observatory and at sub-millimetre/millimetre wavelengths from SMA. Optical/nIR spectroscopy was performed with X-shooter/VLT. We detect the X-ray and nIR afterglow of the burst and determine a redshift of z = 2.1974 +/- 0.0002 through the identification of emission lines of [OII], [OIII] and H-alpha from the host galaxy of the GRB. This implies an energy release of Eiso = (3.0+/-0.2)x10^54 erg, amongst the most luminous ever detected. The observations of the afterglow indicate high obscuration with AV > 1.5. The host galaxy is compact, with R1/2 < 1.6 kpc, but luminous, at L ~ 1.5 L* and has a star formation rate of 91 +/- 6 Msol/yr as derived from H-alpha. As other highly obscured GRBs, GRB 120624B is hosted by a luminous galaxy, which we also proof to be compact, with a very intense star formation. It is one of the most luminous host galaxies associated with a GRB, showing that the host galaxies of long GRBs are not always blue dwarf galaxies, as previously thought.Comment: 6 pages, 4 figures, 4 tables; accepted for publication in A&

Radiation distributions in TCV

Total radiative powers measured by foil bolometer and AXUV camera systems are compared to SOLPS5 simulations in low and high density deuterium and helium diverted discharges on the TCV tokamak. For low density the match between simulation and measurements is satisfactory, but at high density strongly radiating regions outside the SOLPS5 simulation grid are seen in measurements and this may indicate the presence of enhanced convective particle transport in the low field side midplane region. The chord coverage of the foil bolometer system does not, however, allow detailed resolution in this region. The comparison of foil and AXUV data also demonstrates that ageing of the AXUV diodes under plasma irradiation combined with the unevenness of the diode spectral response, strongly limits their application for total radiative power measurements. (c) 2007 Elsevier B.V. All rights reserved

Searching for differences in Swift's intermediate GRBs

Gamma-ray bursts are usually classified through their high-energy emission into short-duration and long-duration bursts, which presumably reflect two different types of progenitors. However, it has been shown on statistical grounds that a third, intermediate population is needed in this classification scheme, although an extensive study of the properties of this class has so far not been done. The large amount of follow-up studies generated during the Swift era allows us to have a suficient sample to attempt a study of this third population through the properties of their prompt emission and their afterglows. Our study is focused on a sample of GRBs observed by Swift during its first four years of operation. The sample contains those bursts with measured redshift since this allows us to derive intrinsic properties. Intermediate bursts are less energetic and have dimmer afterglows than long GRBs, especially when considering the X-ray light curves, which are on average one order of magnitude fainter than long bursts. There is a less significant trend in the redshift distribution that places intermediate bursts closer than long bursts. Except for this, intermediate bursts show similar properties to long bursts. In particular, they follow the Epeak vs. Eiso correlation and have, on average, positive spectral lags with a distribution similar to that of long bursts. Like long GRBs, they normally have an associated supernova, although some intermediate bursts have shown no supernova component. This study shows that intermediate bursts are different from short bursts and, in spite of sharing many properties with long bursts, there are some differences between them as well. We suggest that the physical difference between intermediate and long bursts could be that for the first the ejecta are thin shells while for the latter they are thick shells.Comment: Accepted for publication in Astronomy and Astrophysics. 16 pages, 17 figures, 5 table

Clinical features, anaesthetic management and perioperative complications seen in three horses with pheochromocytoma

Three horses presenting with colic signs to the Equine Referral Hospital at The Royal Veterinary College underwent general anaesthesia between September 2013 and November 2017 for emergency exploratory laparotomy. No obvious cause for the colic signs was identified in two horses, while a haemoperitoneum was identified in the third. All horses were euthanased within 12 hours of surgery due to deteriorating haemodynamic instability and/or intractable pain. Postmortem examination revealed an adrenal mass in each case, confirmed to be a pheochromocytoma on histopathology. In retrospect, each horse had some hallmark characteristics consistent with a functional pheochromocytoma, including hyperglycaemia and hyperlactataemia. Extremely high packed cell volume (PCV) (>65 per cent) was also identified in two horses, with a high-normal PCV found in the haemoperitoneum case. Perioperative haemodynamic instability was predominantly characterised by episodes of intermittent hypertension and tachycardia

Volatile organic compounds in northern New England marine and continental environments during the ICARTT 2004 campaign

Volatile organic compound (VOC) measurements were made during the summer 2004 International Consortium for Atmospheric Research on Transport and Transformation (ICARTT) at Thompson Farm (TF), a continental site 25 km from the New Hampshire coast, and Appledore Island (AI), a marine site 10 km off the Maine coast. The 24 h mean total hydroxyl radical (OH) reactivity (±1σ) for the suite of VOCs was 4.15 (±2.64) s−1 at TF and 2.57 (±1.10) s−1 at AI. The larger range of reactivity at TF was dominated by isoprene and the monoterpenes (mean combined reactivity = 2.01 (±2.57) s−1). The impact of local anthropogenic hydrocarbon sources such as liquefied petroleum gas (LPG) leakage and fossil fuel evaporation was evident at both sites. During the campaign, a propane flux of 9 (±2) × 109 molecules cm−2 s−1 was calculated from the linear regression of the mean 0100–0400 local time mixing ratios at TF. This is consistent with fluxes observed in 2003 at sites spread throughout the coastal area of New Hampshire indicating that LPG tank leakage is a major hydrocarbon source throughout the region. Net monoterpene fluxes during ICARTT at TF were 6 (±2), 1.8 (±0.4), 1.2 (±0.6), and 0.4 (±0.5) × 109 molecules cm−2 s−1 for α‐pinene, β‐pinene, camphene, and limonene, respectively. Comparison to estimated NO3 and O3 loss rates indicate that gross monoterpene emission rates were approximately double the observed net fluxes at TF and comparable to current monoterpene nighttime emission inventory estimates for the northeast

Quantifying situation awareness for small unmanned aircraft Towards routine Beyond Visual Line Of Sight operations

A novel statistical model is presented to quantify situation awareness in the operation of small civilian Unmanned Aircraft Systems (UAS). Today, the vast majority of small UAS operation takes place under Visual Line Of Sight (VLOS) of a human operator, who is wholly responsible for the safety of the flight. As operation begins to move to Beyond Visual Line Of Sight (BVLOS), it is likely that this responsibility will become shared between operator and the increasingly autonomous UAS itself. Before we seek to quantify the safety of such a system, it is beneficial to analyse the safety of existing VLOS operations to provide a target level of safety. Prior to considering any on-board decision making, it is essential to ensure that the artificial situation awareness system of a UAS in BVLOS is at least as good as awareness of a human operator. The paper provides a probabilistic theory and model for the high level abstractions of situation awareness to guide future assessment of BVLOS operations