Transitivity, the Sorites Paradox, and Similarity-Based Decision-Making

Articl

Reuleaux: Robot Base Placement by Reachability Analysis

Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for fixed-base robots if some essential task sections are out of reach. For mobile manipulation robots, it is necessary to decide on a specific base position before beginning manipulation tasks. This paper presents Reuleaux, an open source library for robot reachability analyses and base placement. It reduces the amount of extra repositioning and removes the manual work of identifying potential base locations. Based on the reachability map, base placement locations of a whole robot or only the arm can be efficiently determined. This can be applied to both statically mounted robots, where position of the robot and work piece ensure the maximum amount of work performed, and to mobile robots, where the maximum amount of workable area can be reached. Solutions are not limited only to vertically constrained placement, since complicated robotics tasks require the base to be placed at unique poses based on task demand. All Reuleaux library methods were tested on different robots of different specifications and evaluated for tasks in simulation and real world environment. Evaluation results indicate that Reuleaux had significantly improved performance than prior existing methods in terms of time-efficiency and range of applicability.Comment: Submitted to International Conference of Robotic Computing 201

High-Altitude Particle Acceleration and Radiation in Pulsar Slot Gaps

We explore the pulsar slot gap electrodynamics up to very high altitudes, where for most relatively rapidly rotating pulsars both the standard small-angle approximation and the assumption that the magnetic field lines are ideal stream lines break down. We address the importance of the electrodynamic conditions at the slot gap boundaries and the occurrence of a steady-state drift of charged particles across the slot gap field lines at very high altitudes. These boundary conditions and the deviation of particle trajectories from stream lines determine the asymptotic behavior of the scalar potential at all radii from the polar cap to near the light cylinder. As a result, we demonstrate that the steady-state accelerating electric field must approach a small and constant value at high altitude above the polar cap. This parallel electric field is capable of maintaining electrons moving with high Lorentz factors (a few times 10^7) and emitting curvature gamma-ray photons up to nearly the light cylinder. By numerical simulations, we show that primary electrons accelerating from the polar cap surface to high altitude in the slot gap along the outer edge of the open field region will form caustic emission patterns on the trailing dipole field lines. Acceleration and emission in such an extended slot gap may form the physical basis of a model that can successfully reproduce some pulsar high-energy light curves.Comment: 26 pages, 2 figures, to appear in the Astrophysical Journal, May 10, 200

ICT-based reforms in local government decision-making in the gram panchayats of Kerala

The beneficial impact of computerisation can be felt in all elements that contribute to decision-making in panchayats in the state of Kerala. However, even though computerisation is bringing about immense improvements compared to traditional administrative practices, but scope still remains for further improvement. Instead of the 'as it is' computerisation that is mostly carried out a process based approach is needed

Innovations in energy and climate policy: lessons from Vermont

We ask in this article: how can planners and policymakers replicate Vermont’s energy and climate policies? We begin by explaining the research methods utilized for this article—mainly research interviews with a pool of experts, coupled with a targeted literature review. We then analyze the success of Vermont energy policy across four areas: energy efficiency, renewable energy, the smart grid, and energy governance. The following sections first explain how Vermont accomplished these successes, next identify a number of remaining barriers and elements of Vermont’s approach that may not be replicable, and finally present the article’s conclusions

Fiscal autonomy for Scotland? A rejoinder

In their paper „A restatement of the case for fiscal autonomy‟ Hallwood and MacDonald (2006b) claim that Barnett is a formula for a rake‟s progress and that fiscal autonomy, as outlined in their previous paper „The economic case for Scottish fiscal autonomy: with or without independence‟ (Hallwood and MacDonald, 2006a), offers a superior financial settlement for Scotland. We here restate our continued disagreements with their argument. We start with corrections of their interpretation of our paper „Flaws and myths in the case for Scottish fiscal autonomy‟ (Ashcroft, Christie and Swales, 2006) before highlighting where we believe their latest paper fails to provide answers to important questions we posed

Smear correction of highly-variable, frame-transfer-CCD images with application to polarimetry

Image smear, produced by the shutter-less operation of frame transfer CCD detectors, can be detrimental for many imaging applications. Existing algorithms used to numerically remove smear, do not contemplate cases where intensity levels change considerably between consecutive frame exposures. In this report we reformulate the smearing model to include specific variations of the sensor illumination. The corresponding desmearing expression and its noise properties are also presented and demonstrated in the context of fast imaging polarimetry.Comment: Article accepted for publication in Applied Optics on 08 Jun 201

Gene dynamics of toll-like receptor 4 through a population bottleneck in an insular population of water voles (Arvicola amphibius)

Acknowledgments We would like to thank all colleagues who have contributed to fieldwork and sampling during this study. We would especially like to thank Marius Wenzel and Sandra Telfer for collaboration with different aspects of the study, and Dave Jones and Nat Jones for Bartonella PCR assays. This work was supported by the BBSRC studentship to MKG (BB/J01446X/1) and a NERC studentship to MKO. The research was carried out under project license PPL 40/1813.Peer reviewedPublisher PD

Enabling Fine-Grain Restricted Coset Coding Through Word-Level Compression for PCM

Phase change memory (PCM) has recently emerged as a promising technology to meet the fast growing demand for large capacity memory in computer systems, replacing DRAM that is impeded by physical limitations. Multi-level cell (MLC) PCM offers high density with low per-byte fabrication cost. However, despite many advantages, such as scalability and low leakage, the energy for programming intermediate states is considerably larger than programing single-level cell PCM. In this paper, we study encoding techniques to reduce write energy for MLC PCM when the encoding granularity is lowered below the typical cache line size. We observe that encoding data blocks at small granularity to reduce write energy actually increases the write energy because of the auxiliary encoding bits. We mitigate this adverse effect by 1) designing suitable codeword mappings that use fewer auxiliary bits and 2) proposing a new Word-Level Compression (WLC) which compresses more than 91% of the memory lines and provides enough room to store the auxiliary data using a novel restricted coset encoding applied at small data block granularities. Experimental results show that the proposed encoding at 16-bit data granularity reduces the write energy by 39%, on average, versus the leading encoding approach for write energy reduction. Furthermore, it improves endurance by 20% and is more reliable than the leading approach. Hardware synthesis evaluation shows that the proposed encoding can be implemented on-chip with only a nominal area overhead.Comment: 12 page