Krill: An exploration in underwater sensor networks

While sensor networks have now become very popular on land, the underwater environment still poses some difficult problems. Communication is one of the difficult challenges under water. There are two options: optical and acoustic. We have designed an optical communication board that allows the Fleck’s to communicate optically. We have tested the resulting underwater sensor nodes in two different applications

Improved Parton Showers at Large Transverse Momenta

Several methods to improve the parton-shower description of hard processes by an injection of matrix-element-based information have been presented over the years. In this article we study (re)weighting schemes for the first/hardest emission. One objective is to provide a consistent matching of the POWHEG next-to-leading order generator to the Pythia shower algorithms. Another is to correct the default behaviour of these showers at large transverse momenta, based on a comparison with real-emission matrix elements

Matching Tree-Level Matrix Elements with Interleaved Showers

We present an implementation of the so-called CKKW-L merging scheme for combining multi-jet tree-level matrix elements with parton showers. The implementation uses the transverse-momentum-ordered shower with interleaved multiple interactions as implemented in PYTHIA8. We validate our procedure using e+e--annihilation into jets and vector boson production in hadronic collisions, with special attention to details in the algorithm which are formally sub-leading in character, but may have visible effects in some observables. We find substantial merging scale dependencies induced by the enforced rapidity ordering in the default PYTHIA8 shower. If this rapidity ordering is removed the merging scale dependence is almost negligible. We then also find that the shower does a surprisingly good job of describing the hardness of multi-jet events, as long as the hardest couple of jets are given by the matrix elements. The effects of using interleaved multiple interactions as compared to more simplistic ways of adding underlying-event effects in vector boson production are shown to be negligible except in a few sensitive observables. To illustrate the generality of our implementation, we also give some example results from di-boson production and pure QCD jet production in hadronic collisions.Comment: 44 pages, 23 figures, as published in JHEP, including all changes recommended by the refere

Integration of visual and joint information to enable linear reaching motions

A new dynamics-driven control law was developed for a robot arm, based on the feedback control law which uses the linear transformation directly from work space to joint space. This was validated using a simulation of a two-joint planar robot arm and an optimisation algorithm was used to find the optimum matrix to generate straight trajectories of the end-effector in the work space. We found that this linear matrix can be decomposed into the rotation matrix representing the orientation of the goal direction and the joint relation matrix (MJRM) representing the joint response to errors in the Cartesian work space. The decomposition of the linear matrix indicates the separation of path planning in terms of the direction of the reaching motion and the synergies of joint coordination. Once the MJRM is numerically obtained, the feedfoward planning of reaching direction allows us to provide asymptotically stable, linear trajectories in the entire work space through rotational transformation, completely avoiding the use of inverse kinematics. Our dynamics-driven control law suggests an interesting framework for interpreting human reaching motion control alternative to the dominant inverse method based explanations, avoiding expensive computation of the inverse kinematics and the point-to-point control along the desired trajectories

Light Stop NLSPs at the Tevatron and LHC

How light can the stop be given current experimental constraints? Can it still be lighter than the top? In this paper, we study this and related questions in the context of gauge-mediated supersymmetry breaking, where a stop NLSP decays into a W, b and gravitino. Focusing on the case of prompt decays, we simulate several existing Tevatron and LHC analyses that would be sensitive to this scenario, and find that they allow the stop to be as light as 150 GeV, mostly due to the large top production background. With more data, the existing LHC analyses will be able to push the limit up to at least 180 GeV. We hope this work will motivate more dedicated experimental searches for this simple scenario, in which, for most purposes, the only free parameters are the stop mass and lifetime.Comment: 31 pages, 11 figures; v2: added minor clarifications and reference

QCD Coherence and the Top Quark Asymmetry

Coherent QCD radiation in the hadroproduction of top quark pairs leads to a forward--backward asymmetry that grows more negative with increasing transverse momentum of the pair. This feature is present in Monte Carlo event generators with coherent parton showering, even though the production process is treated at leading order and has no intrinsic asymmetry before showering. In addition, depending on the treatment of recoils, showering can produce a positive contribution to the inclusive asymmetry. We explain the origin of these features, compare them in fixed-order calculations and the Herwig++, Pythia and Sherpa event generators, and discuss their implications.Comment: 28 pages, 11 figures, 2 table

Measurement of charged particle multiplicities in pppp collisions at s=7{\sqrt{s} =7}TeV in the forward region

The charged particle production in proton-proton collisions is studied with the LHCb detector at a centre-of-mass energy of ${\sqrt{s} =7}$TeV in different intervals of pseudorapidity $\eta$. The charged particles are reconstructed close to the interaction region in the vertex detector, which provides high reconstruction efficiency in the $\eta$ ranges $-2.5<\eta<-2.0$ and $2.0<\eta<4.5$. The data were taken with a minimum bias trigger, only requiring one or more reconstructed tracks in the vertex detector. By selecting an event sample with at least one track with a transverse momentum greater than 1 GeV/c a hard QCD subsample is investigated. Several event generators are compared with the data; none are able to describe fully the multiplicity distributions or the charged particle density distribution as a function of $\eta$. In general, the models underestimate the charged particle production

Macrophages promote angiogenesis in human breast tumour spheroids in vivo

An in vivo model has been established to study the role of macrophages in the initiation of angiogenesis by human breast tumour spheroids in vivo. The extent of the angiogenic response induced by T47D spheroids implanted into the dorsal skinfold chamber in nude mice was measured in vivo and compared to that induced by spheroids infiltrated with human macrophages prior to implantation. Our results indicate that the presence of macrophages in spheroids resulted in at least a three-fold upregulation in the release of vascular endothelial growth factor (VEGF) in vitro when compared with spheroids composed only of tumour cells. The angiogenic response measured around the spheroids, 3 days after in vivo implantation, was significantly greater in the spheroids infiltrated with macrophages. The number of vessels increased (macrophages vs no macrophages 34±1.9 vs 26±2.5, P<0.01), were shorter in length (macrophages vs no macrophages 116±4.92 vs 136±6.52, P<0.008) with an increased number of junctions (macrophages vs no macrophages 14±0.93 vs 11±1.25, P<0.025) all parameters indicative of new vessel formation. This is the first study to demonstrate a role for macrophages in the initiation of tumour angiogenesis in vivo