Competing in the RoboCup Rescue Robot League

RoboCup Rescue is an international competition in which robots compete to find disaster victims in a simulated earthquake environment. It features both a Rescue Simulation League (RSL) which is entirely computer simulated, and a Rescue Robot League (RRL) with real robots and a test arena. This paper will describe the experience gained sending an undergraduate team to compete in the Rescue Robot League at the RoboCup German Open in 2008 and 2009. The design of the test arena and the rules of the competition will be outlined; as will the approaches taken by different teams; and the competition results

Coding Our Judges Off of Schools and Individuals: When is it Necessary?

When examining issues that arise from tournament management, a chief concern among tournament administrators is the quality and size of their respective judging pools. In accordance with the AFA Code of Standards, many coaches try to avoid a conflict of interest by coding their judges off of particular schools and/or individuals when sending in their entry. Given that this coding process is self-regulated and highly dependent on individual ethics, coaches are left with no steadfast rules to dictate when a restriction is necessary and when it is not. This paper examines the coding process, the reasons coaches currently use to apply restrictions, the implications of this practice, and suggestions to refine it

Klotho mice: a novel wound model of aged skin.

BackgroundAs the elderly population continues to expand, it becomes increasingly important to develop treatments to improve wound healing in the elderly. One problem limiting the research is the lack of appropriate animal models for wound healing in elderly patients. We hypothesized that the Klotho mouse of premature aging is a suitable animal model to shed light on many of the biological processes involved in aging skin.MethodsKlotho mice (kl/kl), Klotho-heterozygous mice (kl/+), and wild-type mice (+/+) were wounded, and the area of the wound was measured every 3 days until the wound was healed. To compare the klotho phenotype with wild-type mice, wounds were also harvested at 4 and 7 days after wounding. For histological examination, paraffin-embedded sections were stained with hematoxylin and eosin and Masson trichrome. Collagen expression in the wound was also studied by analyzing messenger RNA using real-time polymerase chain reaction.ResultsKlotho mice showed a significantly slower rate of wound closure compared with Klotho-heterozygous mice and wild-type mice. Histology showed substantial less healing and collagen deposition in the wounds of the Klotho mice. The expression of collagen messenger RNA in Klotho mice was also less than that in heterozygous and wild-type mice. The Klotho mice exhibited significant phenotypic similarities with aged skin, such as atrophy and delayed wound healing.ConclusionThese preliminary data suggest that the Klotho mouse may be a model to further investigate wound healing in the elderly

Explaining the Color Distributions of Globular Cluster Systems in Elliptical Galaxies

The colors of globular clusters in most of large elliptical galaxies are bimodal. This is generally taken as evidence for the presence of two cluster subpopulations that have different geneses. However, here we find that, because of the non-linear nature of the metallicity-to-color transformation, a coeval group of old clusters with a unimodal metallicity spread can exhibit color bimodality. The models of cluster colors indicate that the horizontal-branch stars are the main drivers behind the empirical non-linearity. We show that the scenario gives simple and cohesive explanations for all the key observations, and could simplify theories of elliptical galaxy formation.Comment: Science, 311, 1129; Minor changes to text to match the published version (9 pages, 3 figures

Payload Launch Lock Mechanism

A payload launch lock mechanism includes a base, a preload clamp, a fastener, and a shape memory alloy (SMA) actuator. The preload clamp is configured to releasibly restrain a payload. The fastener extends, along an axis, through the preload clamp and into the base, and supplies a force to the preload clamp sufficient to restrain the payload. The SMA actuator is disposed between the base and the clamp. The SMA actuator is adapted to receive electrical current and is configured, upon receipt of the electrical current, to supply a force that causes the fastener to elongate without fracturing. The preload clamp, in response to the fastener elongation, either rotates or pivots to thereby release the payload

TriG - A GNSS Precise Orbit and Radio Occultation Space Receiver

The GPS radio occultation (RO) technique [1] produces measurements in the ionosphere and neutral atmosphere [2] that contribute to monitoring space weather and climate change; and improving operational weather prediction. The high accuracy of RO soundings, traceable to SI standards, makes them ideal climate benchmark observations. For weather applications, RO observations improve the accuracy of weather forecasts by providing temperature and moisture profiles of sub-km vertical resolution, over land and ocean and in the presence of clouds. JPL is currently flying a handful of RO instruments [3] on various satellites in Low Earth Orbit (LEO). Although these receivers have served to pioneer occultation measurements, various advances in technology and understanding of the RO technique along with availability of new signals from GPS and other GNSS satellites allow us to design an improved next generation space-based Precise Orbit Determination (POD) and RO receiver, the TriG receiver. The paper describes the architecture and implementation of the JPL TriG receiver as well as results obtained with a prototype receiver demonstrating key technologies necessary for a next-generation space science receiver