Time-Energy Optimal Cluster Space Motion Planning for Mobile Robot Formations

The motions of a formation of mobile robots along predetermined paths are optimized according to a tunable time-energy cost function using the cluster space approach to multiagent system specification and control. Upon path-parameterizing cluster state variables describing the geometry and pose of a multirobot group, an optimal control problem is formulated that incorporates formation dynamics and state constraints. The optimal trajectory is derived numerically via a gradient search, iterating over the initial value of one costate. A multirobot formation control simulation is then used to demonstrate the effectiveness of the technique. Results indicate that a substantial tradeoff is made between energy expenditure and motion time when considered as minimization criteria in varying proportions, allowing the operator to tailor mission trajectories according to desired levels of each

Self-Positioning Smart Buoys, The \u27Un-Buoy\u27 Solution: Logistic Considerations Using Autonomous Surface Craft Technology and Improved Communications Infrastructure

Moored buoys have long served national interests, but incur high development, construction, installation, and maintenance costs. Buoys which drift off-location can pose hazards to mariners, and in coastal waters may cause environmental damage. Moreover, retrieval, repair and replacement of drifting buoys may be delayed when data would be most useful. Such gaps in coastal buoy data can pose a threat to national security by reducing maritime domain awareness. The concept of self-positioning buoys has been advanced to reduce installation cost by eliminating mooring hardware. We here describe technology for operation of reduced cost self-positioning buoys which can be used in coastal or oceanic waters. The ASC SCOUT model is based on a self-propelled, GPS-positioned, autonomous surface craft that can be pre-programmed, autonomous, or directed in real time. Each vessel can communicate wirelessly with deployment vessels and other similar buoys directly or via satellite. Engineering options for short or longer term power requirements are considered, in addition to future options for improved energy delivery systems. Methods of reducing buoy drift and position-maintaining energy requirements for self-locating buoys are also discussed, based on the potential of incorporating traditional maritime solutions to these problems. We here include discussion of the advanced Delay Tolerant Networking (DTN) communications draft protocol which offers improved wireless communication capabilities underwater, to adjacent vessels, and to satellites. DTN is particularly adapted for noisy or loss-prone environments, thus it improves reliability. In addition to existing buoy communication via commercial satellites, a growing network of small satellites known as PICOSATs can be readily adapted to provide low-cost communications nodes for buoys. Coordination with planned vessel Automated Identification Systems (AIS) and International Maritime Organization standards for buoy and vessel notificat- - ion systems are reviewed and the legal framework for deployment of autonomous surface vessels is considered

Inside NanoSail-D: A Tiny Satellite with Big Ideas

"Small But Mighty" certainly describes the NanoSail-D experiment and mission. Its unique goals and designs were simple, but the implications of this technology are far reaching. From a tiny 3U CubeSat, NanoSail-D deployed a 10 square meter solar sail. This was the first sail vehicle to orbit the earth and was only the second time a sail was unfurled in space. The NanoSail-D team included: two NASA centers, Marshall and Ames, the universities of Alabama in Huntsville and Santa Clara in California, the Air Force Research Laboratory and many contractors including NeXolve, Gray Research and several others. The collaborative nature was imperative to the success of this project. In addition, the Army Space and Missile Defense Command, the Von Braun Center for Science and Innovation and Dynetics Inc. jointly sponsored the NanoSail-D project. This paper presents in-depth insight into the NanoSail-D development. Its design was a combination of left over space hardware coupled with cutting edge technology. Since this NanoSail-D mission was different from the first, several modifications were necessary for the second NanoSail-D unit. Unforeseen problems arose during refurbishment of the second unit and the team had to overcome these obstacles. Simple interfaces, clear responsibilities and division of effort allowed the team members to work independently on the common goal. This endeavor formed working relationships lasting well beyond the end of this mission. NanoSail-D pushed the technology envelop with future applications for all classes of satellites. NanoSail-D is truly a small but mighty satellite, which may cast a very big shadow for years to come

University Nanosatellite Distributed Satelllite Capabilities to Support TechSat 21

A new way to perform space missions utilizes the concept of clusters of satellites that cooperate to perform the function of a larger, single satellite. Each smaller satellite communicates with the others and shares the processing, communications, and payload or mission functions. The required functionality is thus spread across the satellites in the cluster, the aggregate forming a virtual satellite . The Air Force Research Laboratory (AFRL) initiated the TechSat 21 program to explore the basic technologies required to enable such distributed satellite systems. For this purpose, Space Based Radar (SBR) was selected as a reference mission to help identify technology requirements and to allow an easy comparison to a conventional approach. A summary of the basic mission and the performance requirements is provided. The satellite cluster approach to space missions requires science and technology advances in several key areas. Each of these challenges is described in some detail, with specific stressing requirements driven by the SBR reference mission. These TechSat 21 research and technology areas are being studied in a coordinated effort between several directorates within AFRL and the Air Force Office of Scientific Research. In support of TechSat 21, the Air Force Office of Scientific Research and the Defense Advanced Research Projects Agency are jointly funding 10 universities with grants of $50k/year over two years to design and assemble 10–12 nanosatellites (approx 10kg each) for launch in November 2001. The universities are conducting creative low-cost space experiments to explore the military usefulness of nanosatellites in such areas as formation flying, enhanced communications, miniaturized sensors and thrusters, and attitude control. AFRL is developing a deployment structure and providing advanced microsatellite hardware, and NASA Goddard is providing advanced crosslink communication and navigation hardware and flight algorithms to demonstrate formation flying. Numerous industry partners are also supporting the universities with hardware, design expertise, and test facilities. Areas of particular interest to the TechSat 21 program include autonomous operation and simplified ground control of satellite clusters, intersatellite communications, distributed processing, and formation control. This paper summarizes both hardware and computational challenges that have been identified in both the TechSat 21 and the university nanosatellite programs for implementing operational satellite subsystems to accomplish these tasks

Finishing the euchromatic sequence of the human genome

The sequence of the human genome encodes the genetic instructions for human physiology, as well as rich information about human evolution. In 2001, the International Human Genome Sequencing Consortium reported a draft sequence of the euchromatic portion of the human genome. Since then, the international collaboration has worked to convert this draft into a genome sequence with high accuracy and nearly complete coverage. Here, we report the result of this finishing process. The current genome sequence (Build 35) contains 2.85 billion nucleotides interrupted by only 341 gaps. It covers ∼99% of the euchromatic genome and is accurate to an error rate of ∼1 event per 100,000 bases. Many of the remaining euchromatic gaps are associated with segmental duplications and will require focused work with new methods. The near-complete sequence, the first for a vertebrate, greatly improves the precision of biological analyses of the human genome including studies of gene number, birth and death. Notably, the human enome seems to encode only 20,000-25,000 protein-coding genes. The genome sequence reported here should serve as a firm foundation for biomedical research in the decades ahead

Monitoring Spores and Spore-Forming Bacteria Populations in Commercial Skim Milk Powder Production Plants Using Conventional and Molecular Methods

Abstract of paper presented at the 2003 Joint Annual Meeting of the American Dairy Science Association & the American Society of Animal Science

Development of Endospore-Specific Primers for the Analysis of Microbial Populations in Milk Powder

Abstract of paper presented at the 2003 Joint Annual Meeting of the American Dairy Science Association & the American Society of Animal Science

Bats

2 pages. Illustrated.This archival publication may not reflect current scientific knowledge or recommendations. Current information available from the University of Minnesota Extension: https://www.extension.umn.edu.This fact sheet about Minnesota bats describes the bats' biology, property damage and health concerns they may cause, and how to control them through exclusion methods or bat repellents.University of Minnesota Extension Service

The Detection of Bacillus Endospores During Low Heat Skim Milk Powder Processing Using Nucleic Acid Technology

Abstract of paper presented at the 2002 Joint Annual Meeting of the American Dairy Science Association & the American Society of Animal Science