Smart vehicular transportation systems

This work builds upon established Sandia intelligent systems technology to develop a unique approach for the integration of intelligent system control into the US Highway and urban transportation systems. The Sandia developed concept of the COPILOT controller integrates a human driver with computer control to increase human performance while reducing reliance on detailed driver attention. This research extends Sandia expertise in sensor based, real-time control of robotics systems to high speed transportation systems. Knowledge in the form of maps and performance characteristics of vehicles provides the automatic decision making intelligence needed to plan optimum routes, maintain safe driving speeds and distances, avoid collisions, and conserve fuel

A mobile mapping system for hazardous facilities

The Mobile Mapping System (MMS) is a completely self-contained vehicle with omnidirectional capability and extremely good odometry, capable of operation up to 12 hours between battery charges. The platform itself is based on a dual differential drive system with a compliant linkage between the two drive systems. This compliant linkage allows for low-level controller errors to be absorbed by the system and their navigational effects to be compensated for, yielding an extremely accurate navigational capability. Vehicle design also allows for a considerable payload (250 lb) and a large surface area for auxiliary equipment mounting (2 by 6 ft). The vehicle supports remote operation by reading commands and writing replies through its serial communications port. Use of a radio-ethernet and a radio-video channel allow for remote video and communications links to be maintained with the vehicle in many remote operation environments. The MMS uses a structured light system to quickly acquire coarse range images of the environment and a coherent laser radar (CLR) to acquire finer resolution range images. The coherent laser radar can also be used to determine platform position and orientation to millimeter accuracies if targets of known. Sensor range image data as well as video are off loaded to a remote computer for postprocessing, display, and archiving. Diagrams and images below include an image of the MMS vehicle before addition of sensors, diagram of vehicle with sensors, and computer system connections

No ‘silver bullet’:Multiple factors control population dynamics of european purple sea urchins in Lough Hyne marine reserve, Ireland

Two-decade-long monitoring studies at Europe\u27s first statutory marine reserve—Lough Hyne in SW Ireland—indicate that benthic communities are rapidly changing. Populations of the ecologically important purple urchin (Paracentrotus lividus) have fluctuated widely, most recently with a population boom in the late 1990s, followed by a mass mortality that persists to the present day. Eight general hypotheses have been proposed to account for the urchin decline including cold temperature limiting reproduction, ephemeral algal exudates disrupting urchin fertilization, low larval availability (due to over-harvesting and/or episodic recruitment), high mortality of settlers and juveniles due to hypoxia, hyperoxia, or predation (a trophic cascade hypothesis), and increased mortality due to pathogens (stress hypothesis). The cold-temperature and the trophic cascade hypotheses appear unlikely. The remaining hypotheses, however, all seem to play a role, to some degree, in driving the urchin decline. Ulvoid exudates, for example, significantly reduced urchin fertilization and few larvae were found in plankton tows (2012–2015), indicating low larval availability in summer. Whilst settling urchins regularly recruited under shallow-subtidal rocks until 2011, no settlers were found in these habitats from 2011 to 2014 or in field experiments (2012–2018) using various settlement substrata. Seawater quality was poor in shallow areas of the lough with extreme oxygen fluctuations (diel-cycling hypoxia), and 1-day experimental exposures to DO values < 1 mg L−1 were lethal to most juvenile urchins. Multiple increases of the predatory spiny starfish (Marthasterias glacialis) population in recent decades may also have contributed to the demise of the coexisting juvenile urchins. Finally, urchins of all sizes were seen suffering from dropped spines, tissue necrosis, or white-coloured infection, suggestive of stress-related pathogen mortality. There was a paucity of broken tests, indicating limited predation by large crustaceans; the large number of adult urchins ‘missing’ and few P. lividus tests on the north shore points to possible urchin removal by poachers and/or starfish predation. While these ecological, environmental, and anthropogenic processes occur on open coast rocky shores, many are exacerbated by the semi-enclosed nature of this fully marine sea lough due to its limited flushing. Multiple factors, including low larval availability and rapidly expanding starfish populations, coupled with degraded habitat quality (ephemeral algal mats and extreme oxygen fluctuations), indicate that the purple urchin populations will not recover without an improvement in the water quality of Lough Hyne Marine Reserve, the restocking of urchins, and protection from poaching

Human supervisory approach to modeling industrial scenes using geometric primitives

A three-dimensional world model is crucial for many robotic tasks. Modeling techniques tend to be either fully manual or autonomous. Manual methods are extremely time consuming but also highly accurate and flexible. Autonomous techniques are fast but inflexible and, with real-world data, often inaccurate. The method presented in this paper combines the two, yielding a highly efficient, flexible, and accurate mapping tool. The segmentation and modeling algorithms that compose the method are specifically designed for industrial environments, and are described in detail. A mapping system based on these algorithms has been designed. It enables a human supervisor to quickly construct a fully defined world model from unfiltered and unsegmented real-world range imagery. Examples of how industrial scenes are modeled with the mapping system are provided

Advanced 3D Sensing and Visualization System for Unattended Monitoring

The purpose of this project was to create a reliable, 3D sensing and visualization system for unattended monitoring. The system provides benefits for several of Sandia's initiatives including nonproliferation, treaty verification, national security and critical infrastructure surety. The robust qualities of the system make it suitable for both interior and exterior monitoring applications. The 3D sensing system combines two existing sensor technologies in a new way to continuously maintain accurate 3D models of both static and dynamic components of monitored areas (e.g., portions of buildings, roads, and secured perimeters in addition to real-time estimates of the shape, location, and motion of humans and moving objects). A key strength of this system is the ability to monitor simultaneous activities on a continuous basis, such as several humans working independently within a controlled workspace, while also detecting unauthorized entry into the workspace. Data from the sensing system is used to identi~ activities or conditions that can signi~ potential surety (safety, security, and reliability) threats. The system could alert a security operator of potential threats or could be used to cue other detection, inspection or warning systems. An interactive, Web-based, 3D visualization capability was also developed using the Virtual Reality Modeling Language (VRML). The intex%ace allows remote, interactive inspection of a monitored area (via the Internet or Satellite Links) using a 3D computer model of the area that is rendered from actual sensor data

Rapid world modelling from a mobile platform

The ability to successfully use and interact with a computerized world model is dependent on the ability to create an accurate world model. The goal of this project was to develop a prototype system to remotely deploy sensors into a workspace, collect surface information, and rapidly build an accurate world model of that workspace. A key consideration was that the workspace areas are typically hazardous environments, where it is difficult or impossible for humans to enter. Therefore, the system needed to be fully remote, with no external connections. To accomplish this goal, an electric, mobile platform with battery power sufficient for both the platform and sensor electronics was procured and 3D range sensors were deployed on the platform to capture surface data within the workspace. A radio Ethernet connection was used to provide communications to the vehicle and all on-board electronics. Video from on-board cameras was also transmitted to the base station and used to teleoperate the vehicle. Range data generated by the on-board 3D sensors was transformed into surface maps, or models. Registering the sensor location to a consistent reference frame as the platform moved through the workspace allowed construction of a detailed 3D world model of the extended workspace

Search for supersymmetry in final states with missing transverse momentum and three or more b-jets in 139 fb−1^{-1} of proton–proton collisions at s=13\sqrt{s} = 13 TeV with the ATLAS detector

International audienceA search for supersymmetry involving the pair production of gluinos decaying via off-shell third-generation squarks into the lightest neutralino $(\tilde{\chi }^0_1)$ is reported. It exploits LHC proton–proton collision data at a centre-of-mass energy $\sqrt{s} = 13$ TeV with an integrated luminosity of 139 fb$^{-1}$ collected with the ATLAS detector from 2015 to 2018. The search uses events containing large missing transverse momentum, up to one electron or muon, and several energetic jets, at least three of which must be identified as containing b-hadrons. Both a simple kinematic event selection and an event selection based upon a deep neural-network are used. No significant excess above the predicted background is found. In simplified models involving the pair production of gluinos that decay via off-shell top (bottom) squarks, gluino masses less than 2.44 TeV (2.35 TeV) are excluded at 95% CL for a massless $\tilde{\chi }^0_1.$ Limits are also set on the gluino mass in models with variable branching ratios for gluino decays to $b\bar{b}\tilde{\chi }^0_1,t\bar{t}\tilde{\chi }^0_1$ and $t\bar{b}\tilde{\chi }^-_1/\bar{t}b\tilde{\chi }^+_1.