4,104 research outputs found
Patching task-level robot controllers based on a local ”-calculus formula
We present a method for mending strategies for
GR(1) specifications. Given the addition or removal of edges
from the game graph describing a problem (essentially transition
rules in a GR(1) specification), we apply a ”-calculus
formula to a neighborhood of states to obtain a âlocal strategyâ
that navigates around the invalidated parts of an original
synthesized strategy. Our method may thus avoid global resynthesis
while recovering correctness with respect to the new
specification. We illustrate the results both in simulation and
on physical hardware for a planar robot surveillance task
Improved simulation of aerosol, cloud, and density measurements by shuttle lidar
Data retrievals are simulated for a Nd:YAG lidar suitable for early flight on the space shuttle. Maximum assumed vertical and horizontal resolutions are 0.1 and 100 km, respectively, in the boundary layer, increasing to 2 and 2000 km in the mesosphere. Aerosol and cloud retrievals are simulated using 1.06 and 0.53 microns wavelengths independently. Error sources include signal measurement, conventional density information, atmospheric transmission, and lidar calibration. By day, tenuous clouds and Saharan and boundary layer aerosols are retrieved at both wavelengths. By night, these constituents are retrieved, plus upper tropospheric, stratospheric, and mesospheric aerosols and noctilucent clouds. Density, temperature, and improved aerosol and cloud retrievals are simulated by combining signals at 0.35, 1.06, and 0.53 microns. Particlate contamination limits the technique to the cloud free upper troposphere and above. Error bars automatically show effect of this contamination, as well as errors in absolute density nonmalization, reference temperature or pressure, and the sources listed above. For nonvolcanic conditions, relative density profiles have rms errors of 0.54 to 2% in the upper troposphere and stratosphere. Temperature profiles have rms errors of 1.2 to 2.5 K and can define the tropopause to 0.5 km and higher wave structures to 1 or 2 km
User perceptions of multi-source feedback tools for junior doctors
Context:â The effectiveness of multi-source feedback (MSF) tools, which are increasingly important in medical careers, will be influenced by their usersâ attitudes. This study compared perceptions of two tools for giving MSF to UK junior doctors, of which one provides mainly textual feedback and one provides mainly numerical feedback. We then compared the perceptions of three groups, including: trainees; raters giving feedback, and supervisors delivering feedback. Methods:â Postal questionnaires about the usability, usefulness and validity of a feedback system were distributed to trainees, raters and supervisors across the north of England. Results:â Questionnaire responses were analysed to compare opinions of the two tools and among the different user groups. Overall there were few differences. Attitudes towards MSF in principle were positive and the tools were felt to be usable, but there was little agreement that they could effectively identify doctors in difficulty or provide developmental feedback. The text-oriented tool was rated as more useful for giving feedback on communication and attitude, and as more useful for identifying a doctor in difficulty. Raters were more positive than other users about the usefulness of numerical feedback, but, overall, text was felt to be more useful. Some trainees expressed concern that feedback was based on insufficient knowledge of their work. This was not supported by ratersâ responses, although many did use indirect information. Trainees selected raters mainly for the perceived value of their feedback, but also based on personal relationships and the simple pragmatics of getting a tool completed. Discussion:â Despite positive attitudes to MSF, the perceived effectiveness of the tools was low. There are small but significant preferences for textual feedback, although raters may prefer numerical scales. Concerns about validity imply that greater awareness of contextual and psychological influences on feedback generation is necessary to allow the formative benefits of MSF to be optimised and to negate the risk of misuse in high-stakes contexts
Multimodal confined water dynamics in reverse osmosis polyamide membranes
While polyamide (PA) membranes are widespread in water purification and desalination by reverse osmosis, a molecular-level understanding of the dynamics of both confined water and polymer matrix remains elusive. Despite the dense hierarchical structure of PA membranes formed by interfacial polymerization, previous studies suggest that water diffusion remains largely unchanged with respect to bulk water. Here, we employ neutron spectroscopy to investigate PA membranes under precise hydration conditions, and a series of isotopic contrasts, to elucidate water transport and polymer relaxation, spanning ps-ns timescales, and Ă
-nm lengthscales. We experimentally resolve, for the first time, the multimodal diffusive nature of water in PA membranes: in addition to (slowed down) translational jump-diffusion, we observe a long-range and a localized mode, whose geometry and timescales we quantify. The PA matrix is also found to exhibit rotational relaxations commensurate with the nanoscale confinement observed in water diffusion. This comprehensive âdiffusion mapâ can anchor molecular and nanoscale simulations, and enable the predictive design of PA membranes with tuneable performance
Technical Design Report for PANDA Electromagnetic Calorimeter (EMC)
This document presents the technical layout and the envisaged performance of the Electromagnetic Calorimeter (EMC) for the
PANDA target spectrometer. The EMC has been designed to meet the physics goals of the PANDA experiment. The performance figures are based on extensive prototype tests and radiation hardness studies. The document shows that the EMC is ready for construction up to the front-end electronics interface
Is the solar spectrum latitude dependent? An investigation with SST/TRIPPEL
Context: In studies of the solar spectrum relative to spectra of solar twin
stars, it has been found that the chemical composition of the Sun seems to
depart systematically from those of the twins. One possible explanation is that
the effect is due to the special aspect angle of the Sun when observed from
Earth, as compared with the aspect angles of the twins. Thus, a latitude
dependence of the solar spectrum, even with the heliocentric angle constant,
could lead to effects of the type observed.
Aim: We explore a possible variation in the strength of certain spectral
lines, used in the comparisons between the composition of the Sun and the
twins, at loci on the solar disk with different latitudes but at constant
heliocentric angle.
Methods: We use the TRIPPEL spectrograph at the Swedish 1-m Solar Telescope
on La Palma to record spectra in five spectral regions in order to compare
different locations on the solar disk at a heliocentric angle of 45 deg.
Equivalent widths and other parameters are measured for fifteen different lines
representing nine atomic species.
Results: The relative variations in equivalent widths at the equator and at
solar latitude 45 deg are found to be less than 1.5 % for all spectral lines
studied. Translated to elemental abundances as they would be measured from a
terrestrial and a hypothetical pole-on observer, the difference is estimated to
be within 0.005 dex in all cases.
Conclusion: It is very unlikely that latitude effects could cause the
reported abundance difference between the Sun and the solar twins. The accuracy
obtainable in measurements of small differences in spectral line strengths
between different solar disk positions is very high.Comment: 9 pages, 10 figures, accepted by Astronomy & Astrophysic
Technical Design Report for the PANDA Micro Vertex Detector
This document illustrates the technical layout and the expected performance of the Micro Vertex Detector (MVD) of the PANDA experiment. The MVD will detect charged particles as close as possible to the interaction zone. Design criteria and the optimisation process as well as the technical solutions chosen are discussed and the results of this process are subjected to extensive Monte Carlo physics studies. The route towards realisation of the detector is
outlined
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