Priority-Based Distributed Coordination for Heterogeneous Multi-Robot Systems with Realistic Assumptions

A standing challenge in current intralogistics is to reliably, effectively, yet safely coordinate large-scale, heterogeneous multi-robot fleets without posing constraints on the infrastructure or unrealistic assumptions on robots. A centralized approach, proposed by some of the authors in prior work, allows to overcome these limitations with medium-scale fleets (i.e., tens of robots). With the aim of scaling to hundreds of robots, in this article we explore a decentralized variant of the same approach. The proposed framework maintains the key features of the original approach, namely, ensuring safety despite uncertainties on robot motions, and generality with respect to robot platforms, motion planners and controllers. We include considerations on liveness and report solutions to prevent or recover from deadlocks in specific situations. We validate the approach empirically in simulation with large, heterogeneous multi-robot fleets (with up to 100 robots) operating in both benchmark and realistic environments

Dark Matter searches using gravitational wave bar detectors: quark nuggets and newtorites

Many experiments have searched for supersymmetric WIMP dark matter, with null results. This may suggest to look for more exotic possibilities, for example compact ultra-dense quark nuggets, widely discussed in literature with several different names. Nuclearites are an example of candidate compact objects with atomic size cross section. After a short discussion on nuclearites, the result of a nuclearite search with the gravitational wave bar detectors Nautilus and Explorer is reported. The geometrical acceptance of the bar detectors is 19.5 $\rm m^2$ sr, that is smaller than that of other detectors used for similar searches. However, the detection mechanism is completely different and is more straightforward than in other detectors. The experimental limits we obtain are of interest because, for nuclearites of mass less than $10^{-5}$ g, we find a flux smaller than that one predicted considering nuclearites as dark matter candidates. Particles with gravitational only interactions (newtorites) are another example. In this case the sensitivity is quite poor and a short discussion is reported on possible improvements.Comment: published on Astroparticle Physics Sept 25th 2016 replaced fig 1

Increasing the bandwidth of resonant gravitational antennas: The case of Explorer

Resonant gravitational wave detectors with an observation bandwidth of tens of hertz are a reality: the antenna Explorer, operated at CERN by the ROG collaboration, has been upgraded with a new read-out. In this new configuration, it exhibits an unprecedented useful bandwidth: in over 55 Hz about its frequency of operation of 919 Hz the spectral sensitivity is better than 10^{-20} /sqrt(Hz) . We describe the detector and its sensitivity and discuss the foreseable upgrades to even larger bandwidths.Comment: 4 pages- 4 figures Acceted for publication on Physical Review Letter

Quark nuggets search using 2350 Kg gravitational waves aluminum bar detectors

The gravitational wave resonant detectors can be used as detectors of quark nuggets, like nuclearites (nuclear matter with a strange quark). This search has been carried out using data from two 2350 Kg, 2 K cooled, aluminum bar detectors: NAUTILUS, located in Frascati (Italy), and EXPLORER, that was located in CERN Geneva (CH). Both antennas are equipped with cosmic ray shower detectors: signals in the bar due to showers are continuously detected and used to characterize the antenna performances. The bar excitation mechanism is based on the so called thermo-acoustic effect, studied on dedicated experiments that use particle beams. This mechanism predicts that vibrations of bars are induced by the heat deposited in the bar from the particle. The geometrical acceptance of the bar detectors is 19.5 $\rm m^2$ sr, that is smaller than that of other detectors used for similar searches. However, the detection mechanism is completely different and is more straightforward than in other detectors. We will show the results of ten years of data from NAUTILUS (2003-2012) and 7 years from EXPLORER (2003-2009). The experimental limits we obtain are of interest because, for nuclearites of mass less than $10^{-4}$ grams, we find a flux smaller than that one predicted considering nuclearites as dark matter candidates.Comment: presented to the 33rd International Cosmic Ray Conference Rio de Janeiro 201

MiniGRAIL progress report 2004

The MiniGRAIL detector was improved. The sphere was replaced by a slightly larger one, having a diameter of 68 cm (instead of 65 cm), reducing the resonant frequency by about 200 Hz to around 2.9 kHz. The last four masses of the attenuation system were machined to increase their resonant frequency and improve the attenuation around the resonant frequency of the sphere. In the new sphere, six holes were machined on the TIGA positions for easy mounting of the transducers. During the last cryogenic run, two capacitive transducers and a calibrator were mounted on the sphere. The first transducer was coupled to a double-stage SQUID amplifier having a commercial quantum design SQUID as a first stage and a DROS as a second stage. The second transducer was read by a single-stage quantum design SQUID. During the cryogenic run, the sphere was cooled down to 4 K. The two-stage SQUID had a flux noise of about 1.6 μ0 Hz−1/2. The detector was calibrated and the sensitivity curve of MiniGRAIL was determined

Inquinamento microbiologico delle sale operatorie: analisi critica di due decenni di sorveglianza

Obiettivo dello studio è stato quello di analizzare i risultati delle campagne di monitoraggio microbiologico delle sale operatorie effettuate negli ultimi due decenni presso il Policlinico di Roma, al fine di descrivere l’andamento nel tempo dei livelli di contaminazione riscontrati e di valutare eventuali cambiamenti significativi. Sono stati presi in esame i campionamenti microbiologici dell’aria effettuati all’interno di 14 blocchi operatori tra il 1992 ed il 2010. I risultati dei campionamenti sono stati aggregati in quattro periodi di tempo (1992-1996; 1996-2000; 2001-2005; 2006-2010) ed è stato analizzata la distribuzione nel tempo dei risultati dei campionamenti rispetto al limite proposto all'ISPESL per le sale at-rest (≤35 UFC/mc). La stessa analisi è stata ripetuta dopo la stratificazione per livello di rischio delle sale operatorie (AR e BR). Al fine di verificare il livello di significatività delle variazioni temporali nelle distribuzioni dei risultati si è fatto ricorso al test del x2 per il trend. Si è osservato un significativo trend in diminuzione del numero di sale con livelli di contaminazione superiori a quello indicato (x2 per trend=8,94; p<0,025). Tale riduzione ha riguardato soprattutto le sale operatorie AR (x2 per trend=7,33; p<0,05). I risultati ottenuti fanno ritenere che le misure adottate nelle sale ad AR siano risultate efficaci. Una maggiore attenzione dovrà essere posta alle sale operatorie a BR

Analysis of 3 years of data from the gravitational wave detectors EXPLORER and NAUTILUS

We performed a search for short gravitational wave bursts using about 3 years of data of the resonant bar detectors Nautilus and Explorer. Two types of analysis were performed: a search for coincidences with a low background of accidentals (0.1 over the entire period), and the calculation of upper limits on the rate of gravitational wave bursts. Here we give a detailed account of the methodology and we report the results: a null search for coincident events and an upper limit that improves over all previous limits from resonant antennas, and is competitive, in the range h_rss ~1E-19, with limits from interferometric detectors. Some new methodological features are introduced that have proven successful in the upper limits evaluation.Comment: 12 pages, 12 figure

Search for Periodic Gravitational Wave Sources with the Explorer Detector

We have developped a procedure for the search of periodic signals in the data of gravitational wave detectors. We report here the analysis of one year of data from the resonant detector Explorer, searching for pulsars located in the Galactic Center (GC). No signals with amplitude greater than $\bar{h}= 2.9~10^{-24}$, in the range 921.32-921.38 Hz, were observed using data collected over a time period of 95.7 days, for a source located at $\alpha=17.70 \pm 0.01$ hours and $\delta=-29.00 \pm 0.05$ degrees. Our procedure can be extended for any assumed position in the sky and for a more general all-sky search, even with a frequency correction at the source due to the spin-down and Doppler effects.Comment: One zipped file (Latex+eps figures). 33 pages, 14 figures. This and related material also at http://grwav3.roma1.infn.it

Variable stiffness control for oscillation damping

In this paper a model-free approach for damping control of Variable Stiffness Actuators is proposed. The idea is to take advantage of the possibility to change the stiffness of the actuators in controlling the damping. The problem of minimizing the terminal energy for a one degree of freedom spring-mass model with controlled stiffness is first considered. The optimal bang-bang control law uses a maximum stiffness when the link gets away from the desired position, i.e. the link velocity is decreasing, and a minimum one when the link is going towards it, i.e. the link velocity is increasing. Based on Lyapunov stability theorems the obtained law has been proved to be stable for a multi-DoF system. Finally, the proposed control law has been tested and validated through experimental tests