Range Limited Coverage Control using Air-Ground Multi-Robot Teams

In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an apriori unknown density function. Common coverage control techniques are targeted towards homogeneous teams of robots and do not consider what happens when the sensing capabilities of the robots are vastly different. This work proposes an extension to Lloyd's algorithm that fuses coverage information from heterogeneous robots with differing sensing capabilities to effectively observe a domain. Namely, we study a bimodal team of robots consisting of aerial and ground agents. In our problem formulation we use aerial robots with coarse domain sensors to approximate the number of ground robots needed within their sensing region to effectively cover it. This information is relayed to ground robots, who perform an extension to the Lloyd's algorithm that balances a locally focused coverage controller with a globally focused distribution controller. The stability of the Lloyd's algorithm extension is proven and its performance is evaluated through simulation and experiments using the Robotarium, a remotely-accessible, multi-robot testbed.Comment: Published at 2021 IEEE International Conference on Robotics and Automation (ICRA

Complex-Valued Autoencoders for Object Discovery

Object-centric representations form the basis of human perception and enable us to reason about the world and to systematically generalize to new settings. Currently, most machine learning work on unsupervised object discovery focuses on slot-based approaches, which explicitly separate the latent representations of individual objects. While the result is easily interpretable, it usually requires the design of involved architectures. In contrast to this, we propose a distributed approach to object-centric representations: the Complex AutoEncoder. Following a coding scheme theorized to underlie object representations in biological neurons, its complex-valued activations represent two messages: their magnitudes express the presence of a feature, while the relative phase differences between neurons express which features should be bound together to create joint object representations. We show that this simple and efficient approach achieves better reconstruction performance than an equivalent real-valued autoencoder on simple multi-object datasets. Additionally, we show that it achieves competitive unsupervised object discovery performance to a SlotAttention model on two datasets, and manages to disentangle objects in a third dataset where SlotAttention fails - all while being 7-70 times faster to train

Generalization of Heterogeneous Multi-Robot Policies via Awareness and Communication of Capabilities

Recent advances in multi-agent reinforcement learning (MARL) are enabling impressive coordination in heterogeneous multi-robot teams. However, existing approaches often overlook the challenge of generalizing learned policies to teams of new compositions, sizes, and robots. While such generalization might not be important in teams of virtual agents that can retrain policies on-demand, it is pivotal in multi-robot systems that are deployed in the real-world and must readily adapt to inevitable changes. As such, multi-robot policies must remain robust to team changes -- an ability we call adaptive teaming. In this work, we investigate if awareness and communication of robot capabilities can provide such generalization by conducting detailed experiments involving an established multi-robot test bed. We demonstrate that shared decentralized policies, that enable robots to be both aware of and communicate their capabilities, can achieve adaptive teaming by implicitly capturing the fundamental relationship between collective capabilities and effective coordination. Videos of trained policies can be viewed at: https://sites.google.com/view/cap-commComment: Presented at the 7th Conference on Robot Learning (CoRL 2023), Atlanta, US

Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation

If we want to train robots in simulation before deploying them in reality, it seems natural and almost self-evident to presume that reducing the sim2real gap involves creating simulators of increasing fidelity (since reality is what it is). We challenge this assumption and present a contrary hypothesis -- sim2real transfer of robots may be improved with lower (not higher) fidelity simulation. We conduct a systematic large-scale evaluation of this hypothesis on the problem of visual navigation -- in the real world, and on 2 different simulators (Habitat and iGibson) using 3 different robots (A1, AlienGo, Spot). Our results show that, contrary to expectation, adding fidelity does not help with learning; performance is poor due to slow simulation speed (preventing large-scale learning) and overfitting to inaccuracies in simulation physics. Instead, building simple models of the robot motion using real-world data can improve learning and generalization

Climate Change and Market-Based Insurance Feedbacks

Climatic events have accounted for 91% of $1.05 trillion in insured costs for global catastrophic events from 1980 to 2016. Costs are driven by socio-economic development and increased frequency and severity of climatic disasters driven by climate change. Government policies to reduce systemic risk (e.g., cap-and-trade, carbon tax) have been a predominant approach for mitigation and adaptation. Alternatively, market-based incentives for climate change adaptation and mitigation already operate via the insurance industry to lessen impacts on society. Insurance feedbacks include changes in 1) premiums and insurance policies, 2) non-coverage, and 3) policy making and litigation. Alongside government policies, insurance feedbacks could be used to facilitate climate change adaptation and mitigation to a significant degree. Ultimately, a negotiated distribution of climate-related costs between the public and private insurance is needed

A study on the desulfurization of sulfidic mine tailings for the production of a sulfur-poor residue

The mining industry generates large amounts of tailings every year. The most common destination for the tailings is deposition in tailings storage facilities (TSFs), which can have enormous dimensions. The management and storage of such large volumes of material pose many challenges in terms of dam stability and immobilization of hazardous contaminants that represent human-health and environmental risks, particularly for sulfide-containing materials. In addition, considerable amounts of precious and base metals can be lost in the tailings. Due to the economic value and growing industrial demand for precious and base metals, tailings may therefore be potential sources of secondary raw materials. This contribution investigates the flotation of pyrite-rich tailings, containing residual chalcopyrite, galena, and sphalerite, and high amounts of ultrafine particles. Flotation was used to recover the sulfide minerals and generate tailings with low sulfur content. The Cu-Pb-Zn-rich product could go to further treatment (e.g. (bio)hydrometallurgy) to recover the metals, while the low sulfur fraction could be used in the civil construction industry. Automated mineralogy (MLA) was used to provide quantitative mineralogical and textural data. Bench-scale experiments were performed by combining classic flotation and floc flotation (flotation of flocs of targeted minerals). Flotation of the material as received, as well as after classification into two fractions was performed. The samples as received and the coarser fraction (+37 µm) underwent classic flotation, while the finer fraction (−37 µm) was processed either by using the classic or the floc flotation approach. The flotation of the coarser particles provided higher sulfide recoveries, higher combined Cu-Pb-Zn grades in the concentrate (3.66 %), cleaner residues (1.6 % S), faster flotation rates, and reduced reagent consumption. Likewise, the results from the fine particle flotation allowed lower S content in the residues (3.4 % S) as compared to the flotation of the original material. The results of the use of floc flotation for the finer fraction show an increase in the mass pull with a slight increase in the recovery of sulfides. Overall, the development of a route to process the tailings proved to be promising and the use of a two-route approach indicates advantages as compared to a single route

Reexamination of pure qubit work extraction

Many work extraction or information erasure processes in the literature involve the raising and lowering of energy levels via external fields. But even if the actual system is treated quantum mechanically, the field is assumed to be classical and of infinite strength, hence not developing any correlations with the system or experiencing back-actions. We extend these considerations to a fully quantum mechanical treatment by studying a spin-1/2 particle coupled to a finite-sized directional quantum reference frame, a spin-l system, which models an external field. With this concrete model together with a bosonic thermal bath, we analyze the back-action a finite-size field suffers during a quantum-mechanical work extraction process and the effect this has on the extractable work and highlight a range of assumptions commonly made when considering such processes. The well-known semiclassical treatment of work extraction from a pure qubit predicts a maximum extractable work W=kTlog2 for a quasistatic process, which holds as a strict upper bound in the fully quantum mechanical case and is attained only in the classical limit. We also address the problem of emergent local time dependence in a joint system with a globally fixed Hamiltonian

Concert recording 2021-11-09

[Track 1]. Studio entire recital. Come all, come all ye youngsters / Henry Purcell -- Vergin tutto amor / Francesco Durante -- Du bist die Ruh / Franz Schubert -- Paride ed Elena. Spiagge amate / Christoph Gluck -- Dichterliebe. Ich grolle nicht / Robert Schumann -- L’ultima canzone / Francesco Tosti -- A chloris / Reynaldo Hahn -- Nichts / Richard Strauss -- Let beauty awake / Ralph Vaughan Williams -- Beau soir / Claude Debussy -- Die nachtigall / Alban Berg -- Four Dickinson songs. Will there really be a morning? / Lori Laitman -- Pierrot / Debussy -- Die Entführung aus dem Serail. Durch Zärtlichkeit und Schmeicheln / Wolfgang Amadeus Mozart -- Dos canciones. Mexicanas estrellita / Manuel Ponce -- Granada / Agustin Lara -- Mandoline / Debussy -- Five art songs. Sympathy / Florence Price -- Winterreise. Die Wetterfahne ; Gerfrorne Tränen / Schubert -- Louise. Depuis le jour / Gustave Charpentier -- No ordinary woman. Bones, be good! / Gwyneth Walker

Cyclopropanation/carboboration reactions of enynes with B(C6F5)3

Stoichiometric reaction of B(C6F5)3 with 1,6-enynes are shown to proceed via initial cyclopropanation and formal 1,1-carboboration. Depending on the substitution on the alkene moiety, subsequent ring-opening of the cyclopropane affords either cyclopentane or cyclohexane derivatives in which the C6F5 and B(C6F5)2 adopt a 1,4-positioning. Mechanistically this transformation involves π-activation of the alkyne moiety which triggers cyclopropanation, followed by carboboration. Both the cyclopropanation and subsequent ring-opening are shown to be stereospecific. Both cyclopropanation and 1,4-carboborated products were employed as Lewis acid components in frustrated Lewis pair activation of H2 and CO2