A survey of modern exogenous fault detection and diagnosis methods for swarm robotics

Swarm robotic systems are heavily inspired by observations of social insects. This often leads to robust-ness being viewed as an inherent property of them. However, this has been shown to not always be thecase. Because of this, fault detection and diagnosis in swarm robotic systems is of the utmost importancefor ensuring the continued operation and success of the swarm. This paper provides an overview of recentwork in the field of exogenous fault detection and diagnosis in swarm robotics, focusing on the four areaswhere research is concentrated: immune system, data modelling, and blockchain-based fault detectionmethods and local-sensing based fault diagnosis methods. Each of these areas have significant advan-tages and disadvantages which are explored in detail. Though the work presented here represents a sig-nificant advancement in the field, there are still large areas that require further research. Specifically,further research is required in testing these methods on real robotic swarms, fault diagnosis methods,and integrating fault detection, diagnosis and recovery methods in order to create robust swarms thatcan be used for non-trivial tasks

Novel methods to estimate antiretroviral adherence: protocol for a longitudinal study.

BackgroundThere is currently no gold standard for assessing antiretroviral (ARV) adherence, so researchers often resort to the most feasible and cost-effective methods possible (eg, self-report), which may be biased or inaccurate. The goal of our study was to evaluate the feasibility and acceptability of innovative and remote methods to estimate ARV adherence, which can potentially be conducted with less time and financial resources in a wide range of clinic and research settings. Here, we describe the research protocol for studying these novel methods and some lessons learned.MethodsThe 6-month pilot study aimed to examine the feasibility and acceptability of a remotely conducted study to evaluate the correlation between: 1) text-messaged photographs of pharmacy refill dates for refill-based adherence; 2) text-messaged photographs of pills for pill count-based adherence; and 3) home-collected hair sample measures of ARV concentration for pharmacologic-based adherence. Participants were sent monthly automated text messages to collect refill dates and pill counts that were taken and sent via mobile telephone photographs, and hair collection kits every 2 months by mail. At the study end, feasibility was calculated by specific metrics, such as the receipt of hair samples and responses to text messages. Participants completed a quantitative survey and qualitative exit interviews to examine the acceptability of these adherence evaluation methods. The relationship between the 3 novel metrics of adherence and self-reported adherence will be assessed.DiscussionInvestigators conducting adherence research are often limited to using either self-reported adherence, which is subjective, biased, and often overestimated, or other more complex methods. Here, we describe the protocol for evaluating the feasibility and acceptability of 3 novel and remote methods of estimating adherence, with the aim of evaluating the relationships between them. Additionally, we note the lessons learned from the protocol implementation to date. We expect that these novel measures will be feasible and acceptable. The implications of this research will be the identification and evaluation of innovative and accurate metrics of ARV adherence for future implementation

Maintenance, Repair, and Overhaul Performance Indicators for Military Aircraft

Modern day military and commercial aircraft systems are an integration of a large number of sub-systems and components. Each of these systems has different reliability characteristics and different probability distributions governing their failure rates. Space constraints and structural layout of the aircraft govern the position of each component. The accessibility, reliability, and snag diagnostic-ability determines the maintainability of the aircraft. The peculiarities involved in aircraft maintenance are discussed and performance measurement indices for O, I and D level maintenance are presented in this paper. These performance measurement indices are intended for use by aircraft maintenance managers for instituting process improvements for achieving best flight and maintenance safety records, improve operational availability of the aircraft and reduce costs.Defence Science Journal, 2012, 62(2), pp.83-89, DOI:http://dx.doi.org/10.14429/dsj.62.88

Updating the Phase Diagram of the Gross-Neveu Model in 2+1 Dimensions

The method of optimized perturbation theory (OPT) is used to study the phase diagram of the massless Gross-Neveu model in 2+1 dimensions. In the temperature and chemical potential plane, our results give strong support to the existence of a tricritical point and line of first order phase transition, previously only suspected to exist from extensive lattice Monte Carlo simulations. In addition of presenting these results we discuss how the OPT can be implemented in conjunction with the Landau expansion in order to determine all the relevant critical quantities.Comment: 7 pages, 2 eps figures. Replaced with the version that matches the published one (PLB

Biomedical Sensing with Hydroxyapatite Ceramics in GHz Frequency Range

Hydroxyapatite (HA) is a leading biocompatible material extensively used for bone implants as a porous ceramic graft and as a bioactive coating. Electrical characteristics of HA can be employed in implantable devices for real-time in vivo pressure sensor applications such as in knee or hip prosthesis. In particular, high piezo and pyroelectricity of HA, its polarisation by electron beam and selective adsorption of proteins on polarised domains indicate the potential for real-time biosensing applications of HA. For this purpose, a comprehensive understanding of the dielectric behaviour of different forms of HA over a frequency range relevant for biomedical sensing is critical. Such information for HA, especially its frequency dependent dielectric behaviour over the GHz range, is rare. To this end, we report on novel investigations of properties of HA in powder and film forms in the GHz frequency range

Splitting neutrino masses and showering into Sky

Neutrino masses might be as light as a few time the atmospheric neutrino mass splitting. High Energy ZeV cosmic neutrinos (in Z-Showering model) might hit relic ones at each mass in different resonance energies in our nearby Universe. This non-degenerated density and energy must split UHE Z-boson secondaries (in Z-Burst model) leading to multi injection of UHECR nucleons within future extreme AUGER energy. Secondaries of Z-Burst as neutral gamma, below a few tens EeV are better surviving local GZK cut-off and they might explain recent Hires BL-Lac UHECR correlations at small angles. A different high energy resonance must lead to Glashow's anti-neutrino showers while hitting electrons in matter. In air, Glashow's anti-neutrino showers lead to collimated and directional air-showers offering a new Neutrino Astronomy. At greater energy around PeV, Tau escaping mountains and Earth and decaying in flight are effectively showering in air sky. These Horizontal showering is splitting by geomagnetic field in forked shapes. Such air-showers secondaries release amplified and beamed gamma bursts (like observed TGF), made also by muon and electron pair bundles, with their accompanying rich Cherenkov flashes. Also planet' s largest (Saturn, Jupiter) atmosphere limbs offer an ideal screen for UHE GZK and Z-burst tau neutrino, because their largest sizes. Titan thick atmosphere and small radius are optimal for discovering up-going resonant Glashow resonant showers. Earth detection of Neutrino showering by twin Magic Telescopes on top mountains, or by balloons and satellites arrays facing the limbs are the simplest and cheapest way toward UHE Neutrino Astronomy .Comment: 4 pages, 7 figures; an author's name correction and Journal Referenc

Improved flux limits for neutrinos with energies above 1022^{22} eV from observations with the Westerbork Synthesis Radio Telescope

Particle cascades initiated by ultra-high energy (UHE) neutrinos in the lunar regolith will emit an electromagnetic pulse with a time duration of the order of nano seconds through a process known as the Askaryan effect. It has been shown that in an observing window around 150 MHz there is a maximum chance for detecting this radiation with radio telescopes commonly used in astronomy. In 50 hours of observation time with the Westerbork Synthesis Radio Telescope array we have set a new limit on the flux of neutrinos, summed over all flavors, with energies in excess of $4\times10^{22}$ eV.Comment: Submitted to Phys. Rev. Let

The XMM Large Scale Structure Survey: Properties and Two-Point Angular Correlations of Point-like Sources

We analyze X-ray sources detected over 4.2 pseudo-contiguous sq. deg. in the 0.5-2 keV and 2-10 keV bands down to fluxes of 2x10^{-15} and 8x10^{-15} erg/s/cm^2 respectively, as part of the XMM Large Scale Structure Survey. The logN-logS in both bands shows a steep slope at bright fluxes, but agrees well with other determinations below ~2x10^{-14} erg/s/cm^2. The detected sources resolve close to 30 per cent of the X-ray background in the 2-10 keV band. We study the two-point angular clustering of point sources using nearest neighbours and correlation function statistics and find a weak, positive signal for ~1130 sources in the 0.5-2 keV band, but no correlation for ~400 sources in the 2-10 keV band below scales of 100 arcsec. A sub-sample of ~200 faint sources with hard X-ray count ratios, that is likely to be dominated by obscured AGN, does show a positive signal with the data allowing for a large scaling of the angular correlation length, but only at the ~2 (3) sigma level, based on re-sampling (Poisson) statistics. We discuss possible implications and emphasize the importance of wider, complete surveys in order to fully understand the large scale structure of the X-ray sky.Comment: A&A in press; High resolution version at http://www-xray.ast.cam.ac.uk/~pg/publications.htm

GMF Severs Actin-Arp2/3 Complex Branch Junctions by a Cofilin-like Mechanism

SummaryBackgroundBranched actin filament networks driving cell motility, endocytosis, and intracellular transport are assembled in seconds by the Arp2/3 complex and must be equally rapidly debranched and turned over. One of the only factors known to promote debranching of actin networks is the yeast homolog of glia maturation factor (GMF), which is structurally related to the actin filament-severing protein cofilin. However, the identity of the molecular mechanism underlying debranching and whether this activity extends to mammalian GMF have remained open questions.ResultsUsing scanning mutagenesis and total internal reflection fluorescence microscopy, we show that GMF depends on two separate surfaces for debranching. One is analogous to the G-actin and F-actin binding site on cofilin, but we show using fluorescence anisotropy and chemical crosslinking that it instead interacts with actin-related proteins in the Arp2/3 complex. The other is analogous to a second F-actin binding site on cofilin, which in GMF appears to contact the first actin subunit in the daughter filament. We further show that GMF binds to the Arp2/3 complex with low nanomolar affinity and promotes the open conformation. Finally, we show that this debranching activity and mechanism are conserved for mammalian GMF.ConclusionsGMF debranches filaments by a mechanism related to cofilin-mediated severing, but in which GMF has evolved to target molecular junctions between actin-related proteins in the Arp2/3 complex and actin subunits in the daughter filament of the branch. This activity and mechanism are conserved in GMF homologs from evolutionarily distant species