Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Results from the Baksan Experiment on Sterile Transitions (BEST)

The Baksan Experiment on Sterile Transitions (BEST) was designed to investigate the deficit of electron neutrinos, $\nu_{e}$, observed in previous gallium-based radiochemical measurements with high-intensity neutrino sources, commonly referred to as the \textit{gallium anomaly}, which could be interpreted as evidence for oscillations between $\nu_e$ and sterile neutrino ($\nu_s$) states. A 3.414-MCi \nuc{51}{Cr} $\nu_e$ source was placed at the center of two nested Ga volumes and measurements were made of the production of \nuc{71}{Ge} through the charged current reaction, \nuc{71}{Ga}($\nu_e$,e$^-$)\nuc{71}{Ge}, at two average distances. The measured production rates for the inner and the outer targets respectively are (54.9^{+2.5}_{-2.4}(\mbox{stat})\pm1.4 (\mbox{syst})) and (55.6^{+2.7}_{-2.6}(\mbox{stat})\pm1.4 (\mbox{syst})) atoms of \nuc{71}{Ge}/d. The ratio ($R$) of the measured rate of \nuc{71}{Ge} production at each distance to the expected rate from the known cross section and experimental efficiencies are $R_{in}=0.79\pm0.05$ and $R_{out}= 0.77\pm0.05$. The ratio of the outer to the inner result is 0.97$\pm$0.07, which is consistent with unity within uncertainty. The rates at each distance were found to be similar, but 20-24\% lower than expected, thus reaffirming the anomaly. These results are consistent with $\nu_e \rightarrow \nu_s$ oscillations with a relatively large $\Delta m^2$ ($>$0.5 eV$^2$) and mixing sin$^2 2\theta$ ($\approx$0.4).Comment: Paper updated to final versio

Commissioning of inline ECE system within waveguide based ECRH transmission systems on ASDEX upgrade

A CW capable inline electron cyclotron emission (ECE) separation system for feedback control, featuring oversized corrugated waveguides, is commissioned on ASDEX upgrade (AUG). The system is based on a combination of a polarization independent, non-resonant, Mach-Zehnder diplexer equipped with dielectric plate beam splitters [2, 3] employed as corrugated oversized waveguide filter, and a resonant Fast Directional Switch, FADIS [4, 5, 6, 7] as ECE/ECCD separation system. This paper presents an overview of the system, the low power characterisation tests and first high power commissioning on AUG

Telerobotic Pointing Gestures Shape Human Spatial Cognition

This paper aimed to explore whether human beings can understand gestures produced by telepresence robots. If it were the case, they can derive meaning conveyed in telerobotic gestures when processing spatial information. We conducted two experiments over Skype in the present study. Participants were presented with a robotic interface that had arms, which were teleoperated by an experimenter. The robot could point to virtual locations that represented certain entities. In Experiment 1, the experimenter described spatial locations of fictitious objects sequentially in two conditions: speech condition (SO, verbal descriptions clearly indicated the spatial layout) and speech and gesture condition (SR, verbal descriptions were ambiguous but accompanied by robotic pointing gestures). Participants were then asked to recall the objects' spatial locations. We found that the number of spatial locations recalled in the SR condition was on par with that in the SO condition, suggesting that telerobotic pointing gestures compensated ambiguous speech during the process of spatial information. In Experiment 2, the experimenter described spatial locations non-sequentially in the SR and SO conditions. Surprisingly, the number of spatial locations recalled in the SR condition was even higher than that in the SO condition, suggesting that telerobotic pointing gestures were more powerful than speech in conveying spatial information when information was presented in an unpredictable order. The findings provide evidence that human beings are able to comprehend telerobotic gestures, and importantly, integrate these gestures with co-occurring speech. This work promotes engaging remote collaboration among humans through a robot intermediary.Comment: 27 pages, 7 figure