Analysing the behaviour of robot teams through relational sequential pattern mining

This report outlines the use of a relational representation in a Multi-Agent domain to model the behaviour of the whole system. A desired property in this systems is the ability of the team members to work together to achieve a common goal in a cooperative manner. The aim is to define a systematic method to verify the effective collaboration among the members of a team and comparing the different multi-agent behaviours. Using external observations of a Multi-Agent System to analyse, model, recognize agent behaviour could be very useful to direct team actions. In particular, this report focuses on the challenge of autonomous unsupervised sequential learning of the team's behaviour from observations. Our approach allows to learn a symbolic sequence (a relational representation) to translate raw multi-agent, multi-variate observations of a dynamic, complex environment, into a set of sequential behaviours that are characteristic of the team in question, represented by a set of sequences expressed in first-order logic atoms. We propose to use a relational learning algorithm to mine meaningful frequent patterns among the relational sequences to characterise team behaviours. We compared the performance of two teams in the RoboCup four-legged league environment, that have a very different approach to the game. One uses a Case Based Reasoning approach, the other uses a pure reactive behaviour.Comment: 25 page

KASR: A Reliable and Practical Approach to Attack Surface Reduction of Commodity OS Kernels

Commodity OS kernels have broad attack surfaces due to the large code base and the numerous features such as device drivers. For a real-world use case (e.g., an Apache Server), many kernel services are unused and only a small amount of kernel code is used. Within the used code, a certain part is invoked only at runtime while the rest are executed at startup and/or shutdown phases in the kernel's lifetime run. In this paper, we propose a reliable and practical system, named KASR, which transparently reduces attack surfaces of commodity OS kernels at runtime without requiring their source code. The KASR system, residing in a trusted hypervisor, achieves the attack surface reduction through a two-step approach: (1) reliably depriving unused code of executable permissions, and (2) transparently segmenting used code and selectively activating them. We implement a prototype of KASR on Xen-4.8.2 hypervisor and evaluate its security effectiveness on Linux kernel-4.4.0-87-generic. Our evaluation shows that KASR reduces the kernel attack surface by 64% and trims off 40% of CVE vulnerabilities. Besides, KASR successfully detects and blocks all 6 real-world kernel rootkits. We measure its performance overhead with three benchmark tools (i.e., SPECINT, httperf and bonnie++). The experimental results indicate that KASR imposes less than 1% performance overhead (compared to an unmodified Xen hypervisor) on all the benchmarks.Comment: The work has been accepted at the 21st International Symposium on Research in Attacks, Intrusions, and Defenses 201

Optimisation of a railway sanding system for optimal grain entrainment into the wheel–rail contact

To combat adhesion loss, sand is fired into the wheel–rail contact via a hose using compressed air typically from a storage hopper mounted to the under frame of the train. Many passenger trains in the UK are fitted with stepped braking controllers which range from 1 to 3 with a fourth step being ‘emergency braking’.1 Sand is fired automatically if wheel slip is detected from brake step level 2 upwards.2 Sand is automatically fired when the emergency brakes are applied irrespective of whether low adhesion/wheel slip has been detected.2 For adhesion loss in traction, sand can be applied at the driver’s discretion. Current railway standards2 govern the maximum permissible sand flow rate to protect against wheel/rail isolation of track circuits, but do not address the hose position. This results in a range of hose set-ups across different train types, some of which may not be effective at delivering sand. The work here was carried out using a full-scale laboratory rail–wheel test machine to find the position for the hose and sand flow rates that give optimum sand entrainment to the contact. It was found that ideally the hose should be aimed at the rail or nip and be as close to that contact as safely possible. The use of a 20 mm bore nozzle on the end of a 25 mm bore hose increased sand passing through the contact by up to 70% relative to widely used 25 mm bore hoses without a nozzle. Reduction in sand flow rate below the 2 kg/min threshold significantly reduced the amount of sand entering the contact. It was also shown that relatively small movements in the hose/nozzle from its ideal position and cross winds significantly reduced sand entrainment

An investigation of the feasibility of using video equipment to record the plant-to-plant movements of green leafhoppers (Nephotettix spp.) within a rice crop.

This report describes a short experimental investigation of the degree to which the visibility of green leafhoppers to video can be enhanced by the use of marking materials. The visibility of leafhopper-sized targets against surrounding vegetation can be greatly enhanced in additional (artificial) lighting by attaching small pieces of microprism retro-reflecting tape to the thorax of the insect. Tables are included giving the utility of various marker materials, the target visibility results, and the field of view of targets under different illuminating wavelengths

Investigation of environmental indices from the Earth Resources Technology Satellite

The author has identified the following significant results. Land use change, water quality, and air quality indices have been calculated from analysis of ERTS-1 multispectral scanning imagery and computer compatible tapes. Specifications have been developed and discussed for an ERTS-1 environmental monitoring system which help to serve the information needs of environmental managers at the Federal, state, regional, and local level. General conclusions of the investigation are that ERTS-1 data is very useful in land use mapping and updating to 10-15 categories, and can provide an overall measure of air and water turbidity; however, more and better ground truth and possibly additional spacecraft sensors will be required if specific air and water pollutants are to be quantified from satellite data

The Whole Heliosphere Interval in the Context of a Long and Structured Solar Minimum: An Overview from Sun to Earth

Throughout months of extremely low solar activity during the recent extended solar-cycle minimum, structural evolution continued to be observed from the Sun through the solar wind and to the Earth. In 2008, the presence of long-lived and large low-latitude coronal holes meant that geospace was periodically impacted by high-speed streams, even though solar irradiance, activity, and interplanetary magnetic fields had reached levels as low as, or lower than, observed in past minima. This time period, which includes the first Whole Heliosphere Interval (WHI 1: Carrington Rotation (CR) 2068), illustrates the effects of fast solar-wind streams on the Earth in an otherwise quiet heliosphere. By the end of 2008, sunspots and solar irradiance had reached their lowest levels for this minimum (e.g., WHI 2: CR 2078), and continued solar magnetic-flux evolution had led to a flattening of the heliospheric current sheet and the decay of the low-latitude coronal holes and associated Earth-intersecting high-speed solar-wind streams. As the new solar cycle slowly began, solar-wind and geospace observables stayed low or continued to decline, reaching very low levels by June – July 2009. At this point (e.g., WHI 3: CR 2085) the Sun–Earth system, taken as a whole, was at its quietest. In this article we present an overview of observations that span the period 2008 – 2009, with highlighted discussion of CRs 2068, 2078, and 2085. We show side-by-side observables from the Sun’s interior through its surface and atmosphere, through the solar wind and heliosphere and to the Earth’s space environment and upper atmosphere, and reference detailed studies of these various regimes within this topical issue and elsewhere

Population Change of Counties and Incorporated Places in South Dakota: 1950-180

This publication is thirteenth in the population update series based on South Dakota\u27s 1980 population. The tables in this report have been assembled to provide a convenient source of population information for the counties and incorporated places of South Dakota. The basic data have been taken from the U.S. Bureau of the Census, 1980 Census of Population � South Dakota PC80-l-A43 and the 1960 Census of Population-South Dakota PC (1) -43A. The figures are final population counts from the various census

Redox-Active Nanomaterials For Nanomedicine Applications

Nanomedicine utilizes the remarkable properties of nanomaterials for the diagnosis, treatment, and prevention of disease. Many of these nanomaterials have been shown to have robust antioxidative properties, potentially functioning as strong scavengers of reactive oxygen species. Conversely, several nanomaterials have also been shown to promote the generation of reactive oxygen species, which may precipitate the onset of oxidative stress, a state that is thought to contribute to the development of a variety of adverse conditions. As such, the impacts of nanomaterials on biological entities are often associated with and influenced by their specific redox properties. In this review, we overview several classes of nanomaterials that have been or projected to be used across a wide range of biomedical applications, with discussion focusing on their unique redox properties. Nanomaterials examined include iron, cerium, and titanium metal oxide nanoparticles, gold, silver, and selenium nanoparticles, and various nanoscale carbon allotropes such as graphene, carbon nanotubes, fullerenes, and their derivatives/variations. Principal topics of discussion include the chemical mechanisms by which the nanomaterials directly interact with biological entities and the biological cascades that are thus indirectly impacted. Selected case studies highlighting the redox properties of nanomaterials and how they affect biological responses are used to exemplify the biologically-relevant redox mechanisms for each of the described nanomaterials

First-principles study of vibrational and dielectric properties of {\beta}-Si3N4

First-principles calculations have been conducted to study the structural, vibrational and dielectric properties of {\beta}-Si3N4. Calculations of the zone-center optical-mode frequencies (including LO-TO splittings), Born effective charge tensors for each atom, dielectric constants, using density functional perturbation theory, are reported. The fully relaxed structural parameters are found to be in good agreement with experimental data. All optic modes are identified and agreement of theory with experiment is excellent. The static dielectric tensor is decomposed into contributions arising from individual infrared-active phonon modes. It is found that high-frequency modes mainly contribute to the lattice dielectric constant.Comment: 15pages, 1 figure, 5 table