Asynchronous Decentralized Task Allocation for Dynamic Environments

This work builds on a decentralized task allocation algorithm for networked agents communicating through an asynchronous channel, by extending the Asynchronous Consensus-Based Bundle Algorithm (ACBBA) to account for more real time implementation issues resulting from a decentralized planner. This paper specfically talks to the comparisons between global and local convergence in asynchronous consensus algorithms. Also a feature called asynchronous replan is introduced to ACBBA's functionality that enables e ffcient updates to large changes in local situational awareness. A real-time software implementation using multiple agents communicating through the user datagram protocol (UDP) validates the proposed algorithm.United States. Air Force (grant FA9550-08-1-0086)United States. Air Force Office of Scientific Research (grant FA9550-08-1-0086)Aurora Flight Sciences Corp. (SBIR - FA8750-10-C-0107

Development of a strontium optical lattice clock for the SOC mission on the ISS

Ultra-precise optical clocks in space will allow new studies in fundamental physics and astronomy. Within an European Space Agency (ESA) program, the Space Optical Clocks (SOC) project aims to install and to operate an optical lattice clock on the International Space Station (ISS) towards the end of this decade. It would be a natural follow-on to the ACES mission, improving its performance by at least one order of magnitude. The payload is planned to include an optical lattice clock, as well as a frequency comb, a microwave link, and an optical link for comparisons of the ISS clock with ground clocks located in several countries and continents. Within the EU-FP7-SPACE-2010-1 project no. 263500, during the years 2011-2015 a compact, modular and robust strontium lattice optical clock demonstrator has been developed. Goal performance is a fractional frequency instability below 1x10^{-15}, tau^{-1/2} and a fractional inaccuracy below 5x10^{-17}. Here we describe the current status of the apparatus' development, including the laser subsystems. Robust preparation of cold {88}^Sr atoms in a second stage magneto-optical trap (MOT) is achieved.Comment: 27 Pages, 15 figures, Comptes Rendus Physique 201

The Space Optical Clocks Project: Development of high-performance transportable and breadboard optical clocks and advanced subsystems

The use of ultra-precise optical clocks in space ("master clocks") will allow for a range of new applications in the fields of fundamental physics (tests of Einstein's theory of General Relativity, time and frequency metrology by means of the comparison of distant terrestrial clocks), geophysics (mapping of the gravitational potential of Earth), and astronomy (providing local oscillators for radio ranging and interferometry in space). Within the ELIPS-3 program of ESA, the "Space Optical Clocks" (SOC) project aims to install and to operate an optical lattice clock on the ISS towards the end of this decade, as a natural follow-on to the ACES mission, improving its performance by at least one order of magnitude. The payload is planned to include an optical lattice clock, as well as a frequency comb, a microwave link, and an optical link for comparisons of the ISS clock with ground clocks located in several countries and continents. Undertaking a necessary step towards optical clocks in space, the EU-FP7-SPACE-2010-1 project no. 263500 (SOC2) (2011-2015) aims at two "engineering confidence", accurate transportable lattice optical clock demonstrators having relative frequency instability below 1\times10^-15 at 1 s integration time and relative inaccuracy below 5\times10^-17. This goal performance is about 2 and 1 orders better in instability and inaccuracy, respectively, than today's best transportable clocks. The devices will be based on trapped neutral ytterbium and strontium atoms. One device will be a breadboard. The two systems will be validated in laboratory environments and their performance will be established by comparison with laboratory optical clocks and primary frequency standards. In this paper we present the project and the results achieved during the first year.Comment: Contribution to European Frequency and Time Forum 2012, Gothenburg, Swede

Derivation of ODEs and Bifurcation Analysis of a Two-DOF Airfoil Subjected to Unsteady Incompressible Flow

An airfoil subjected to two-dimensional incompressible inviscid flow is considered. The airfoil is supported via a translational and a torsional springs. The aeroelastic integro-differential equations of motion for the airfoil are reformulated into a system of six first-order autonomous ordinary differential equations. These are the simplest and least number of ODEs that can present this aeroelastic system. The differential equations are then used for the bifurcation analysis of an airfoil with a structural nonlinearity in the pitch direction. Sample bifurcation diagrams showing both stable and unstable limit cycle oscillation are presented. The types of bifurcations are assessed by evaluating the Floquet multipliers. For a specific case, a period doubling route to chaos was detected, and mildly chaotic behavior in a narrow range of velocity was confirmed via the calculation of the Lyapunov exponents

A FLUID DYNAMICS STUDY OF A MODIFIED LOW-REYNOLDS-NUMBER FLAPPING MOTION

ABSTRACT The objective of the present study is to investigate the low Reynolds number (LRN) fluid dynamics of an elliptic airfoil performing a novel figure-eight-like motion. To this mean, the influence of phase angle between the pitching and translational (heaving and lagging) motions and the amplitude of translational motions on the fluid flow is simulated. NavierStokes (NS) equations with Finite Volume Method (FVM) are used and the instantaneous force coefficients and the fluid dynamics performance, as well as the corresponding vortical structures are analyzed. Both the phase angle and the amplitudes of horizontal and vertical motions are of great importance to the fluid dynamic characteristics of the model as they are shown to change the peaks of the fluid forces, fluid dynamic performance, and the vortical patterns around the model. INTRODUCTION Forced and flow-induced oscillations are highly prevalent in a wide range of fluid engineering applications. These unsteady conditions could be useful when assisting in the generation of the fluid forces such as wing flapping, or be destructive when becoming the undesired oscillations such as wing flutter. Flapping motions are the most common means of force generation in micro aerial vehicles and swimming robots. The physical characteristics and the fluid phenomena of such motions strongly depend on the governing flow and system parameters. LRN flapping flows are mostly accompanied with non-linear vortex dynamics, such as dynamic stal

Cytochrome Oxidase Content and Respiratory Rates of Etiolated Wheat and Barley Seedlings.

Conference agenda: http://www.aiaa.org/agenda.cfm?lumeetingid=1998This paper analyzes task assignment for heterogeneous air vehicles using a guaranteed conflict-free assignment algorithm, the Consensus Based Bundle Algorithm (CBBA). We extend this recently proposed algorithm to handle two realistic multi- UAV operational complications. Our rst extension accounts for obstacle regions in order to generate collision free paths for UAVs. Our second extension reduces task planner sensitivity to sensor measurement noise, and thereby minimizes churning behavior in flight paths. After integrating our enhanced CBBA module with a 3D visualization and interaction software tool, we simulate multiple aircraft servicing stationary and moving ground targets. Preliminary simulation results establish that consistent, conflict-free multi-UAV path assignments can be calculated on the order of a few seconds. The enhanced CBBA consequently demonstrates signfi cant potential for real-time performance in stressing environments

A Challenging Issue in the Etiology of Speech Problems: The Effect of Maternal Exposure to Electromagnetic Fields on Speech Problems in the Offspring

Background: Nowadays, mothers are continuously exposed to different sources of electromagnetic fields before and even during pregnancy. It has recently been shown that exposure to mobile phone radiation during pregnancy may lead to adverse effects on the brain development in offspring and cause hyperactivity. Researchers have shown that behavioral problems in laboratory animals which have a similar appearance to ADHD are caused by intrauterine exposure to mobile phones. Objective: The purpose of this study was to investigate whether the maternal exposure to different sources of electromagnetic fields affect on the rate and severity of speech problems in their offspring. Methods: In this study, mothers of 35 healthy 3-5 year old children (control group) and 77 children and diagnosed with speech problems who had been referred to a speech treatment center in Shiraz, Iran were interviewed. These mothers were asked whether they had exposure to different sources of electromagnetic fields such as mobile phones, mobile base stations, Wi-Fi, cordless phones, laptops and power lines. Results: We found a significant association between either the call time (P=0.002) or history of mobile phone use (months used) and speech problems in the offspring (P=0.003). However, other exposures had no effect on the occurrence of speech problems. To the best of our knowledge, this is the first study to investigate a possible association between maternal exposure to electromagnetic field and speech problems in the offspring. Although a major limitation in our study is the relatively small sample size, this study indicates that the maternal exposure to common sources of electromagnetic fields such as mobile phones can affect the occurrence of speech problems in the offspring