Ultra-Wideband Communication and Sensor Fusion Platform for the Purpose of Multi-Perspective Localization.

Localization is a keystone for a robot to work within its environment and with other robots. There have been many methods used to solve this problem. This paper deals with the use of beacon-based localization to answer the research question: Can ultra-wideband technology be used to effectively localize a robot with sensor fusion? This paper has developed an innovative solution for creating a sensor fusion platform that uses ultra-wideband communication as a localization method to allow an environment to be perceived and inspected in three dimensions from multiple perspectives simultaneously. A series of contributions have been presented, supported by an in-depth literature review regarding topics in this field of knowledge. The proposed method was then designed, built, and tested successfully in two different environments exceeding its required tolerances. The result of the testing and the ideas formulated throughout the paper were discussed and future work outlined on how to build upon this work in potential academic papers and projects

Noncontact ultrasound imaging applied to cortical bone phantoms

Purpose: The purpose of this paper was to take the first steps toward applying noncontact ultrasound (NCU) to the tasks of monitoring osteoporosis and quantitative ultrasound imaging (QUS) of cortical bone. The authors also focused on the advantages of NCU, such as its lack of reliance on a technologist to apply transducers and a layer of acoustical coupling gel, the ability of the transducers to operate autonomously as specified by preprogrammed software, and the likely reduction in statistical and systematic errors associated with the variability in the pressure applied by the clinician to the transmitting transducer that NCU might provide. The authors also undertook this study in order to find additional applications of NCU beyond its past limited usage in assessing the severity of third degree burns. Methods: A noncontact ultrasound imaging system using a pair of specially designed broadband, 1.5 MHz noncontact piezoelectric transducers and cortical bone phantoms, were used to determine bone mineral density (BMD), speed of sound (SOS), integrated response (IR), and ultrasonic transmittance. Air gaps of greater than 3 cm, two transmission and two reflection paths, and a digital signal processor were also used in the collection of data from phantoms of nominal mass densities that varied from 1.17 to 2.25 g/cm3 and in bone mineral density from 0 to 1.7 g/cm3. Results: Good correlations between known BMD and measured SOS, IR, and transmittance were obtained for all 17 phantoms, and methods for quantifying and minimizing sources of systematic errors were outlined. The BMD of the phantom sets extended through most of the in vivo range found in cortical bone. A total of 16–20 repeated measurements of the SOS, thickness, and IR for the phantom set that were conducted over a period of several months showed a small variation in the range of measurements of ±1%–2%. These NCU data were shown to be in agreement with similar results using contact ultrasound to be within 1%–2%. Transmittance images of cortical bone phantoms showed differences in the nominal overall BMD values of the phantoms that were large enough to be distinguished by a visual examination. A list of possible sources of errors in quantitative NCU was also included in this study. Conclusions: The results of this paper suggest that NCU might find additional applications in medical imaging, beyond its original and only previous usage in assessing third degree burns. The fact that the authors’ phantom measurements using conventional, gel coupled ultrasound are in agreement with those obtained with NCU demonstrates that in spite of large additional levels of attenuation of up to 150 dB and new error sources, NCU could have comparable levels of accuracy to those of conventional quantitative ultrasound, while providing the medical and patient comfort-related advantages of not involving direct contact

Strutjet-powered reusable launch vehicles

Martin Marietta and Aerojet are co-investigating the feasibility and viability of reusable launch vehicle designs. We are assessing two vehicle concepts, each delivering 8000 lb to a geosynchronous transfer orbit (GTO). Both accomplish this task as a two-state system. The major difference between the two concepts is staging. The first concept, the two-stage-to-orbit (TSTO) system, stages at about 16 kft/sec, allowing immediate return of the first stage to the launch site using its airbreathing propulsion system for a powered cruise flight. The second concept, the single-stage-to-orit (SSTO) system, accomplishes stage separation in a stable low earth orbit (LEO)

On covers of cyclic acts over monoids

In (Bull. Lond. Math. Soc. 33:385–390, 2001) Bican, Bashir and Enochs finally solved a long standing conjecture in module theory that all modules over a unitary ring have a flat cover. The only substantial work on covers of acts over monoids seems to be that of Isbell (Semigroup Forum 2:95–118, 1971), Fountain (Proc. Edinb. Math. Soc. (2) 20:87–93, 1976) and Kilp (Semigroup Forum 53:225–229, 1996) who only consider projective covers. To our knowledge the situation for flat covers of acts has not been addressed and this paper is an attempt to initiate such a study. We consider almost exclusively covers of cyclic acts and restrict our attention to strongly flat and condition (P) covers. We give a necessary and sufficient condition for the existence of such covers and for a monoid to have the property that all its cyclic right acts have a strongly flat cover (resp. (P)-cover). We give numerous classes of monoids that satisfy these conditions and we also show that there are monoids that do not satisfy this condition in the strongly flat case. We give a new necessary and sufficient condition for a cyclic act to have a projective cover and provide a new proof of one of Isbell’s classic results concerning projective covers. We show also that condition (P) covers are not unique, unlike the situation for projective covers

Covers of acts over monoids II

In 1981 Edgar Enochs conjectured that every module has a flat cover and finally proved this in 2001. Since then a great deal of effort has been spent on studying different types of covers, for example injective and torsion free covers. In 2008, Mahmoudi and Renshaw initiated the study of flat covers of acts over monoids but their definition of cover was slightly different from that of Enochs. Recently, Bailey and Renshaw produced some preliminary results on the `other' type of cover and it is this work that is extended in this paper. We consider free, divisible, torsion free and injective covers and demonstrate that in some cases the results are quite different from the module case

The position of graptolites within Lower Palaeozoic planktic ecosystems.

An integrated approach has been used to assess the palaeoecology of graptolites both as a discrete group and also as a part of the biota present within Ordovician and Silurian planktic realms. Study of the functional morphology of graptolites and comparisons with recent ecological analogues demonstrates that graptolites most probably filled a variety of niches as primary consumers, with modes of life related to the colony morphotype. Graptolite coloniality was extremely ordered, lacking any close morphological analogues in Recent faunas. To obtain maximum functional efficiency, graptolites would have needed varying degrees of coordinated automobility. A change in lifestyle related to ontogenetic changes was prevalent within many graptolite groups. Differing lifestyle was reflected by differing reproductive strategies, with synrhabdosomes most likely being a method for rapid asexual reproduction. Direct evidence in the form of graptolithophage 'coprolitic' bodies, as well as indirect evidence in the form of probable defensive adaptations, indicate that graptolites comprised a food item for a variety of predators. Graptolites were also hosts to a variety of parasitic organisms and provided an important nutrient source for scavenging organisms

Trauma as counter-revolutionary colonisation: narratives from (post)revolutionary Egypt

We argue that multiple levels of trauma were present in Egypt before, during and after the 2011 revolution. Individual, social and political trauma constitute a triangle of traumatisation which was strategically employed by the Egyptian counter-revolutionary forces – primarily the army and the leadership of the Muslim Brotherhood – to maintain their political and economic power over and above the social, economic and political interests of others. Through the destruction of physical bodies, the fragmentation and polarisation of social relations and the violent closure of the newly emerged political public sphere, these actors actively repressed the potential for creative and revolutionary transformation. To better understand this multi-layered notion of trauma, we turn to Habermas’ ‘colonisation of the lifeworld’ thesis which offers a critical lens through which to examine the wider political and economic structures and context in which trauma occurred as well as its effects on the personal, social and political realms. In doing so, we develop a novel conception of trauma that acknowledges individual, social and political dimensions. We apply this conceptual framing to empirical narratives of trauma in Egypt’s pre- and post-revolutionary phases, thus both developing a non-Western application of Habermas’ framework and revealing ethnographic accounts of the revolution by activists in Cairo

Impact ionization in GaAs: a screened exchange density functional approach

Results are presented of a fully ab-initio calculation of impact ionization rates in GaAs within the density functional theory framework, using a screened-exchange formalism and the highly precise all-electron full-potential linearized augmented plane wave (FLAPW) method. The calculated impact ionization rates show a marked orientation dependence in {\bf k} space, indicating the strong restrictions imposed by the conservation of energy and momentum. This anisotropy diminishes as the impacting electron energy increases. A Keldysh type fit performed on the energy-dependent rate shows a rather soft edge and a threshold energy greater than the direct band gap. The consistency with available Monte Carlo and empirical pseudopotential calculations shows the reliability of our approach and paves the way to ab-initio calculations of pair production rates in new and more complex materials.Comment: 11 pages, 4 figures, Submitted to Phys. Rev.