Scalable robustness of interconnected systems subject to structural changes

This paper studies the robustness of large-scale interconnected systems with respect to external disturbances, focussing on their scalability properties. Specifically, a notion of scalability is introduced that asks for these robustness properties to remain unchanged under a structural change of the system, such as the addition/removal of a subsystem or a change in the interconnection structure. Both necessary and sufficient conditions, in terms of the interconnection structure and edge weights, are given under which elementary structural changes are scalable. The results are illustrated through a simple example.Comment: Published in the Proceedings of the IFAC World Congress, Berlin, Germany, 202

Evaluating the remote sensing and inventory-based estimation of biomass in the western carpathians

Understanding the potential of forest ecosystems as global carbon sinks requires a thorough knowledge of forest carbon dynamics, including both sequestration and fluxes among multiple pools. The accurate quantification of biomass is important to better understand forest productivity and carbon cycling dynamics. Stand-based inventories (SBIs) are widely used for quantifying forest characteristics and for estimating biomass, but information may quickly become outdated in dynamic forest environments. Satellite remote sensing may provide a supplement or substitute. We tested the accuracy of aboveground biomass estimates modeled from a combination of Landsat Thematic Mapper (TM) imagery and topographic data, as well as SBI-derived variables in a Picea abies forest in the Western Carpathian Mountains. We employed Random Forests for non-parametric, regression tree-based modeling. Results indicated a difference in the importance of SBI-based and remote sensing-based predictors when estimating aboveground biomass. The most accurate models for biomass prediction ranged from a correlation coefficient of 0.52 for the TM- and topography-based model, to 0.98 for the inventory-based model. While Landsat-based biomass estimates were measurably less accurate than those derived from SBI, adding tree height or stand-volume as a field-based predictor to TM and topography-based models increased performance to 0.36 and 0.86, respectively. Our results illustrate the potential of spectral data to reveal spatial details in stand structure and ecological complexity. © 2011 by the authors

Fast multipole networks

Two prerequisites for robotic multiagent systems are mobility and communication. Fast multipole networks (FMNs) enable both ends within a unified framework. FMNs can be organized very efficiently in a distributed way from local information and are ideally suited for motion planning using artificial potentials. We compare FMNs to conventional communication topologies, and find that FMNs offer competitive communication performance (including higher network efficiency per edge at marginal energy cost) in addition to advantages for mobility

Continued loss of temperate old-growth forests in the Romanian Carpathians despite an increasing protected area network

This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.Old-growth forests around the world are vanishing rapidly and have been lost almost completely from the European temperate forest region. Poor management practices, often triggered by socioeconomic and institutional change, are the main causes of loss. Recent trends in old-growth forest cover in Romania, where some of the last remaining tracts of these forests within Europe are located, are revealed by satellite image analysis. Forest cover declined by 1.3 % from 2000 to 2010. Romania's protected area network has been expanded substantially since the country's accession to the European Union in 2007, and most of the remaining old-growth forests now are located within protected areas. Surprisingly though, 72% of the old-growth forest disturbances are found within protected areas, highlighting the threats still facing these forests. It appears that logging in old-growth forests is, at least in part, related to institutional reforms, insufficient protection and ownership changes since the collapse of communism in 1989. The majority of harvesting activities in old-growth forest areas are in accordance with the law. Without improvements to their governance, the future of Romania's old-growth forests and the important ecosystem services they provide remains uncertain.Peer Reviewe

Comment on opinion paper: Forest management and biodiversity : The role of protected areas is greater than the sum of its number of species

No abstract available

Forest restitution and protected area effectiveness in post-socialist Romania

a b s t r a c t The effectiveness of protected areas can diminish during times of pronounced socio-economic and institutional change. Our goals were to assess the effectiveness of Romanian protected areas at stemming unsanctioned logging, and to assess post-socialist logging in their surrounding landscapes, during a time of massive socio-economic and institutional change. Our results suggest that forest cover remained fairly stable shortly before and after 1990, but forest disturbance rates increased sharply in two waves after 1995 and 2005. We found substantial disturbances inside protected areas, even within core reserve areas. Moreover, disturbances in the matrix surrounding protected areas were even lower than inside protected area boundaries. We suggest that these rates are largely the result of high logging rates, triggered by rapid ownership and institutional changes. These trends compromise the goals of Romania's protected area network, lead to an increasing loss of forest habitat, and more isolated and more fragmented protected areas. The effectiveness of Romania's protected area network in terms of its ability to safeguard biodiversity is therefore most likely decreasing

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

Fault-tolerant Cooperative Tasking for Multi-agent Systems

A natural way for cooperative tasking in multi-agent systems is through a top-down design by decomposing a global task into sub-tasks for each individual agent such that the accomplishments of these sub-tasks will guarantee the achievement of the global task. In our previous works [1], [2] we presented necessary and sufficient conditions on the decomposability of a global task automaton between cooperative agents. As a follow-up work, this paper deals with the robustness issues of the proposed top-down design approach with respect to event failures in the multi-agent systems. The main concern under event failure is whether a previously decomposable task can still be achieved collectively by the agents, and if not, we would like to investigate that under what conditions the global task could be robustly accomplished. This is actually the fault-tolerance issue of the top-down design, and the results provide designers with hints on which events are fragile with respect to failures, and whether redundancies are needed. The main objective of this paper is to identify necessary and sufficient conditions on failed events under which a decomposable global task can still be achieved successfully. For such a purpose, a notion called passivity is introduced to characterize the type of event failures. The passivity is found to reflect the redundancy of communication links over shared events, based on which necessary and sufficient conditions for the reliability of cooperative tasking under event failures are derived, followed by illustrative examples and remarks for the derived conditions.Comment: Preprint, Submitted for publicatio

Northern Eurasia Future Initiative (NEFI): facing the challenges and pathways of global change in the 21st century

During the past several decades, the Earth system has changed significantly, especially across Northern Eurasia. Changes in the socio-economic conditions of the larger countries in the region have also resulted in a variety of regional environmental changes that can have global consequences. The Northern Eurasia Future Initiative (NEFI) has been designed as an essential continuation of the Northern Eurasia Earth Science Partnership Initiative (NEESPI), which was launched in 2004. NEESPI sought to elucidate all aspects of ongoing environmental change, to inform societies and, thus, to better prepare societies for future developments. A key principle of NEFI is that these developments must now be secured through science-based strategies co-designed with regional decision makers to lead their societies to prosperity in the face of environmental and institutional challenges. NEESPI scientific research, data, and models have created a solid knowledge base to support the NEFI program. This paper presents the NEFI research vision consensus based on that knowledge. It provides the reader with samples of recent accomplishments in regional studies and formulates new NEFI science questions. To address these questions, nine research foci are identified and their selections are briefly justified. These foci include: warming of the Arctic; changing frequency, pattern, and intensity of extreme and inclement environmental conditions; retreat of the cryosphere; changes in terrestrial water cycles; changes in the biosphere; pressures on land-use; changes in infrastructure; societal actions in response to environmental change; and quantification of Northern Eurasia's role in the global Earth system. Powerful feedbacks between the Earth and human systems in Northern Eurasia (e.g., mega-fires, droughts, depletion of the cryosphere essential for water supply, retreat of sea ice) result from past and current human activities (e.g., large scale water withdrawals, land use and governance change) and potentially restrict or provide new opportunities for future human activities. Therefore, we propose that Integrated Assessment Models are needed as the final stage of global change assessment. The overarching goal of this NEFI modeling effort will enable evaluation of economic decisions in response to changing environmental conditions and justification of mitigation and adaptation efforts