Economically viable domestic roofwater harvesting

Economically viable domestic roofwater harvestin

Disentangling Forms of Lorentz Violation With Complementary Clock Comparison Experiments

Atomic clock comparisons provide some of the most precise tests of Lorentz and CPT symmetries in the laboratory. With data from multiple such experiments using different nuclei, it is possible to constrain new regions of the parameter space for Lorentz violation. Relativistic effects in the nuclei allow us to disentangle forms of Lorentz violation which could not be separately measured in purely nonrelativistic experiments. The disentangled bounds in the neutron sectors are at the 10^(-28) GeV level, far better than could be obtained with any other current technique.Comment: 9 page

Testing Electron Boost Invariance with 2S-1S Hydrogen Spectroscopy

There are few good direct laboratory tests of boost invariance for electrons, because the experiments required often involve repeated precision measurements performed at different times of year. However, existing measurements and remeasurements of the 2S-1S two-photon transition frequency in H--which were done to search for a time variation in the fine structure constant--also constitute a measurement of the boost symmetry violation parameter 0.83c_(TX) + 0.51c_(TY) + 0.22c_(TZ) = (4 +/- 8) x 10^(-11). This is an eight order of magnitude improvement over preexisting laboratory bounds, and with only one additional measurements, this system could yield a second comparable constraint.Comment: 8 page

FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments

High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of computational tractability typically leads to optimization problems that do not include the obstacle constraints (collision checks are done on the solutions) or use a convex decomposition of the free space and then impose an ad-hoc time allocation scheme for each interval of the trajectory. Moreover, safety guarantees are usually obtained by having a local planner that plans a trajectory with a final "stop" condition in the free-known space. However, these two decisions typically lead to slow and conservative trajectories. We propose FASTER (Fast and Safe Trajectory Planner) to overcome these issues. FASTER obtains high-speed trajectories by enabling the local planner to optimize in both the free-known and unknown spaces. Safety guarantees are ensured by always having a feasible, safe back-up trajectory in the free-known space at the start of each replanning step. Furthermore, we present a Mixed Integer Quadratic Program formulation in which the solver can choose the trajectory interval allocation, and where a time allocation heuristic is computed efficiently using the result of the previous replanning iteration. This proposed algorithm is tested extensively both in simulation and in real hardware, showing agile flights in unknown cluttered environments with velocities up to 3.6 m/s.Comment: IROS 201