Reliable distribution of computational load in robot teams

© 2021, The Author(s). Modern multi-robot systems often need to solve computationally intensive tasks but operate with limited compute resources and in the presence of failures. Cooperating to share computational tasks between robots at the edge reduces execution time. We introduce and evaluate a new computation load management technology for teams of robots: Reliable Autonomous Mobile Programs (RAMPs). RAMPs use information about the computational resources available in the team and a cost model to decide where to execute. RAMPs are implemented in ROS on a collection of Raspberry Pi-based robots. The performance of RAMPs is evaluated using route planning, a typical computationally-intensive robotics application. A systematic study of RAMPs demonstrates a high likelihood of optimal or near-optimal distribution and hence efficient resource utilisation. RAMPs successfully complete in the presence of simultaneous, or successive, robot failures and network failures, while preserving near-optimal distribution

Rare earth elements materials production from apatite ores

The paper deals with the study of processing apatite ores with nitric acid and extraction of the rare earth elements. The rare earth elements can be successfully separated and recovered by extraction from the nitrate- phosphate solution, being an tributyl phosphate as extraction agent. The developed scheme of the processing apatite concentrate provides obtaining rare earth concentrates with high qualitative characteristics

Magnetic and quadrupolar order in a one-dimensional ferromagnet with cubic crystal-field anisotropy

The zero temperature phase diagram of a one-dimensional S=2 Heisenberg ferromagnet with single-ion cubic anisotropy is studied numerically using the density-matrix renormalization group method. Evidence is found that although the model does not involve quadrupolar couplings, there is a purely quadrupolar phase for large values of the anisotropy. The phase transition between the magnetic and quadrupolar phases is continuous and it seems to be characterized by Ising critical exponents.Comment: 11 pages, 7 figures, REVTeX, accepted in Phys. Rev. B (scheduled on June 99

Mössbauer investigations of Mn2-xFexP0.5As0.5

Magnetic and Mossbauer measurements were performed for Mn2–xFexP0.5As0.5,0.

Magnetic state features of Mn1.4Fe0.6P0.5As0.5

Mossbauer spectroscopy in the temperature range between 4 K and 270 K was used to more clearly define the magnetic phase diagram of Mn2-xFexAs0.5P0.5. It is shown that antiferromagnetic and paramagnetic states coexist in the alloy Mn1.4Fe0.6As0.5P0.5 in the temperature range of 150 K < T < 160 K

Anomalous resistivity and the electron-polaron effect in the two-band Hubbard model with one narrow band

We search for anomalous normal and superconductive behavior in the two-band Hubbard model with one narrow band. We analyze the influence of electron-polaron effect and Altshuler-Aronov effect on effective mass enhancement and scattering times of heavy and light components in the clean case. We find anomalous behavior of resistivity at high temperatures $T>W_{h}^{*}$ both in 3D and 2D situation. The SC instability in the model is governed by enhanced Kohn-Luttinger effect for p-wave pairing of heavy electrons via polarization of light electrons.Comment: 8 pages, 4 figures, accepted for publication in Journal of Superconductivity and Novel Magnetism, based on the invited talk on Stripes XI Conference in Rome, July 201

Structure and Properties of MnNi1 – xFexGe (0.10 ≤ x ≤ 0.25)

The magnetic and structural characteristics of the solid solutions MnNi1 – xFexGe (0.10 ≤ x ≤ 0.25) have been investigated. At T = 290 K, the solid solutions have a hexagonal structure of the Ni2In type. The magnetic properties of MnNi1 – xFexGe (0.10 ≤ x ≤ 0.25) weakly depend on the type of heat treatment. Based on the magnetometric and Mössbauer data, it has been found that, in the solid solutions MnNi1 – xFexGe (0.10 ≤ x ≤ 0.25) with iron concentrations x = 0.10–0.15, the iron atoms are statistically distributed over the octahedral and trigonal-bipyramidal positions. At concentrations above xx = 0.15, iron atoms replace only the manganese atoms in the octahedral positions, whereas nickel atoms in the trigonal-bipyramidal positions are not replaced by the iron atoms

Construction of plant transformation vectors carrying beet necrotic yellow vein virus coat protein gene (ii)- plant transformation

Fragments containing the coat protein gene of beet necrotic yellow vein virus were cloned in two plant transformation vectors: pCAMBIA3301M with the bar gene as selectable marker, and pCAMBIA1304M, with resistance to hygromycin. Three constructs were made of each vector: CPL, containing coat protein gene with leader sequence; CPS with coat protein gene, and CPSas with coat protein gene in antisense orientation. Vectors pC3301MCPL, pC3301MCPS. and pC3301MCPSas were used in Agrobacterium—mediated transformation of Nicotiana tabacum (tobacco), Nicotiana excelsior and Nicotiana benthamiana. Regenerants that developed roots on selective media were tested for the presence of CP fragments and the bar gene, but most regenerants were nontransformed (50-83% escapes). After all rooted plants had been selfed, and T1 seed germinated on selective media, only plants descending from one N. excelsior regenerant transformed with pC3301MCPS were positive for presence of bar gene and CPS fragment. Tobacco and Nicotiana benthamiana were transformed with constructs pC1304MCPS and pC1304MCPSas. Transformation efficiency was much higher and approximately 50% of regenerants that rooted on media with 20 mg l−1 hygromycin were positive for the presence of CP fragments. All T1 plants were positive for presence of CP fragments