Team-level programming of drone sensor networks

Autonomous drones are a powerful new breed of mobile sensing platform that can greatly extend the capabilities of traditional sensing systems. Unfortunately, it is still non-trivial to coordinate multiple drones to perform a task collaboratively. We present a novel programming model called team-level programming that can express collaborative sensing tasks without exposing the complexity of managing multiple drones, such as concurrent programming, parallel execution, scaling, and failure recovering. We create the Voltron programming system to explore the concept of team-level programming in active sensing applications. Voltron offers programming constructs to create the illusion of a simple sequential execution model while still maximizing opportunities to dynamically re-task the drones as needed. We implement Voltron by targeting a popular aerial drone platform, and evaluate the resulting system using a combination of real deployments, user studies, and emulation. Our results indicate that Voltron enables simpler code and produces marginal overhead in terms of CPU, memory, and network utilization. In addition, it greatly facilitates implementing correct and complete collaborative drone applications, compared to existing drone programming systems

Towards a consistent Oxfordian–Kimmeridgian global boundary: current state of knowledge

New data are presented in relation to the worldwide definition of the Oxfordian/Kimmeridgian boundary, i.e. the base of the Kimmeridgian Stage. This data, mostly acquired in the past decade, supports the 2006 proposal to make the uniform boundary of the stages in the Flodigarry section at Staffin Bay on the Isle of Skye, northern Scotland. This boundary is based on the Subboreal-Boreal ammonite successions, and it is distinguished by the Pictonia flodigarriensis horizon at the base of the Subboreal Baylei Zone, and which corresponds precisely to the base of the Boreal Bauhini Zone. The boundary lies in the 0.16 m interval (1.24–1.08 m) below bed 36 in sections F6 at Flodigarry and it is thus proposed as the GSSP for the Oxfordian/Kimmeridgian boundary. This boundary is recognized also by other stratigraphical data – palaeontological, geochemical and palaeomagnetic (including its well documented position close to the boundary between magnetozones F3n, and F3r which is placed in the 0.20 m interval – 1.28 m to 1.48 m below bed 36 – the latter corresponding to marine magnetic anomaly M26r).The boundary is clearly recognizable also in other sections of the Subboreal and Boreal areas discussed in the study, including southern England, Pomerania and the Peri-Baltic Syneclise, Russian Platform, Northern Central Siberia, Franz-Josef Land, Barents Sea and Norwegian Sea. It can be recognized also in the Submediterranean-Mediterranean areas of Europe and Asia where it correlates with the boundary between the Hypselum and the Bimmamatum ammonite zones. The changes in ammonite faunas at the boundary of these ammonite zones – mostly of ammonites of the families Aspidoceratidae and Oppeliidae – also enables the recognition of the boundary in the Tethyan and Indo-Pacific areas – such as the central part of the Americas (Cuba, Mexico), southern America, and southern parts of Asia. The climatic and environmental changes near to the Oxfordian/Kimmeridgian boundary discussed in the study relate mostly to the European areas. They show that very unstable environments at the end of the Oxfordian were subsequently replaced by more stable conditions representing a generally warming trend during the earliest Kimmeridgian. The definition of the boundary between the Oxfordian and Kimmeridgian as given in this study results in its wide correlation potential and means that it can be recognized in the different marine successions of the World

Reactive control of autonomous drones

Aerial drones, ground robots, and aquatic rovers enable mobile applications that no other technology can realize with comparable flexibility and costs. In existing platforms, the low-level control enabling a drone's autonomous movement is currently realized in a time-triggered fashion, which simplifies implementations. In contrast, we conceive a notion of reactive control that supersedes the time-triggered approach by leveraging the characteristics of existing control logic and of the hardware it runs on. Using reactive control, control decisions are taken only upon recognizing the need to, based on observed changes in the navigation sensors. As a result, the rate of execution dynamically adapts to the circumstances. Compared to time-triggered control, this allows us to: i) attain more timely control decisions, ii) improve hardware utilization, iii) lessen the need to overprovision control rates. Based on 260+ hours of real-world experiments using three aerial drones, three different control logic, and three hardware platforms, we demonstrate, for example, up to 41% improvements in control accuracy and up to 22% improvements in flight time

Measured supersonic flame properties - Heat-release patterns, pressure losses, thermal choking limits

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/76611/1/AIAA-24093-582.pd

WASP-4b Arrived Early for the TESS Mission

The Transiting Exoplanet Survey Satellite (TESS) recently observed 18 transits of the hot Jupiter WASP-4b. The sequence of transits occurred 81.6 $\pm$ 11.7 seconds earlier than had been predicted, based on data stretching back to 2007. This is unlikely to be the result of a clock error, because TESS observations of other hot Jupiters (WASP-6b, 18b, and 46b) are compatible with a constant period, ruling out an 81.6-second offset at the 6.4$\sigma$ level. The 1.3-day orbital period of WASP-4b appears to be decreasing at a rate of $\dot{P} = -12.6 \pm 1.2$ milliseconds per year. The apparent period change might be caused by tidal orbital decay or apsidal precession, although both interpretations have shortcomings. The gravitational influence of a third body is another possibility, though at present there is minimal evidence for such a body. Further observations are needed to confirm and understand the timing variation.Comment: AJ accepte

The origin of the late rebrightening in GRB 080503

GRB 080503, detected by Swift, belongs to the class of bursts whose prompt phase consists of an initial short spike followed by a longer soft tail. It did not show any transition to a regular afterglow at the end of the prompt emission but exhibited a surprising rebrightening after one day. We aim to explain this rebrightening with two different scenarios - refreshed shocks or a density clump in the circumburst medium - and two models for the origin of the afterglow, the standard one where it comes from the forward shock, and an alternative one where it results from a long-lived reverse shock. We computed afterglow light curves either using a single-zone approximation for the shocked region or a detailed multizone method that more accurately accounts for the compression of the material. We find that in several of the considered cases the detailed model must be used to obtain a reliable description of the shock dynamics. The density clump scenario is not favored. We confirm previous results that the presence of the clump has little effect on the forward shock emission, except if the microphysics parameters evolve when the shock enters the clump. Moreover, we find that the rebrightening from the reverse shock is also too weak when it is calculated with the multi-zone method. On the other hand, in the refreshed-shock scenario both the forward and reverse shock models provide satisfactory fits of the data under some additional conditions on the distribution of the Lorentz factor in the ejecta and the beaming angle of the relativistic outflow.Comment: 8 pages, 4 figures, accepted for publication in A&

Global Characteristics of X-Ray Flashes and X-Ray-Rich GRBs Observed by HETE-2

We describe and discuss the global properties of 45 gamma-ray bursts (GRBs) observed by HETE-2 during the first three years of its mission, focusing on the properties of X-Ray Flashes (XRFs) and X-ray-rich GRBs (XRRs). We find that the numbers of XRFs, XRRs, and GRBs are comparable. We find that the durations and the sky distributions of XRFs and XRRs are similar to those of GRBs. We also find that the spectral properties of XRFs and XRRs are similar to those of GRBs, except that the values of the peak energy $E^{\rm obs}_{\rm peak}$ of the burst spectrum in $\nu F_\nu$, the peak energy flux \Fp, and the energy fluence $S_E$ of XRFs are much smaller -- and those of XRRs are smaller -- than those of GRBs. Finally, we find that the distributions of all three kinds of bursts form a continuum in the [$S_E$(2-30 keV),$S_E$(30-400) keV]-plane, the [$S_E$(2-400 keV), $E_{\rm peak}$]-plane, and the [$F_{\rm peak}$(50-300 keV), $E_{\rm peak}$]-plane. These results provide strong evidence that all three kinds of bursts arise from the same phenomenon.Comment: 33 pages, 15 figures, submitted to Ap