Towards a Formal Verification Methodology for Collective Robotic Systems

We introduce a UML-based notation for graphically modeling systems’ security aspects in a simple and intuitive way and a model-driven process that transforms graphical specifications of access control policies in XACML. These XACML policies are then translated in FACPL, a policy language with a formal semantics, and the resulting policies are evaluated by means of a Java-based software tool

Modelling a wireless connected swarm of mobile robots

It is a characteristic of swarm robotics that modelling the overall swarm behaviour in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the laboratory to real-world engineering realisation such models would be critical for both overall validation of algorithm correctness and detailed parameter optimisation. We seek models with predictive power: models that allow us to determine the effect of modifying parameters in individual robots on the overall swarm behaviour. This paper presents results from a study to apply the probabilistic modelling approach to a class of wireless connected swarms operating in unbounded environments. The paper proposes a probabilistic finite state machine (PFSM) that describes the network connectivity and overall macroscopic behaviour of the swarm, then develops a novel robot-centric approach to the estimation of the state transition probabilities within the PFSM. Using measured data from simulation the paper then carefully validates the PFSM model step by step, allowing us to assess the accuracy and hence the utility of the model. © Springer Science + Business Media, LLC 2008

One-neutron removal reactions on light neutron-rich nuclei

A study of high energy (43--68 MeV/nucleon) one-neutron removal reactions on a range of neutron-rich psd-shell nuclei (Z = 5--9, A = 12--25) has been undertaken. The inclusive longitudinal and transverse momentum distributions for the core fragments, together with the cross sections have been measured for breakup on a carbon target. Momentum distributions for reactions on tantalum were also measured for a subset of nuclei. An extended version of the Glauber model incorporating second order noneikonal corrections to the JLM parametrisation of the optical potential has been used to describe the nuclear breakup, whilst the Coulomb dissociation is treated within first order perturbation theory. The projectile structure has been taken into account via shell model calculations employing the psd-interaction of Warburton and Brown. Both the longitudinal and transverse momentum distributions, together with the integrated cross sections were well reproduced by these calculations and spin-parity assignments are thus proposed for $^{15}$B, $^{17}$C, $^{19-21}$N, $^{21,23}$O, $^{23-25}$F. In addition to the large spectroscopic amplitudes for the $\nu2$s$_{1/2}$ intruder configuration in the N=9 isotones,$^{14}$B and $^{15}$C, significant $\nu2$s$_{1/2}^2$ admixtures appear to occur in the ground state of the neighbouring N=10 nuclei $^{15}$B and $^{16}$C. Similarly, crossing the N=14 subshell, the occupation of the $\nu2$s$_{1/2}$ orbital is observed for $^{23}$O, $^{24,25}$F. Analysis of the longitudinal and transverse momentum distributions reveals that both carry spectroscopic information, often of a complementary nature. The general utility of high energy nucleon removal reactions as a spectroscopic tool is also examined.Comment: 50 pages, 19 figures, submitted to Phys. Rev.

The solvation and dissociation of 4-benzylaniline hydrochloride in chlorobenzene

A reaction scheme is proposed to account for the liberation of 4-benzylaniline from 4-benzylaniline hydrochloride, using chlorobenzene as a solvent at a temperature of 373 K. Two operational regimes are explored: “closed” reaction conditions correspond to the retention of evolved hydrogen chloride gas within the reaction medium, whereas an “open” system permits gaseous hydrogen chloride to be released from the reaction medium. The solution phase chemistry is analyzed by 1H NMR spectroscopy. Complete liberation of solvated 4-benzylaniline from solid 4-benzylaniline hydrochloride is possible under “open” conditions, with the entropically favored conversion of solvated hydrogen chloride to the gaseous phase thought to be the thermodynamic driver that effectively controls a series of interconnecting equilibria. A kinetic model is proposed to account for the observations of the open system

FAP206 is a Microtubule-Docking Adapter for Ciliary Radial Spoke 2 and Dynein c

Radial spokes are conserved macromolecular complexes that are essential for ciliary motility. A triplet of three radial spokes, RS1, RS2, and RS3, repeats every 96 nm along the doublet microtubules. Each spoke has a distinct base that docks to the doublet and is linked to different inner dynein arms. Little is known about the assembly and functions of individual radial spokes. A knockout of the conserved ciliary protein FAP206 in the ciliate Tetrahymena resulted in slow cell motility. Cryo–electron tomography showed that in the absence of FAP206, the 96-nm repeats lacked RS2 and dynein c. Occasionally, RS2 assembled but lacked both the front prong of its microtubule base and dynein c, whose tail is attached to the front prong. Overexpressed GFP-FAP206 decorated nonciliary microtubules in vivo. Thus FAP206 is likely part of the front prong and docks RS2 and dynein c to the microtubule

One-neutron removal reactions on neutron-rich psd-shell nuclei

A systematic study of high energy, one-neutron removal reactions on 23 neutron-rich, psd--shell nuclei (Z=5-9, A=12-25) has been carried out. The longitudinal momentum distributions of the core fragments and corresponding single-neutron removal cross sections are reported for reactions on a carbon target. Extended Glauber model calculations, weighted by the spectroscopic factors obtained from shell model calculations, are compared to the experimental results. Conclusions are drawn regarding the use of such reactions as a spectroscopic tool and spin-parity assignments are proposed for 15B, 17C, 19-21N, 21,23O, 23-25F. The nature of the weakly bound systems 14B and 15,17C is discussed.Comment: 11 pages + 2 figure

\b{eta}-delayed three-proton decay of 31Ar

The beta decay of 31Ar, produced by fragmentation of a 36Ar beam at 880 MeV/nucleon, was investigated. Identified ions of 31Ar were stopped in a gaseous time projection chamber with optical readout allowing to record decay events with emission of protons. In addition to \b{eta}-delayed emission of one and two protons we have clearly observed the beta-delayed three-proton branch. The branching ratio for this channel in 31Ar is found to be 0.07(2)%.Comment: 5 pages, 3 figures, submitted to Physical Rev.

Empowerment or Engagement? Digital Health Technologies for Mental Healthcare

We argue that while digital health technologies (e.g. artificial intelligence, smartphones, and virtual reality) present significant opportunities for improving the delivery of healthcare, key concepts that are used to evaluate and understand their impact can obscure significant ethical issues related to patient engagement and experience. Specifically, we focus on the concept of empowerment and ask whether it is adequate for addressing some significant ethical concerns that relate to digital health technologies for mental healthcare. We frame these concerns using five key ethical principles for AI ethics (i.e. autonomy, beneficence, non-maleficence, justice, and explicability), which have their roots in the bioethical literature, in order to critically evaluate the role that digital health technologies will have in the future of digital healthcare