Control for Localization and Visibility Maintenance of an Independent Agent using Robotic Teams

Given a non-cooperative agent, we seek to formulate a control strategy to enable a team of robots to localize and track the agent in a complex but known environment while maintaining a continuously optimized line-of-sight communication chain to a fixed base station. We focus on two aspects of the problem. First, we investigate the estimation of the agent\u27s location by using nonlinear sensing modalities, in particular that of range-only sensing, and formulate a control strategy based on improving this estimation using one or more robots working to independently gather information. Second, we develop methods to plan and sequence robot deployments that will establish and maintain line-of-sight chains for communication between the independent agent and the fixed base station using a minimum number of robots. These methods will lead to feedback control laws that can realize this plan and ensure proper navigation and collision avoidance

Separation Plane Priority in Computer Image Generation

Flight simulators are devices in which air crews can be trained without the use of actual aircraft. Potentially dangerous maneuvers, such as air-to-air refueling, and destructive exercises, such as evasive action from weaponry or aerial dogfights, can be practiced repeatedly with no risk to pilot or crew. Flight simulators are cost effective since the fuel costs associated with training pilots in actual aircraft can be excessive. Flight simulators offer an alternate training method with reduced cost. The task of a visual flight simulator is to present the trainee with scenes representative of those that would be seen if the actual mission being trained for were flown. Scenes produced by a Computer Image Generation device must be of sufficient content, fidelity, resolution, brightness and field of view to allow the trainees to improve their skills. If one of these factors falls below the threshold of acceptability, the training value of the device is diminished, if not lost altogether. One of the most challenging problems in Computer Image Generation is the removal of hidden parts from images of solid objects. In real life, the opaque material of these objects obstructs the light rays from hidden parts and prevents us from seeing them. In the computer generation of an image no such automatic elimination takes place. Instead, all parts of every object, including parts that should be hidden are displayed. In order to remove these parts and create a more realistic image, a hidden-line or hidden-surface algorithm must be applied to the set of objects. When more than a single object is in the scene another problem arises; which of the objects block the view of the others. This is an occultation problem. This paper presents a “separation plane” priority algorithm used in Computer Image Generation to solve this occultation problem. The algorithm uses a binary search technique to generate a “listable set”; a set of planes that yield proper object priority for any viewpoint in the data base

Termination Casts: A Flexible Approach to Termination with General Recursion

This paper proposes a type-and-effect system called Teqt, which distinguishes terminating terms and total functions from possibly diverging terms and partial functions, for a lambda calculus with general recursion and equality types. The central idea is to include a primitive type-form "Terminates t", expressing that term t is terminating; and then allow terms t to be coerced from possibly diverging to total, using a proof of Terminates t. We call such coercions termination casts, and show how to implement terminating recursion using them. For the meta-theory of the system, we describe a translation from Teqt to a logical theory of termination for general recursive, simply typed functions. Every typing judgment of Teqt is translated to a theorem expressing the appropriate termination property of the computational part of the Teqt term.Comment: In Proceedings PAR 2010, arXiv:1012.455

Alternative Splicing and Polyadenylation Contribute to the Generation of hERG1 C-terminal Isoforms

The human ether-a-go-go-related gene 1 (hERG1) encodes the pore-forming subunit of the rapidly activating delayed rectifier potassium channel. Several hERG1 isoforms with different N- and C-terminal ends have been identified. The hERG1a, hERG1b, and hERG1-3.1 isoforms contain the full-length C terminus, whereas the hERG1USOisoforms, hERG1aUSO and hERG1bUSO, lack most of the C-terminal domain and contain a unique C-terminal end. The mechanisms underlying the generation of hERG1USOisoforms are not understood. We show that hERG1 isoforms with different C-terminal ends are generated by alternative splicing and polyadenylation of hERG1 pre-mRNA. We identified an intrinsically weak, noncanonical poly(A) signal, AGUAAA, within intron 9 of hERG1 that modulates the expression of hERG1a and hERG1aUSO. Replacing AGUAAA with the strong, canonical poly(A) signal AAUAAA resulted in the predominant production of hERG1aUSO and a marked decrease in hERG1 current. In contrast, eliminating the intron 9 poly(A) signal or increasing the strength of 5′ splice site led to the predominant production of hERG1a and a significant increase in hERG1 current. We found significant variation in the relative abundance of hERG1 C-terminal isoforms in different human tissues. Taken together, these findings suggest that post-transcriptional regulation of hERG1 pre-mRNA may represent a novel mechanism to modulate the expression and function of hERG1 channels

Getting DNA twist rigidity from single molecule experiments

We use an elastic rod model with contact to study the extension versus rotation diagrams of single supercoiled DNA molecules. We reproduce quantitatively the supercoiling response of overtwisted DNA and, using experimental data, we get an estimation of the effective supercoiling radius and of the twist rigidity of B-DNA. We find that unlike the bending rigidity, the twist rigidity of DNA seems to vary widely with the nature and concentration of the salt buffer in which it is immerged

Multivariate Fitting and the Error Matrix in Global Analysis of Data

When a large body of data from diverse experiments is analyzed using a theoretical model with many parameters, the standard error matrix method and the general tools for evaluating errors may become inadequate. We present an iterative method that significantly improves the reliability of the error matrix calculation. To obtain even better estimates of the uncertainties on predictions of physical observables, we also present a Lagrange multiplier method that explores the entire parameter space and avoids the linear approximations assumed in conventional error propagation calculations. These methods are illustrated by an example from the global analysis of parton distribution functions.Comment: 13 pages, 5 figures, Latex; minor clarifications, fortran program made available; Normalization of Hessian matrix changed to HEP standar

Virginia Should Open Its Courthouse Doors to Review Administrative Decisions Involving Public Assistance

Virginia\u27s courts interpret the Virginia Administrative Process Act (VAPA) to prohibit judicial review of administrative decisions that grant or deny public assistance funds. Virginia is therefore one of only three states which fail to provide judicial review of such decisions. This article advocates judicial review of public assistance hearing decisions on the basis of principles of statutory construction and constitutional law. The article concludes that Virginia\u27s minority status indicates a failure to meet traditional notions of fairness

Questions on uncertainties in parton distributions

A discussion is presented of the manner in which uncertainties in parton distributions and related quantities are determined. One of the central problems is the criteria used to judge what variation of the parameters describing a set of partons is acceptable within the context of a global fit. Various ways of addressing this question are outlined

Radiation Reaction fields for an accelerated dipole for scalar and electromagnetic radiation

The radiation reaction fields are calculated for an accelerated changing dipole in scalar and electromagnetic radiation fields. The acceleration reaction is shown to alter the damping of a time varying dipole in the EM case, but not the scalar case. In the EM case, the dipole radiation reaction field can exert a force on an accelerated monopole charge associated with the accelerated dipole. The radiation reaction of an accelerated charge does not exert a torque on an accelerated magnetic dipole, but an accelerated dipole does exert a force on the charge. The technique used is that originally developed by Penrose for non-singular fields and extended by the author for an accelerated monopole charge.Comment: 11 page

A new numerical method for obtaining gluon distribution functions G(x,Q2)=xg(x,Q2)G(x,Q^2)=xg(x,Q^2), from the proton structure function F2γp(x,Q2)F_2^{\gamma p}(x,Q^2)

An exact expression for the leading-order (LO) gluon distribution function $G(x,Q^2)=xg(x,Q^2)$ from the DGLAP evolution equation for the proton structure function $F_2^{\gamma p}(x,Q^2)$ for deep inelastic $\gamma^* p$ scattering has recently been obtained [M. M. Block, L. Durand and D. W. McKay, Phys. Rev. D{\bf 79}, 014031, (2009)] for massless quarks, using Laplace transformation techniques. Here, we develop a fast and accurate numerical inverse Laplace transformation algorithm, required to invert the Laplace transforms needed to evaluate $G(x,Q^2)$, and compare it to the exact solution. We obtain accuracies of less than 1 part in 1000 over the entire $x$ and $Q^2$ spectrum. Since no analytic Laplace inversion is possible for next-to-leading order (NLO) and higher orders, this numerical algorithm will enable one to obtain accurate NLO (and NNLO) gluon distributions, using only experimental measurements of $F_2^{\gamma p}(x,Q^2)$.Comment: 9 pages, 2 figure