Local Communication Protocols for Learning Complex Swarm Behaviors with Deep Reinforcement Learning

Swarm systems constitute a challenging problem for reinforcement learning (RL) as the algorithm needs to learn decentralized control policies that can cope with limited local sensing and communication abilities of the agents. While it is often difficult to directly define the behavior of the agents, simple communication protocols can be defined more easily using prior knowledge about the given task. In this paper, we propose a number of simple communication protocols that can be exploited by deep reinforcement learning to find decentralized control policies in a multi-robot swarm environment. The protocols are based on histograms that encode the local neighborhood relations of the agents and can also transmit task-specific information, such as the shortest distance and direction to a desired target. In our framework, we use an adaptation of Trust Region Policy Optimization to learn complex collaborative tasks, such as formation building and building a communication link. We evaluate our findings in a simulated 2D-physics environment, and compare the implications of different communication protocols.Comment: 13 pages, 4 figures, version 2, accepted at ANTS 201

Development of a cometosheath at comet 67P/Churuyumov-Gerasimenko: A case study comparison of Rosetta observations

Context: The ionosphere of a comet is known to deflect the solar wind through mass loading, but the interaction is dependent on cometary activity. We investigate the details of this process at comet 67P using the Rosetta Ion Composition Analyzer. Aims: This study aims to compare the interaction of the solar wind and cometary ions during two different time periods in the Rosetta mission. Methods: We compared both the integrated ion moments (density, velocity, and momentum flux) and the velocity distribution functions for two days, four months apart. The velocity distribution functions were projected into a coordinate system dependent on the magnetic field direction and averaged over three hours. Results: The first case shows highly scattered H+ in both ion moments and velocity distribution function. The He2+ ions are somewhat scattered, but less so, and appear more like those of H2O+ pickup ions. The second case shows characteristic evidence of mass-loading, where the solar wind species are deflected, but the velocity distribution function is not significantly changed. Conclusions: The distributions of H+ in the first case, when compared to He2+ and H2O+ pickup ions, are indicative of a narrow cometosheath on the scale of the H+ gyroradius. Thus, He2+ and H2O+, with larger gyroradii, are largely able to pass through this cometosheath. An examination of the momentum flux tensor suggests that all species in the first case have a significant non-gyrotropic momentum flux component that is higher than that of the second mass-loaded case. Mass loading is not a sufficient explanation for the distribution functions and momentum flux tensor in the first case, and so we assume this is evidence of bow shock formation.Comment: 14 pages, 9 figures, 3 tables, 2 video

Profiling Underwater Swarm Robotic Shoaling Performance using Simulation

Abstract. Underwater exploration is important for mapping out the oceans, environmental monitoring, and search and rescue, yet water represents one of the most challenging of operational environments. The Co-CoRo project proposes to address these challenges using cognitive swarm intelligent systems. We present here CoCoRoSim, an underwater swarm robotics simulation used in designing underwater swarm robotic systems. Collective coordination of robots represents principle challenge here, and use simulation in evaluating shoaling algorithm performance given the communication, localization and orientation challenges of underwater environments. We find communication to be essential for well-coordinated shoals, and provided communication is possible, inexact localization does not significantly impact performance. As a proof of concept simulation is employed in evaluating shoaling performance in turbulent waters.

Indirect observations of electric fields at comet 67P

No spacecraft visiting a comet has been equipped with instruments to directly measure the static electric field. However, the electric field can occasionally be estimated indirectly by observing its effects on the ion velocity distribution. We present such observations made by the Rosetta spacecraft on 19 April 2016, 35 km from the nucleus. At this time comet 67P was at a low outgassing rate and the plasma environment was relatively stable. The ion velocity distributions show the cometary ions on the first half of their gyration. We estimate the bulk drift velocity and the gyration speed from the distributions. By using the local measured magnetic field and assuming an E × B drift of the gyrocentre, we get an estimate for the average electric field driving this ion motion. We analyze a period of 13 hr, during which the plasma environment does not change drastically. We find that the average strength of the perpendicular electric field component is 0.21 mV/m. The direction of the electric field is mostly anti-sunward. This is in agreement with previous results based on different methods

The source of electrons at comet 67P

We examine the origin of electrons in a weakly outgassing comet, using Rosetta mission data and a 3D collisional model of electrons at a comet. We have calculated a new dataset of electron-impact ionization (EII) frequency throughout the Rosetta escort phase, with measurements of the Rosetta Plasma Consortium's Ion and Electron Sensor (RPC/IES). The EII frequency is evaluated in 15-minute intervals and compared to other Rosetta datasets. Electron-impact ionization is the dominant source of electrons at 67P away from perihelion and is highly variable (by up to three orders of magnitude). Around perihelion, EII is much less variable and less efficient than photoionization at Rosetta. Several drivers of the EII frequency are identified, including magnetic field strength and the outgassing rate. Energetic electrons are correlated to the Rosetta-upstream solar wind potential difference, confirming that the ionizing electrons are solar wind electrons accelerated by an ambipolar field. The collisional test particle model incorporates a spherically symmetric, pure water coma and all the relevant electron-neutral collision processes. Electric and magnetic fields are stationary model inputs, and are computed using a fully-kinetic, collisionless Particle-in-Cell simulation. Collisional electrons are modelled at outgassing rates of $Q=10^{26}$ s$^{-1}$ and $Q=1.5\times10^{27}$ s$^{-1}$. Secondary electrons are the dominant population within a weakly outgassing comet. These are produced by collisions of solar wind electrons with the neutral coma. The implications of large ion flow speed estimates at Rosetta, away from perihelion, are discussed in relation to multi-instrument studies and the new results of the EII frequency obtained in the present study.Comment: 27 Pages including Appendices, 24 Figure

The source of electrons at comet 67P

We examine the origin of electrons in a weakly outgassing comet, using Rosetta mission data and a 3D collisional model of electrons at a comet. We have calculated a new data set of electron-impact ionization (EII) frequency throughout the Rosetta escort phase, with measurements of the Rosetta Plasma Consortium's Ion and Electron Sensor (RPC/IES). The EII frequency is evaluated in 15-min intervals and compared to other Rosetta data sets. EII is the dominant source of electrons at 67P away from perihelion and is highly variable (by up to three orders of magnitude). Around perihelion, EII is much less variable and less efficient than photoionization at Rosetta. Several drivers of the EII frequency are identified, including magnetic field strength and the outgassing rate. Energetic electrons are correlated to the Rosetta-upstream solar wind potential difference, confirming that the ionizing electrons are solar wind electrons accelerated by an ambipolar field. The collisional test particle model incorporates a spherically symmetric, pure water coma and all the relevant electron-neutral collision processes. Electric and magnetic fields are stationary model inputs, and are computed using a fully kinetic, collision-less Particle-in-Cell simulation. Collisional electrons are modelled at outgassing rates of Q = 1026 s-1 and Q = 1.5 × 1027 s-1. Secondary electrons are the dominant population within a weakly outgassing comet. These are produced by collisions of solar wind electrons with the neutral coma. The implications of large ion flow speed estimates at Rosetta, away from perihelion, are discussed in relation to multi-instrument studies and the new results of the EII frequency obtained in this study

LRPPRC mutations cause early-onset multisystem mitochondrial disease outside of the French-Canadian population

Mitochondrial Complex IV [cytochrome c oxidase (COX)] deficiency is one of the most common respiratory chain defects in humans. The clinical phenotypes associated with COX deficiency include liver disease, cardiomyopathy and Leigh syndrome, a neurodegenerative disorder characterized by bilateral high signal lesions in the brainstem and basal ganglia. COX deficiency can result from mutations affecting many different mitochondrial proteins. The French-Canadian variant of COX-deficient Leigh syndrome is unique to the Saguenay-Lac-Saint-Jean region of Québec and is caused by a founder mutation in the LRPPRC gene. This encodes the leucine-rich pentatricopeptide repeat domain protein (LRPPRC), which is involved in post-transcriptional regulation of mitochondrial gene expression. Here, we present the clinical and molecular characterization of novel, recessive LRPPRC gene mutations, identified using whole exome and candidate gene sequencing. The 10 patients come from seven unrelated families of UK-Caucasian, UK-Pakistani, UK-Indian, Turkish and Iraqi origin. They resemble the French-Canadian Leigh syndrome patients in having intermittent severe lactic acidosis and early-onset neurodevelopmental problems with episodes of deterioration. In addition, many of our patients have had neonatal cardiomyopathy or congenital malformations, most commonly affecting the heart and the brain. All patients who were tested had isolated COX deficiency in skeletal muscle. Functional characterization of patients’ fibroblasts and skeletal muscle homogenates showed decreased levels of mutant LRPPRC protein and impaired Complex IV enzyme activity, associated with abnormal COX assembly and reduced steady-state levels of numerous oxidative phosphorylation subunits. We also identified a Complex I assembly defect in skeletal muscle, indicating different roles for LRPPRC in post-transcriptional regulation of mitochondrial mRNAs between tissues. Patient fibroblasts showed decreased steady-state levels of mitochondrial mRNAs, although the length of poly(A) tails of mitochondrial transcripts were unaffected. Our study identifies LRPPRC as an important disease-causing gene in an early-onset, multisystem and neurological mitochondrial disease, which should be considered as a cause of COX deficiency even in patients originating outside of the French-Canadian population

Concentration of ascorbic acid and antioxidant response in early life stages of Engraulis ringens and zooplankton during the spawning seasons of 2006–2009 off central Chile

This study reports changes in ascorbic acid (AA) in anchoveta eggs, copepods and zooplankton during the 2006, 2007 and 2009 main spawning seasons in the coastal area of the central Humboldt Current System, Chile. Anchoveta eggs, copepods and total zooplankton community shared a seasonal variation and an increasing trend in AA concentration from winter through spring which was associated with the spring diatom bloom. The lineal relationship observed between AA concentration in anchoveta eggs, chlorophyll a and Sea Surface Temperature (SST) suggests that the increase in phytoplankton abundance could also increase the amount of AA in the spawning female anchoveta incorporated through tissue, thus increasing the concentration in their eggs. Ascorbic acid concentrations in copepods presented size (weight) dependence. Small copepods (e.g. Acartia, Oithona) had AA concentrations two orders of magnitude higher than the heavier weight class copepods (e.g. Calanus, Rhincalanus). Results of the determination of glutathione and the antioxidant potential showed a similar trend in interannual variations, suggesting that cold SST conditions observed in the 2007 spawning season could increase the consumption of antioxidants in early stages. Potential connections between AA concentration in the food web on anchoveta reproduction and egg hatching and embryo malformations are discussed