Optimization of swarm robotic constellation communication for object detection and event recognition

Swarm robotics research describes the study of how a group of relatively simple physically embodied agents can, through their interaction collectively accomplish tasks which are far beyond the capabilities of a single agent. This self organizing but decentralized form of intelligence requires that all members are autonomous and act upon their available information. From this information they are able to decide their behavior and take the appropriate action. A global behavior can then be witnessed that is derived from the local behaviors of each agent. The presented research introduces the novel method for optimizing the communication and the processing of communicated data for the purpose of detecting large scale meta object or event, denoted as meta event, which are unquantifiable through a single robotic agent. The ability of a swarm of robotic agents to cover a relatively large physical environment and their ability to detect changes or anomalies within the environment is especially advantageous for the detection of objects and the recognition of events such as oil spills, hurricanes, and large scale security monitoring. In contrast a single robot, even with much greater capabilities, could not explore or cover multiple areas of the same environment simultaneously. Many previous swarm behaviors have been developed focusing on the rules governing the local agent to agent behaviors of separation, alignment, and cohesion. By effectively optimizing these simple behaviors in coordination, through cooperative and competitive actions based on a chosen local behavior, it is possible to achieve an optimized global emergent behavior of locating a meta object or event. From the local to global relationship an optimized control algorithm was developed following the basic rules of swarm behavior for the purpose of meta event detection and recognition. Results of this optimized control algorithm are presented and compared with other work in the field of swarm robotics

The plasticity of near space: evidence for contraction

The distinction between near space and the space farther away has been well established, as has the relation of this distinction to arm length. Recent studies provide evidence for the plasticity of near space, showing that it is possible to expand its extent ("size") through tool-use. In the present study, we examine the converse effect, whether contraction of near space results from increasing the effort involved on a line bisection task. Adult participants bisected lines at different distances, while, in some cases, wearing weights. In Experiment 1, the arms, specifically, were weighted (wrist weights), and in Experiment 2, more general body weights were used (heavy backpack). As in previous studies, unencumbered participants showed leftward bias when bisecting lines at the closest distances and a rightward shift in bias with increasingly farther distances. With wrist weights, but not a heavy backpack, participants showed more rightward bias at the closest distances, and a more gradual rightward shift with increasing distance, as if the nearest locations were represented as being farther away. These results suggest that increased effort, when specifically related to the arm, can serve to reduce the size of near space, providing support for the generally symmetrical plasticity of near space representations

Right hemisphere control of visuospatial attention in near space

Traditionally, the right cerebral hemisphere has been considered to be specialized for spatial attention and orienting. A large body of research has demonstrated dissociable representations of the near space immediately surrounding the body and the more distance far space. In this study, we investigated whether right hemisphere activations commonly reported for tasks involving spatial attention (such as the line bisection and landmark tasks) are specific to stimuli presented in near space. In separate blocks of trials, participants judged either whether a vertical transector was to the left or right of the centre of a line (landmark task) or whether the line was red or blue (colour task). Stimuli were seen from four distances (30, 60, 90, 120 cm). We used EEG to measure an ERP component (the ‘line-bisection effect) specific to the direction of spatial attention (i.e., landmark minus colour). Consistent with previous results, spatial attention produced a right-lateralized negativity over occipito-parietal channels. The magnitude of this negativity was inversely related to viewing distance, being largest in near space and reduced in far space. These results suggest that the right occipito-temporal cortex may be specialized not just for the orientation of spatial attention generally, but specifically for orienting attention in the near space immediately surrounding the body

Wherever I may roam-Human activity alters movements of red deer (Cervus elaphus) and elk (Cervus canadensis) across two continents

Human activity and associated landscape modifications alter the movements of animals with consequences for populations and ecosystems worldwide. Species performing long-distance movements are thought to be particularly sensitive to human impact. Despite the increasing anthropogenic pressure, it remains challenging to understand and predict animals' responses to human activity. Here we address this knowledge gap using 1206 Global Positioning System movement trajectories of 815 individuals from 14 red deer (Cervus elaphus) and 14 elk (Cervus canadensis) populations spanning wide environmental gradients, namely the latitudinal range from the Alps to Scandinavia in Europe, and the Greater Yellowstone Ecosystem in North America. We measured individual-level movements relative to the environmental context, or movement expression, using the standardized metric Intensity of Use, reflecting both the directionality and extent of movements. We expected movement expression to be affected by resource (Normalized Difference Vegetation Index, NDVI) predictability and topography, but those factors to be superseded by human impact. Red deer and elk movement expression varied along a continuum, from highly segmented trajectories over relatively small areas (high intensity of use), to directed transitions through restricted corridors (low intensity of use). Human activity (Human Footprint Index, HFI) was the strongest driver of movement expression, with a steep increase in Intensity of Use as HFI increased, but only until a threshold was reached. After exceeding this level of impact, the Intensity of Use remained unchanged. These results indicate the overall sensitivity of Cervus movement expression to human activity and suggest a limitation of plastic responses under high human pressure, despite the species also occurring in human-dominated landscapes. Our work represents the first comparison of metric-based movement expression across widely distributed populations of a deer genus, contributing to the understanding and prediction of animals' responses to human activit

Action ability modulates time‑to‑collision judgments

Time-to-collision (TTC) underestimation has been interpreted as an adaptive response that allows observers to have more time to engage in a defensive behaviour. This bias seems, therefore, strongly linked to action preparation. There is evidence that the observer’s physical fitness modulates the underestimation effect so that people who need more time to react (i.e. those with less physical fitness) show a stronger underestimation effect. Here we investigated whether this bias is influenced by the momentary action capability of the observers. In the first experiment, participants estimated the time-to-collision of threatening or non-threatening stimuli while being mildly immobilized (with a chin rest) or while standing freely. Having reduced the possibility of movement led participants to show more underestimation of the approaching stimuli. However, this effect was not stronger for threatening relative to non-threatening stimuli. The effect of the action capability found in the first experiment could be interpreted as an expansion of peripersonal space (PPS). In the second experiment, we thus investigated the generality of this effect using an established paradigm to measure the size of peripersonal space. Participants bisected lines from different distances while in the chin rest or standing freely. The results replicated the classic left-to-right gradient in lateral spatial attention with increasing viewing distance, but no effect of immobilization was found. The manipulation of the momentary action capability of the observers influenced the participants’ performance in the TTC task but not in the line bisection task. These results are discussed in relation to the different functions of PPS

Wherever I may roam—Human activity alters movements of red deer (Cervus elaphus) and elk (Cervus canadensis) across two continents

Human activity and associated landscape modifications alter the movements of ani-mals with consequences for populations and ecosystems worldwide. Species perform-ing long-distance movements are thought to be particularly sensitive to human impact. Despite the increasing anthropogenic pressure, it remains challenging to understand and predict animals' responses to human activity. Here we address this knowledge gap using 1206 Global Positioning System movement trajectories of 815 individuals from 14 red deer (Cervus elaphus) and 14 elk (Cervus canadensis) populations spanning wide environmental gradients, namely the latitudinal range from the Alps to Scandinavia in Europe, and the Greater Yellowstone Ecosystem in North America. We measured individual-level movements relative to the environmental context, or movement ex-pression, using the standardized metric Intensity of Use, reflecting both the directional-ity and extent of movements. We expected movement expression to be affected by resource (Normalized Difference Vegetation Index, NDVI) predictability and topogra-phy, but those factors to be superseded by human impact. Red deer and elk movement expression varied along a continuum, from highly segmented trajectories over relatively small areas (high intensity of use), to directed transitions through restricted corridors (low intensity of use). Human activity (Human Footprint Index, HFI) was the strong-est driver of movement expression, with a steep increase in Intensity of Use as HFI increased, but only until a threshold was reached. After exceeding this level of impact, the Intensity of Use remained unchanged. These results indicate the overall sensitivity of Cervus movement expression to human activity and suggest a limitation of plastic responses under high human pressure, despite the species also occurring in human-dominated landscapes. Our work represents the first comparison of metric- based movement expression across widely distributed populations of a deer genus, contribut-ing to the understanding and prediction of animals' responses to human activity.publishedVersio

Recent Progress and Next Steps for the MATHUSLA LLP Detector

We report on recent progress and next steps in the design of the proposed MATHUSLA Long Lived Particle (LLP) detector for the HL-LHC as part of the Snowmass 2021 process. Our understanding of backgrounds has greatly improved, aided by detailed simulation studies, and significant R&D has been performed on designing the scintillator detectors and understanding their performance. The collaboration is on track to complete a Technical Design Report, and there are many opportunities for interested new members to contribute towards the goal of designing and constructing MATHUSLA in time for HL-LHC collisions, which would increase the sensitivity to a large variety of highly motivated LLP signals by orders of magnitude.Comment: Contribution to Snowmass 2021 (EF09, EF10, IF6, IF9), 18 pages, 12 figures. v2: included additional endorser

The James Webb Space Telescope Mission

Twenty-six years ago a small committee report, building on earlier studies, expounded a compelling and poetic vision for the future of astronomy, calling for an infrared-optimized space telescope with an aperture of at least $4m$. With the support of their governments in the US, Europe, and Canada, 20,000 people realized that vision as the $6.5m$ James Webb Space Telescope. A generation of astronomers will celebrate their accomplishments for the life of the mission, potentially as long as 20 years, and beyond. This report and the scientific discoveries that follow are extended thank-you notes to the 20,000 team members. The telescope is working perfectly, with much better image quality than expected. In this and accompanying papers, we give a brief history, describe the observatory, outline its objectives and current observing program, and discuss the inventions and people who made it possible. We cite detailed reports on the design and the measured performance on orbit.Comment: Accepted by PASP for the special issue on The James Webb Space Telescope Overview, 29 pages, 4 figure

El Niño in the Eocene greenhouse recorded by fossil bivalves and wood from Antarctica

Quasi-periodic variation in sea-surface temperature, precipitation, and sea-level pressure in the equatorial Pacific known as the El Niño – Southern Oscillation (ENSO) is an important mode of interannual variability in global climate. A collapse of the tropical Pacific onto a state resembling a so-called ‘permanent El Niño’, with a preferentially warmed eastern equatorial Pacific, flatter thermocline, and reduced interannual variability, in a warmer world is predicted by prevailing ENSO theory. If correct, future warming will be accompanied by a shift toward persistent conditions resembling El Niño years today, with major implications for global hydrological cycles and consequent impacts on socioeconomic and ecological systems. However, much uncertainty remains about how interannual variability will be affected. Here, we present multi-annual records of climate derived from growth increment widths in fossil bivalves and co-occurring driftwood from the Antarctic peninsula that demonstrate significant variability in the quasi-biennial and 3–6 year bands consistent with ENSO, despite early Eocene (∼50 Mya) greenhouse conditions with global average temperature ∼10 degrees higher than today. A coupled climate model suggests an ENSO signal and teleconnections to this region during the Eocene, much like today. The presence of ENSO variation during this markedly warmer interval argues for the persistence of robust interannual variability in our future greenhouse world