Task Allocation and Collaborative Localisation in Multi-Robot Systems

To utilise multiple robots, it is fundamental to know what they should do, called task allocation, and to know where the robots are, called localisation. The order that tasks are completed in is often important, and makes task allocation difficult to solve (40 tasks have 1047 different ways of completing them). Algorithms in literature range from fast methods that provide reasonable allocations, to slower methods that can provide optimal allocations. These algorithms work well for systems with identical robots, but do not utilise robot differences for superior allocations when robots are non-identical. They also can not be applied to robots that can use different tools, where they must consider which tools to use for each task. Robot localisation is performed using sensors which are often assumed to always be available. This is not the case in GPS-denied environments such as tunnels, or on long-range missions where replacement sensors are not readily available. A promising method to overcome this is collaborative localisation, where robots observe one another to improve their location estimates. There has been little research on what robot properties make collaborative localisation most effective, or how to tune systems to make it as accurate as possible. Most task allocation algorithms do not consider localisation as part of the allocation process. If task allocation algorithms limited inter-robot distance, collaborative localisation can be performed during task completion. Such an algorithm could equally be used to ensure robots are within communication distance, and to quickly detect when a robot fails. While some algorithms for this exist in literature, they provide a weak guarantee of inter-robot distance, which is undesirable when applied to real robots. The aim of this thesis is to improve upon task allocation algorithms by increasing task allocation speed and efficiency, and supporting robot tool changes. Collaborative localisation parameters are analysed, and a task allocation algorithm that enables collaborative localisation on real robots is developed. This thesis includes a compendium of journal articles written by the author. The four articles forming the main body of the thesis discuss the multi-robot task allocation and localisation research during the author’s candidature. Two appendices are included, representing conference articles written by the author that directly relate to the thesis.Thesis (Ph.D.) -- University of Adelaide, School of Mechanical Engineering, 201

Increased Corrosion Resistance of Zinc Magnesium Aluminum Galvanised Coating through Germanium Additions

The corrosion performance of a Zinc Magnesium Aluminium alloy was shown to improve through the addition of a quaternary element, Germanium. Improved corrosion resistance can be attributed to microstructural changes in the alloy due to Ge addition while in the molten state. The proportion of the most active MgZn2 phase which has been shown to initiate the corrosion reaction in a ZMA alloy was reduced thorough the formation of Mg2Ge crystals. The formation of crystal structures within the alloy also increased the heterogeneous nucleation of the primary zinc phase. The Scanning Vibrating Electrode Technique (SVET) was used to measure the rate of corrosion, anode life and zinc loss of the alloy samples. The results showed a zinc loss of around 50% when compared to standard ZMA alloy without Ge addition

SN2010jp (PTF10aaxi): A Jet-Driven Type II Supernova

We present photometry and spectroscopy of the peculiar TypeII supernova (SN) 2010jp, also named PTF10aaxi. The light curve exhibits a linear decline with a relatively low peak absolute magnitude of only -15.9, and a low radioactive decay luminosity at late times that suggests a nickel mass below 0.003 $M_{\odot}$. Spectra of SN2010jp display an unprecedented triple-peaked H$\alpha$ line profile, showing: (1) a narrow (800 km/s) central component that suggests shock interaction with dense CSM; (2) high-velocity blue and red emission features centered at -12600 and +15400 km/s; and (3) broad wings extending from -22000 to +25000 km/s. These features persist during 100 days after explosion. We propose that this line profile indicates a bipolar jet-driven explosion, with the central component produced by normal SN ejecta and CSM interaction at mid latitudes, while the high-velocity bumps and broad line wings arise in a nonrelativistic bipolar jet. Two variations of the jet interpretation seem plausible: (1) A fast jet mixes 56Ni to high velocities in polar zones of the H-rich envelope, or (2) the reverse shock in the jet produces blue and red bumps in Balmer lines when a jet interacts with dense CSM. Jet-driven SNeII are predicted for collapsars resulting from a wide range of initial masses above 25 $M_{\odot}$ at sub-solar metallicity. This seems consistent with the SN host environment, which is either an extremely low-luminosity dwarf galaxy or very remote parts of an interacting pair of star-forming galaxies. It also seems consistent with the low 56Ni mass that may accompany black hole formation. We speculate that the jet survives to produce observable signatures because the star's H envelope was mostly stripped away by previous eruptive mass loss.Comment: 11 pages, 9 figures, submitted to MNRA

Exploring the Optical Transient Sky with the Palomar Transient Factory

The Palomar Transient Factory (PTF) is a wide-field experiment designed to investigate the optical transient and variable sky on time scales from minutes to years. PTF uses the CFH12k mosaic camera, with a field of view of 7.9 deg^2 and a plate scale of 1 asec/pixel, mounted on the the Palomar Observatory 48-inch Samuel Oschin Telescope. The PTF operation strategy is devised to probe the existing gaps in the transient phase space and to search for theoretically predicted, but not yet detected, phenomena, such as fallback supernovae, macronovae, .Ia supernovae and the orphan afterglows of gamma-ray bursts. PTF will also discover many new members of known source classes, from cataclysmic variables in their various avatars to supernovae and active galactic nuclei, and will provide important insights into understanding galactic dynamics (through RR Lyrae stars) and the Solar system (asteroids and near-Earth objects). The lessons that can be learned from PTF will be essential for the preparation of future large synoptic sky surveys like the Large Synoptic Survey Telescope. In this paper we present the scientific motivation for PTF and describe in detail the goals and expectations for this experiment.Comment: 15 pages, 6 figures, submitted to PAS

Humanitarian Engineering, Past and Present: A Role-Playing First-Year Course

This activity is considered an NAE Exemplar in Engineering Ethics Education and was included in a 2016 report with other exemplary activities

Looking beyond the exome: a phenotype-first approach to molecular diagnostic resolution in rare and undiagnosed diseases.

PurposeTo describe examples of missed pathogenic variants on whole-exome sequencing (WES) and the importance of deep phenotyping for further diagnostic testing.MethodsGuided by phenotypic information, three children with negative WES underwent targeted single-gene testing.ResultsIndividual 1 had a clinical diagnosis consistent with infantile systemic hyalinosis, although WES and a next-generation sequencing (NGS)-based ANTXR2 test were negative. Sanger sequencing of ANTXR2 revealed a homozygous single base pair insertion, previously missed by the WES variant caller software. Individual 2 had neurodevelopmental regression and cerebellar atrophy, with no diagnosis on WES. New clinical findings prompted Sanger sequencing and copy number testing of PLA2G6. A novel homozygous deletion of the noncoding exon 1 (not included in the WES capture kit) was detected, with extension into the promoter, confirming the clinical suspicion of infantile neuroaxonal dystrophy. Individual 3 had progressive ataxia, spasticity, and magnetic resonance image changes of vanishing white matter leukoencephalopathy. An NGS leukodystrophy gene panel and WES showed a heterozygous pathogenic variant in EIF2B5; no deletions/duplications were detected. Sanger sequencing of EIF2B5 showed a frameshift indel, probably missed owing to failure of alignment.ConclusionThese cases illustrate potential pitfalls of WES/NGS testing and the importance of phenotype-guided molecular testing in yielding diagnoses

Real-Time Detection and Rapid Multiwavelength Follow-up Observations of a Highly Subluminous Type II-P Supernova from the Palomar Transient Factory Survey

The Palomar Transient Factory (PTF) is an optical wide-field variability survey carried out using a camera with a 7.8 square degree field of view mounted on the 48-in Oschin Schmidt telescope at Palomar Observatory. One of the key goals of this survey is to conduct high-cadence monitoring of the sky in order to detect optical transient sources shortly after they occur. Here, we describe the real-time capabilities of the PTF and our related rapid multiwavelength follow-up programs, extending from the radio to the gamma-ray bands. We present as a case study observations of the optical transient PTF10vdl (SN 2010id), revealed to be a very young core-collapse (Type II-P) supernova having a remarkably low luminosity. Our results demonstrate that the PTF now provides for optical transients the real-time discovery and rapid-response follow-up capabilities previously reserved only for high-energy transients like gamma-ray bursts.Comment: ApJ, in press; all spectroscopic data available from the Weizmann Institute of Science Experimental Astrophysics Spectroscopy System (WISEASS; http://www.weizmann.ac.il/astrophysics/wiseass/

Rapidly Decaying Supernova 2010X: A Candidate ".Ia" Explosion

We present the discovery, photometric and spectroscopic follow-up observations of SN 2010X (PTF 10bhp). This supernova decays exponentially with tau_d=5 days, and rivals the current recordholder in speed, SN 2002bj. SN 2010X peaks at M_r=-17mag and has mean velocities of 10,000 km/s. Our light curve modeling suggests a radioactivity powered event and an ejecta mass of 0.16 Msun. If powered by Nickel, we show that the Nickel mass must be very small (0.02 Msun) and that the supernova quickly becomes optically thin to gamma-rays. Our spectral modeling suggests that SN 2010X and SN 2002bj have similar chemical compositions and that one of Aluminum or Helium is present. If Aluminum is present, we speculate that this may be an accretion induced collapse of an O-Ne-Mg white dwarf. If Helium is present, all observables of SN 2010X are consistent with being a thermonuclear Helium shell detonation on a white dwarf, a ".Ia" explosion. With the 1-day dynamic-cadence experiment on the Palomar Transient Factory, we expect to annually discover a few such events.Comment: 6 pages, 5 figures; Minor Changes; Note correction in Fig 4 caption; published by ApJ