Range-only benthic Rover localization off the central California coast

Nowadays, the use of autonomous vehicles for ocean research has increased, since these vehicles have a better cost/performance ratio than crewed vessels or oceanographic ships. For example, autonomous surface vehicles can be used to localize underwater targets. This paper describes a mission to find a crawling robot - Benthic Rover - on the abyssal plain in the north eastern Pacific, using single-beacon localization from onboard a Wave Glider autonomous surface vehicle. While the Wave Glider is moving around the surface in the target zone, it takes ranges between the target and itself using acoustic modems. With these ranges it can compute the target location, as a Long Baseline (LBL) system. The benefit of this approach is the reduction of cost and complexity relative to deployment of a traditional shipboard LBL system. Additionally, this is a mobile system, and can cover long distances, and can geolocate multiple targets over a large area.Postprint (author's final draft

Range-only underwater target localization : error characterization

Locating a target from range measurements using only one mobile transducer has been increased over the last years. This method allows us to reduce the high costs of deployment and maintenance of traditional fixed systems on the seafloor such as Long Baseline. The range-only single-beacon is one of the new architectures developed using the new capabilities of modern acoustic underwater modems, which can be time synchronization, time stamp, and range measurements. This document presents a method to estimate the sources of error in this type of architecture so as to obtain a mathematical model which allows us to develop simulations and study the best localization algorithms. Different simulations and real field tests have been carried out in order to verify a good performance of the model proposed.Postprint (published version

The representation of priors and decisions in the human parietal cortex

Animals actively sample their environment through orienting actions such as saccadic eye movements. Saccadic targets are selected based both on sensory evidence immediately preceding the saccade, and a “salience map” or prior built-up over multiple saccades. In the primate cortex, the selection of each individual saccade depends on competition between target-selective cells that ramp up their firing rate to saccade release. However, it is less clear how a cross-saccade prior might be implemented, either in neural firing or through an activity-silent mechanism such as modification of synaptic weights on sensory inputs. Here, we present evidence from magnetoencephalography for 2 distinct processes underlying the selection of the current saccade, and the representation of the prior, in human parietal cortex. While the classic ramping decision process for each saccade was reflected in neural firing rates (measured in the event-related field), a prior built-up over multiple saccades was implemented via modulation of the gain on sensory inputs from the preferred target, as evidenced by rapid frequency tagging. A cascade of computations over time (initial representation of the prior, followed by evidence accumulation and then an integration of prior and evidence) provides a mechanism by which a salience map may be built up across saccades in parietal cortex. It also provides insight into the apparent contradiction that inactivation of parietal cortex has been shown not to affect performance on single-trials, despite the presence of clear evidence accumulation signals in this region

Highly conductive Sb-doped layers in strained Si

The ability to create stable, highly conductive ultrashallow doped regions is a key requirement for future silicon-based devices. It is shown that biaxial tensile strain reduces the sheet resistance of highly doped n-type layers created by Sb or As implantation. The improvement is stronger with Sb, leading to a reversal in the relative doping efficiency of these n-type impurities. For Sb, the primary effect is a strong enhancement of activation as a function of tensile strain. At low processing temperatures, 0.7% strain more than doubles Sb activation, while enabling the formation of stable, ~10-nm-deep junctions. This makes Sb an interesting alternative to As for ultrashallow junctions in strain-engineered complementary metal-oxide-semiconductor device

Institutions, ideas and regional policy (un-)coordination: The East African Community and the politics of second-hand clothing

In this article, we engage with contemporary debates about South-South regionalism as spaces to advance collective development agendas. Our starting point is recent scholarship emphasizing regions as important political spaces where new development possibilities are being conceived in a changing global order. We build upon the emphasis this literature places on regions as sites of policy innovation but argue that insufficient attention has been paid to regional institutional dynamics. We explore these issues with reference to the East African Community (EAC) and its decision in March 2016 to ‘phase-out’ second-hand clothing imports, a decision which was soon abandoned by the majority of EAC states (the exception being Rwanda), following opposition from the US. While the EAC served as a crucial forum to conceive and promote this policy, we argue that its institutional foundations proved insufficient to produce the level of regional coordination necessary to ensure its implementation and to withstand external pressure. In this way, we also challenge the prevailing logic that portrays regional institutions in Africa as ‘empty spaces’ by both demonstrating the role of the EAC as a site of policy development and its institutional dynamics in shaping political outcomes

Coordination Implications of Software Coupling in Open Source Projects

The effect of software coupling on the quality of software has been studied quite widely since the seminal paper on software modularity by Parnas [1]. However, the effect of the increase in software coupling on the coordination of the developers has not been researched as much. In commercial software development environments there normally are coordination mechanisms in place to manage the coordination requirements due to software dependencies. But, in the case of Open Source software such coordination mechanisms are harder to implement, as the developers tend to rely solely on electronic means of communication. Hence, an understanding of the changing coordination requirements is essential to the management of an Open Source project. In this paper we study the effect of changes in software coupling on the coordination requirements in a case study of a popular Open Source project called JBoss

Rhodium Bis(quinolinyl)benzene Complexes for Methane Activation and Functionalization

A series of rhodium(III) bis(quinolinyl)benzene (bisq^x) complexes was studied as candidates for the homogeneous partial oxidation of methane. Density functional theory (DFT) (M06 with Poisson continuum solvation) was used to investigate a variety of (bisq^x) ligand candidates involving different functional groups to determine the impact on Rh^(III)(bisq^x)-catalyzed methane functionalization. The free energy activation barriers for methane C H activation and Rh–methyl functionalization at 298 K and 498 K were determined. DFT studies predict that the best candidate for catalytic methane functionalization is Rh^(III) coordinated to unsubstituted bis(quinolinyl)benzene (bisq). Support is also found for the prediction that the η^2-benzene coordination mode of (bisq^x) ligands on Rh encourages methyl group functionalization by serving as an effective leaving group for S_N2 and S_R2 attack

Theory and design of Inx_{x}Ga1−x_{1-x}As1−y_{1-y}Biy_{y} mid-infrared semiconductor lasers: type-I quantum wells for emission beyond 3 μ\mum on InP substrates

We present a theoretical analysis and optimisation of the properties and performance of mid-infrared semiconductor lasers based on the dilute bismide alloy In$_{x}$Ga$_{1-x}$As$_{1-y}$Bi$_{y}$, grown on conventional (001) InP substrates. The ability to independently vary the epitaxial strain and emission wavelength in this quaternary alloy provides significant scope for band structure engineering. Our calculations demonstrate that structures based on compressively strained In$_{x}$Ga$_{1-x}$As$_{1-y}$Bi$_{y}$ quantum wells (QWs) can readily achieve emission wavelengths in the 3 -- 5 $\mu$m range, and that these QWs have large type-I band offsets. As such, these structures have the potential to overcome a number of limitations commonly associated with this application-rich but technologically challenging wavelength range. By considering structures having (i) fixed QW thickness and variable strain, and (ii) fixed strain and variable QW thickness, we quantify key trends in the properties and performance as functions of the alloy composition, structural properties, and emission wavelength, and on this basis identify routes towards the realisation of optimised devices for practical applications. Our analysis suggests that simple laser structures -- incorporating In$_{x}$Ga$_{1-x}$As$_{1-y}$Bi$_{y}$ QWs and unstrained ternary In$_{0.53}$Ga$_{0.47}$As barriers -- which are compatible with established epitaxial growth, provide a route to realising InP-based mid-infrared diode lasers.Comment: Submitted versio

Voltage-gated sodium channels as targets for pyrethroid insecticides

The pyrethroid insecticides are a very successful group of compounds that have been used extensively for the control of arthropod pests of agricultural crops and vectors of animal and human disease. Unfortunately, this has led to the development of resistance to the compounds in many species. The mode of action of pyrethroids is known to be via interactions with the voltage-gated sodium channel. Understanding how binding to the channel is affected by amino acid substitutions that give rise to resistance has helped to elucidate the mode of action of the compounds and the molecular basis of their selectivity for insects vs mammals and between insects and other arthropods. Modelling of the channel/pyrethroid interactions, coupled with the ability to express mutant channels in oocytes and study function, has led to knowledge of both how the channels function and potentially how to design novel insecticides with greater species selectivity