Supervised Control of a Flying Performing Robot using its Intrinsic Sound

We present the current results of our ongoing research in achieving efficient control of a flying robot for a wide variety of possible applications. A lightweight small indoor helicopter has been equipped with an embedded system and relatively simple sensors to achieve autonomous stable flight. The controllers have been tuned using genetic algorithms to further enhance flight stability. A number of additional sensors would need to be attached to the helicopter to enable it to sense more of its environment such as its current location or the location of obstacles like the walls of the room it is flying in. The lightweight nature of the helicopter very much restricts the amount of sensors that can be attached to it. We propose utilising the intrinsic sound signatures of the helicopter to locate it and to extract features about its current state, using another supervising robot. The analysis of this information is then sent back to the helicopter using an uplink to enable the helicopter to further stabilise its flight and correct its position and flight path without the need for additional sensors

Real-time evolution of an embedded controller for an autonomous helicopter

In this paper we evolve the parameters of a proportional, integral, and derivative (PID) controller for an unstable, complex and nonlinear system. The individuals of the applied genetic algorithm (GA) are evaluated on the actual system rather than on a simulation of it, thus avoiding the ldquoreality gaprdquo. This makes implicit a formal model identification for the implementation of a simulator. This also calls for the GA to be approached in an unusual way, where we need to consider new aspects not normally present in the usual situations using an unnaturally consistent simulator for fitness evaluation. Although elitism is used in the GAs, no monotonic increase in fitness is exhibited by the algorithm. Instead, we show that the GApsilas individuals converge towards more robust solutions

Elevated pCO2 enhances bacterioplankton removal of organic carbon.

Factors that affect the removal of organic carbon by heterotrophic bacterioplankton can impact the rate and magnitude of organic carbon loss in the ocean through the conversion of a portion of consumed organic carbon to CO2. Through enhanced rates of consumption, surface bacterioplankton communities can also reduce the amount of dissolved organic carbon (DOC) available for export from the surface ocean. The present study investigated the direct effects of elevated pCO2 on bacterioplankton removal of several forms of DOC ranging from glucose to complex phytoplankton exudate and lysate, and naturally occurring DOC. Elevated pCO2 (1000-1500 ppm) enhanced both the rate and magnitude of organic carbon removal by bacterioplankton communities compared to low (pre-industrial and ambient) pCO2 (250 -~400 ppm). The increased removal was largely due to enhanced respiration, rather than enhanced production of bacterioplankton biomass. The results suggest that elevated pCO2 can increase DOC consumption and decrease bacterioplankton growth efficiency, ultimately decreasing the amount of DOC available for vertical export and increasing the production of CO2 in the surface ocean

Transmission electron microscopy investigation of segregation and critical floating-layer content of indium for island formation in InGaAs

We have investigated InGaAs layers grown by molecular-beam epitaxy on GaAs(001) by transmission electron microscopy (TEM) and photoluminescence spectroscopy. InGaAs layers with In-concentrations of 16, 25 and 28 % and respective thicknesses of 20, 22 and 23 monolayers were deposited at 535 C. The parameters were chosen to grow layers slightly above and below the transition between the two- and three-dimensional growth mode. In-concentration profiles were obtained from high-resolution TEM images by composition evaluation by lattice fringe analysis. The measured profiles can be well described applying the segregation model of Muraki et al. [Appl. Phys. Lett. 61 (1992) 557]. Calculated photoluminescence peak positions on the basis of the measured concentration profiles are in good agreement with the experimental ones. Evaluating experimental In-concentration profiles it is found that the transition from the two-dimensional to the three-dimensional growth mode occurs if the indium content in the In-floating layer exceeds 1.1+/-0.2 monolayers. The measured exponential decrease of the In-concentration within the cap layer on top of the islands reveals that the In-floating layer is not consumed during island formation. The segregation efficiency above the islands is increased compared to the quantum wells which is explained tentatively by strain-dependent lattice-site selection of In. In addition, In0.25Ga0.75As quantum wells were grown at different temperatures between 500 oC and 550 oC. The evaluation of concentration profiles shows that the segregation efficiency increases from R=0.65 to R=0.83.Comment: 16 pages, 6 figures, 1 table, sbmitted in Phys. Rev.

Dissolution of Antarctic diatoms at low temperatures

The bSiO2 ooze of the Southern Ocean (S.O) has long provided a source of discussion over how and why such thick accumulations exist underlying a region of relatively low diatom productivity. The low temperatures and high nutrient conditions of many regions of the S.O are understood to be optimal for Fragilariopsis kerguelensis, a slow growing diatom with a high silicate (Si), yet low iron requirement, thus making it a dominant species in the surface ocean of this region. The high level of silification and robust characteristics of F.kerguelensis has been hypothesised as being a main factor contributing to its persistence in the sediments of the S.O. However, specific dissolution characteristics of this species have not previously been elucidated, nor have the effects that temperature and aggregation might have in determining the diatom composition of deep ocean sediments. Laboratory experiments tested the hypothesis that the rate of bSiO2 dissolution of aggregated F.kerguelensis is lower than that of the less silicified Chaetoceros debilis. The effects of temperature and physiological stage of the cells on the dissolution rate of freshly aggregated cells was also investigated. Four experiments were undertaken; one with F.kerguelensis at 5º C, one with senescent C.debilis at 5º C, one with senescent C.debilis at 15º C, and one with exponentially growing C.debilis at 5º C. Aggregates were formed in rolling tanks and Si dissolution monitored for 4 months. bSiO2 dissolution was significantly lower for F.kerguelensis as compared to C.debilis at 5º C. Dissolution of C.debilis aggregates formed using exponentially growing cells started with a lag period of 1 week in comparison to those formed using senescent cells, and dissolution increased markedly with temperature