Technical Report: Cooperative Multi-Target Localization With Noisy Sensors

This technical report is an extended version of the paper 'Cooperative Multi-Target Localization With Noisy Sensors' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA). This paper addresses the task of searching for an unknown number of static targets within a known obstacle map using a team of mobile robots equipped with noisy, limited field-of-view sensors. Such sensors may fail to detect a subset of the visible targets or return false positive detections. These measurement sets are used to localize the targets using the Probability Hypothesis Density, or PHD, filter. Robots communicate with each other on a local peer-to-peer basis and with a server or the cloud via access points, exchanging measurements and poses to update their belief about the targets and plan future actions. The server provides a mechanism to collect and synthesize information from all robots and to share the global, albeit time-delayed, belief state to robots near access points. We design a decentralized control scheme that exploits this communication architecture and the PHD representation of the belief state. Specifically, robots move to maximize mutual information between the target set and measurements, both self-collected and those available by accessing the server, balancing local exploration with sharing knowledge across the team. Furthermore, robots coordinate their actions with other robots exploring the same local region of the environment.Comment: Extended version of paper accepted to 2013 IEEE International Conference on Robotics and Automation (ICRA

Effective thermal conductivity of polycrystalline materials with randomly oriented superlattice grains

A model has been established for the effective thermal conductivity of a bulk polycrystal made of randomly oriented superlattice grains with anisotropic thermal conductivity. The in-plane and cross-plane thermal conductivities of each superlattice grain are combined using an analytical averaging rule that is verified using finite element methods. The superlattice conductivities are calculated using frequency dependent solutions of the Boltzmann transport equation, which capture greater thermal conductivity reductions as compared to the simpler gray medium approximation. The model is applied to a PbTe/Sb_2Te_3 nanobulk material to investigate the effects of period, specularity, and temperature. The calculations show that the effective thermal conductivity of the polycrystal is most sensitive to the in-plane conductivity of each superlattice grain, which is generally four to five times larger than the cross-plane conductivity of a grain. The model is compared to experimental measurements of the same system for periods ranging from 287 to 1590 nm and temperatures from 300 to 500 K. The comparison suggests that the effective specularity increases with increasing annealing temperature and shows that these samples are in a mixed regime where both Umklapp and boundary scattering are important

Mycorrhizal status of indigenous tree species in a forest biome of the Eastern Cape, South Africa

Mycorrhizal fungi are intimately associated with plant roots, affecting plant growth, health and increasing the plants' tolerance to environmental stress. Several mycorrhizal types are recognized based primarily on morphological characteristics within plant roots. When considering propagation and management of an indigenous plant species, it is essential to know its mycorrhizal status. Root samples from 17 tree species common to the pockets of forest in the Eastern Cape province, and representing the families Rubiaceae, Scrophulariaceae, Oleaceae, Podocarpaceae, Myrsinaceae, Anacardiaceae, Caesalpinoideae, Papilionoideae, Rutaceae, Meliaceae, Celastraceae, Flacouticeae and Ebenaceae, were sampled and examined for mycorrhizal colonization. Microscopic examination of all the species produced evidence of morphological structures indicative of endomycorrhizal associations as indicated by the presence of intercellular hyphae combined with vesicles, arbuscules or hyphal coils. Hyphal coils (also known as Paris-type associations) appeared to be abundant, especially within the Cassine genus. Arbuscules (also known as Arum-type associations) were scarce but sometimes present, and vesicles were prolific in Olea capensis. Most of the tree species examined have been assigned arbuscular mycorrhizal status. No ectomycorrhizal associations were recorde

Collecting Contemporary Ceramics

Exhibition and collection of Essays featuring artists that have work in the National Ceramics Collection in the National Museum of Wales in Cardiff

Ectomycorrhizas in association with Pinus patula in Sabie, South Africa

Forestry is an economically important industry in South Africa,involving extensive exotic plantations of Eucalyptus, Pinus and Acacia species. These tree species have fungal associations, such as ectomycorrhizas, that have become locally naturalized. The forestry industry is increasingly faced with problems of long-term sustainability, increasing soil acidity and depletion of soil nutrients. It is, therefore, essential that the fundamental importance of the ectomycorrhizal (ECM) symbioses in the nutrient cycling, growth, health and survival of these tree species should not be ignored. Research on the species diversity of ECM fungi associated with forestry plant species has been hampered by the difficulty of identifying the fungi involved in the symbiosis. This investigation focused on the ECM fungi associated with Pinus patula (Schlecht. et Cham.) grown in managed plantations in the Sabie region, Mpumalanga province, South Africa. ECM roots were morphotyped and DNA was extracted. The internal transcribed spacer (ITS) region was amplified using the ITS 1F and ITS 4 primers. The sequences were BLASTed using the GenBank and UNITE databases. Twenty-seven extractions were successfully amplified representing 17 different morphotypes. Of the 27 sequences, 21 were identified as ECM fungi and, from the BLAST results, eleven different ECM species could be identified. Selected ECM root types were morphologically and anatomically described according to root morphology, mantle structure, specialized hyphae and rhizomorph arrangement. Seven dominant field types were described and identified as two Amanita species, Scleroderma citrinum, a suilloid species, Thelephora terrestris, a tometelloid species and one resembled an Albatrellus species

Open Letter In Support of the Digital Humanities Studio Space at Butler Library

The Studio at Butler Library, as we imagine it, will host mix of scheduled events loosely related to digital humanities, along with providing an unstructured, community-driven workspace for all those interested in the applied aspects of book culture, data curation, knowledge design, big history, complex social systems, experimental philosophy and criticism, cultural analytics, network analysis, computational modeling, text mining, data visualization, and critical making

A Survey on Aerial Swarm Robotics

The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance of communication, sensing, and processing hardware. The commoditization of hardware has reduced unit costs, thereby lowering the barriers to entry to the field of aerial swarm robotics. A key enabling technology for swarms is the family of algorithms that allow the individual members of the swarm to communicate and allocate tasks amongst themselves, plan their trajectories, and coordinate their flight in such a way that the overall objectives of the swarm are achieved efficiently. These algorithms, often organized in a hierarchical fashion, endow the swarm with autonomy at every level, and the role of a human operator can be reduced, in principle, to interactions at a higher level without direct intervention. This technology depends on the clever and innovative application of theoretical tools from control and estimation. This paper reviews the state of the art of these theoretical tools, specifically focusing on how they have been developed for, and applied to, aerial swarms. Aerial swarms differ from swarms of ground-based vehicles in two respects: they operate in a three-dimensional space and the dynamics of individual vehicles adds an extra layer of complexity. We review dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing. The main sections of this paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping. Wherever possible, we indicate how the physics and subsystem technologies of aerial robots are brought to bear on these individual areas