Robot Navigation in Unseen Spaces using an Abstract Map

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and navigational gestures communicate a wealth of spatial information to the navigators of built environments; a wealth of information that robots typically ignore. We present a robot navigation system that uses the same symbolic spatial information employed by humans to purposefully navigate in unseen built environments with a level of performance comparable to humans. The navigation system uses a novel data structure called the abstract map to imagine malleable spatial models for unseen spaces from spatial symbols. Sensorimotor perceptions from a robot are then employed to provide purposeful navigation to symbolic goal locations in the unseen environment. We show how a dynamic system can be used to create malleable spatial models for the abstract map, and provide an open source implementation to encourage future work in the area of symbolic navigation. Symbolic navigation performance of humans and a robot is evaluated in a real-world built environment. The paper concludes with a qualitative analysis of human navigation strategies, providing further insights into how the symbolic navigation capabilities of robots in unseen built environments can be improved in the future.Comment: 15 pages, published in IEEE Transactions on Cognitive and Developmental Systems (http://doi.org/10.1109/TCDS.2020.2993855), see https://btalb.github.io/abstract_map/ for access to softwar

Anisotropic Energy Distribution in Three-Dimensional Vibrofluidized Granular Systems

We examine the energy distribution in a three-dimensional model granular system contained in an open cylinder under the influence of gravity. Energy is supplied to the system by a vibrating base. We introduce spatially resolved, partial particle-particle ``dissipations'' for directions parallel and perpendicular to the energy input, respectively. Energy balances show that the total (integrated) ``dissipation'' is less than zero in the parallel direction while greater than zero in the perpendicular directions. The energy supplied to the perpendicular directions is dissipated by particle-wall collisions. We further define a fractional energy transfer, which in the steady state represents the fraction of the power supplied by the vibrating base that is dissipated at the wall. We examine the dependence of the fractional energy transfer on the number of particles, the velocity of the vibrating base, the particle-particle restitution coefficient, and the particle-wall restitution coefficient. We also explore the influence of the system parameters on the spatially dependent partial dissipations.Comment: 10 pages, 10 figures, RevTeX forma

Place Categorization and Semantic Mapping on a Mobile Robot

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system upon a state-of-the-art convolutional network. We overcome its closed-set limitations by complementing the network with a series of one-vs-all classifiers that can learn to recognize new semantic classes online. Prior domain knowledge is incorporated by embedding the classification system into a Bayesian filter framework that also ensures temporal coherence. We evaluate the classification accuracy of the system on a robot that maps a variety of places on our campus in real-time. We show how semantic information can boost robotic object detection performance and how the semantic map can be used to modulate the robot's behaviour during navigation tasks. The system is made available to the community as a ROS module

Effect of sulfate aerosol on tropospheric NOx and ozone budgets: Model simulations and TOPSE evidence

The distributions of NOx and O3 are analyzed during TOPSE (Tropospheric Ozone Production about the Spring Equinox). In this study these data are compared with the calculations of a global chemical/transport model (Model for OZone And Related chemical Tracers (MOZART)). Specifically, the effect that hydrolysis of N2O5 on sulfate aerosols has on tropospheric NOx and O3 budgets is studied. The results show that without this heterogeneous reaction, the model significantly overestimates NOx concentrations at high latitudes of the Northern Hemisphere (NH) in winter and spring in comparison to the observations during TOPSE; with this reaction, modeled NOx concentrations are close to the measured values. This comparison provides evidence that the hydrolysis of N2O5 on sulfate aerosol plays an important role in controlling the tropospheric NOx and O3 budgets. The calculated reduction of NOx attributed to this reaction is 80 to 90% in winter at high latitudes over North America. Because of the reduction of NOx, O3 concentrations are also decreased. The maximum O3reduction occurs in spring although the maximum NOx reduction occurs in winter when photochemical O3 production is relatively low. The uncertainties related to uptake coefficient and aerosol loading in the model is analyzed. The analysis indicates that the changes in NOxdue to these uncertainties are much smaller than the impact of hydrolysis of N2O5 on sulfate aerosol. The effect that hydrolysis of N2O5 on global NOx and O3 budgets are also assessed by the model. The results suggest that in the Northern Hemisphere, the average NOx budget decreases 50% due to this reaction in winter and 5% in summer. The average O3 budget is reduced by 8% in winter and 6% in summer. In the Southern Hemisphere (SH), the sulfate aerosol loading is significantly smaller than in the Northern Hemisphere. As a result, sulfate aerosol has little impact on NOx and O3 budgets of the Southern Hemisphere

Emergency Care Handover (ECHO study) across care boundaries : the need for joint decision making and consideration of psychosocial history

Background: Inadequate handover in emergency care is a threat to patient safety. Handover across care boundaries poses particular problems due to different professional, organisational and cultural backgrounds. While there have been many suggestions for standardisation of handover content, relatively little is known about the verbal behaviours that shape handover conversations. This paper explores both what is communicated (content) and how this is communicated (verbal behaviours) during different types of handover conversations across care boundaries in emergency care. Methods: Three types of interorganisational (ambulance service to emergency department (ED) in ‘resuscitation’ and ‘majors’ areas) and interdepartmental handover conversations (referrals to acute medicine) were audio recorded in three National Health Service EDs. Handover conversations were segmented into utterances. Frequency counts for content and language forms were derived for each type of handover using Discourse Analysis. Verbal behaviours were identified using Conversation Analysis. Results: 203 handover conversations were analysed. Handover conversations involving ambulance services were predominantly descriptive (60%–65% of utterances), unidirectional and focused on patient presentation (75%–80%). Referrals entailed more collaborative talk focused on the decision to admit and immediate care needs. Across all types of handover, only 1.5%–5% of handover conversation content related to the patient's social and psychological needs. Conclusions: Handover may entail both descriptive talk aimed at information transfer and collaborative talk aimed at joint decision-making. Standardisation of handover needs to accommodate collaborative aspects and should incorporate communication of information relevant to the patient's social and psychological needs to establish appropriate care arrangements at the earliest opportunity

An explanation of the Newman-Janis Algorithm

After the original discovery of the Kerr metric, Newman and Janis showed that this solution could be ``derived'' by making an elementary complex transformation to the Schwarzschild solution. The same method was then used to obtain a new stationary axisymmetric solution to Einstein's field equations now known as the Kerr-newman metric, representing a rotating massive charged black hole. However no clear reason has ever been given as to why the Newman-Janis algorithm works, many physicist considering it to be an ad hoc procedure or ``fluke'' and not worthy of further investigation. Contrary to this belief this paper shows why the Newman-Janis algorithm is successful in obtaining the Kerr-Newman metric by removing some of the ambiguities present in the original derivation. Finally we show that the only perfect fluid generated by the Newman-Janis algorithm is the (vacuum) Kerr metric and that the only Petrov typed D solution to the Einstein-Maxwell equations is the Kerr-Newman metric.Comment: 14 pages, no figures, submitted to Class. Quantum Gra

The impact of flooding on aquatic ecosystem services

Flooding is a major disturbance that impacts aquatic ecosystems and the ecosystem services that they provide. Predicted increases in global flood risk due to land use change and water cycle intensification will likely only increase the frequency and severity of these impacts. Extreme flooding events can cause loss of life and significant destruction to property and infrastructure, effects that are easily recognized and frequently reported in the media. However, flooding also has many other effects on people through freshwater aquatic ecosystem services, which often go unrecognized because they are less evident and can be difficult to evaluate. Here, we identify the effects that small magnitude frequently occurring floods (\u3c 10-year recurrence interval) and extreme floods (\u3e 100-year recurrence interval) have on ten aquatic ecosystem services through a systematic literature review. We focused on ecosystem services considered by the Millennium Ecosystem Assessment including: (1) supporting services (primary production, soil formation), (2) regulating services (water regulation, water quality, disease regulation, climate regulation), (3) provisioning services (drinking water, food supply), and (4) cultural services (aesthetic value, recreation and tourism). The literature search resulted in 117 studies and each of the ten ecosystem services was represented by an average of 12 ± 4 studies. Extreme floods resulted in losses in almost every ecosystem service considered in this study. However, small floods had neutral or positive effects on half of the ecosystem services we considered. For example, small floods led to increases in primary production, water regulation, and recreation and tourism. Decision-making that preserves small floods while reducing the impacts of extreme floods can increase ecosystem service provision and minimize losses

Studies of Mass and Size Effects in Three-Dimensional Vibrofluidized Granular Mixtures

We examine the steady state properties of binary systems of driven inelastic hard spheres. The spheres, which move under the influence of gravity, are contained in a vertical cylinder with a vibrating base. We computed the trajectories of the spheres using an event-driven molecular dynamics algorithm. In the first part of the study, we chose simulation parameters that match those of experiments performed by Wildman and Parker. Various properties computed from the simulation including the density profile, granular temperature and circulation pattern are in good qualitative agreement with the experiments. We then studied the effect of varying the mass ratio and the size ratio independently while holding the other parameters constant. The mass and size ratio are shown to affect the distribution of the energy. The changes in the energy distributions affect the packing fraction and temperature of each component. The temperature of the heavier component has a non-linear dependence on the mass of the lighter component, while the temperature of the lighter component is approximately proportional to its mass. The temperature of both components is inversely dependent on the size of the smaller component.Comment: 14 Pages, 12 Figures, RevTeX

Improving the Land Trust Model’s Impact on Environmental Conservation in Northern California

For years, the land trust sector of California and much of the United States has operated with a dollars and acres mentality that has prioritized fundraising as a result of acreage protected. Within California, nearly 5.8 million acres of land have been protected by 132 land trusts throughout the state. To accommodate for the diverse cross-section of land and the many needs of the population, land trusts take on numerous shapes and sizes. A unique aspect of this diversity is the rich agricultural and natural spaces found throughout the state. This mix of land and variety of land uses has led to some differences in the purpose and operation of trusts throughout the state. With this large range of land trusts, the goals remain the same: to protect and preserve lands across the state. To accomplish this and further impact the environmental conservation movement, trusts have been forced to move past the dollars and acres mentality and into a larger stewardship and education role. As organizations continue to transition into this role, they must look further and examine the sustainability of their work. Who are we conserving this land for if it continues a cycle of inequity and inaccessibility? The land trust model must continue its transition from dollars and acres but more importantly, it needs to ensure it is taking an active role in the various diversity, equity, and inclusion practices that are readily available in the sector. Examples that were highlighted from organizations in Northern California include the rematriation of land to native tribes and providing opportunities for under-resourced communities to utilize the open spaces protected by the trusts. Without a bigger tent of supporters, funders, and users, land trusts will grow unsustainably into the role of educator and steward. The greatest way to impact environmental conservation and climate change is to mobilize the greatest number of people from a diverse range of backgrounds