Physical Sciences and Mathematics Commons^™

Dynamic Robot Networks: A Coordination Platform For Multi-Robot Systems, Christopher M. Clark

Computer Science and Software Engineering

A large number of tasks, from manufacturing to planetary exploration, have been successfully accomplished using single robot systems. Many of these tasks could be completed faster, more reliably, and on a larger scale using a cooperating team of autonomous mobile robots. However, robots must be able to coordinate their actions before cooperation is possible. This work aims to enable robots with the ability to coordinate their actions for safe navigation in dynamic, unknown environments. Specifically, the work focuses on: 1) the coordination of multiple robots when sensing and inter-robot communication are limited and 2) multi-robot motion planning in dynamic, unknown …

Text Is Software Too, Alexander Dekhtyar, Jane Huffman Hayes, Tim Menzies

Computer Science and Software Engineering

Software compiles and therefore is characterized by a parseable grammar. Natural language text rarely conforms to prescriptive grammars and therefore is much harder to parse. Mining parseable structures is easier than mining less structured entities. Therefore, most work on mining repositories focuses on software, not natural language text. Here, we report experiments with mining natural language text (requirements documents) suggesting that: (a) mining natural language is not too diffcult, so (b) software repositories should routinely be augmented with all the natural language text used to develop that software.

Introduction To The Special Issue On Human–Robot Interaction, Robin R. Murphy, Erika Rogers

Computer Science and Software Engineering

No abstract provided.

Final Report For The Darpa/Nsf Interdisciplinary Study On Human–Robot Interaction, Jennifer L. Burke, Robin Roberson Murphy, Erika Rogers, Vladimir J. Lumelsky, Jean Scholtz

Computer Science and Software Engineering

As part of a Defense Advanced Research Projects Agency/National Science Foundation study on human–robot interaction (HRI), over sixty representatives from academia, government, and industry participated in an interdisciplinary workshop, which allowed roboticists to interact with psychologists, sociologists, cognitive scientists, communication experts and human–computer interaction specialists to discuss common interests in the field of HRI, and to establish a dialogue across the disciplines for future collaborations. We include initial work that was done in preparation for the workshop, links to keynote and other presentations, and a summary of the findings, outcomes, and recommendations that were generated by the participants. Findings of …

The Icdm Development Toolkit: Purpose And Overview, Jens G. Pohl, Kym Jason Pohl, Russell Leighton, Michael Zang, Steven Gollery, Mark Porczak

Collaborative Agent Design (CAD) Research Center

This report provides an overview description of the Integrated Cooperative Decision-Making (ICDM) software toolkit for the development of intelligent decision-support applications. More technical descriptions of ICDM are contained in a companion CDM Technical Report (CDM-18-04) entitled: ‘The ICDM Development Toolkit: Technical Description’.

ICDM is an application development framework and toolkit for decision-support systems incorporating software agents that collaborate with each other and human users to monitor changes (i.e., events) in the state of problem situations, generate and evaluate alternative plans, and alert human users to immediate and developing resource shortages, failures, threats, and similar adverse conditions. A core component of …

Spectral Characteristics Of Water Megamaser Galaxies. Ii. Eso103-G035, Txs 2226-184, And Ic1481, N. Bennert, H. Schulz, C. Henkel

Physics

Long-slit optical emission-line spectra of the H₂O megamaser galaxies ESO 103-G035, TXS 2226-184, and IC 1481 are evaluated in order to look for characteristics typical for water-megamaser galaxies. We present rotation curves, line ratios, electron densities, temperatures, and H luminosities. The successful line-profile decompositions rest on d-Lorentzians with an additional parameter d to adjust the wings, rather than Gaussians or Lorentzians as basic functions. No significant velocity gradient is found along the major axis in the innermost 2 kpc of TXS 2226-184. IC 1481 reveals a spectrum suggestive of a vigorous starburst in the …

Removing Excess Topology From Isosurfaces, Zoë J. Wood, Hugues Hoppe, Mathieu Desbrun, Peter Shröder

Computer Science and Software Engineering

Many high-resolution surfaces are created through isosurface extraction from volumetric representations, obtained by 3D photography, CT, or MRI. Noise inherent in the acquisition process can lead to geometrical and topological errors. Reducing geometrical errors during reconstruction is well studied. However, isosurfaces often contain many topological errors in the form of tiny handles. These nearly invisible artifacts hinder subsequent operations like mesh simplification, remeshing, and parametrization. In this article we present a practical method for removing handles in an isosurface. Our algorithm makes an axis-aligned sweep through the volume to locate handles, compute their sizes, and selectively remove them. The algorithm …

Physics And Society Travels With Dave, David W. Hafemeister

Physics

No abstract provided.

Magnetosome Mysteries, Richard B. Frankel, Dennis A. Bazylinski

Physics

No abstract provided.

Latest Tools For Viewing And Quality Checking Arm Data, S. Moore, Gary B. Hughes

Statistics

The DOE Atmospheric Radiation Measurement (ARM) program has acquired an incredibly large quantity of data over its period of operation, all of which must be reviewed in some manner in order to ensure that the data is of “known and reasonable” quality (ARM Science Plan). To accomplish this, Mission Research Corporation (MRC) coordinates with the ARM Data Quality Office to develop software tools that quality-check data products in a timely and continuous fashion. These tools work with the Data Quality Health and Status (DQ HandS) Explorer (Peppler et al. 2004) by analyzing ARM data streams, providing assessments of data quality …

Identified Particle Distributions In Pp And Au+Au Collisions At √Snn=200 Gev, Star Collaboration, T.D. Gutierrez

Physics

Transverse mass and rapidity distributions for charged pions, charged kaons, protons, and antiprotons are reported for √s_NN=200  GeV pp and Au+Au collisions at Relativistic Heary Ion Collider (RHIC). Chemical and kinetic equilibrium model fits to our data reveal strong radial flow and long duration from chemical to kinetic freeze-out in central Au+Au collisions. The chemical freeze-out temperature appears to be independent of initial conditions at RHIC energies.

Ρ0 Production And Possible Modification In Au + Au And P + P Collisions At √SNn = 200 Gev, J. Adams, C. Adler, M.M. Aggarwal, Z. Ahammed, J. Amonett, B.D. Anderson, D. Arkhipkin, G.S. Averichev, S.K. Badyal, J. Balewski, O. Barannikova, L.S. Barnby, J. Baudot, S. Bekele, V.V. Belaga, R. Bellwied, J. Berger, B.I. Bezverkhny, S. Bhardwaj, A.K. Bhati, H. Bichsel, A. Billmeier, L.C. Bland, C.O. Blyth, B.E. Bonner, M. Botje, A. Boucham, A.V. Brandin, A. Bravar, R.V. Cadman, X.Z. Cai, H. Caines, M. Calderón De La Barca Sánchez, J. Carroll, J. Castillo, D. Cebra, P. Chaloupka, S. Chattopadhyay, H.F. Chen, Y. Chen, S.P. Chernenko, M. Cherney, A. Chikanian, W. Christie, J.P. Coffin, T.M. Cormier, J.G. Cramer, H.J. Crawford, D. Das, S. Das, A.A. Derevschikov, L. Didenko, T. Dietel, W.J. Dong, X. Dong, J.E. Draper, F. Du, A.K. Dubey, V.B. Dunin, J.C. Dunlop, M.R. Dutta Mazumadar, V. Eckardt, L.G. Efimov, V. Emelianov, J. Engelage, G. Eppley, B. Erazmus, M. Estienne, P. Fachini, V. Fine, J. Faivre, R. Fatemi, K. Filimonov, P. Filip, E. Finch, Y. Fisyak, D. Flierl, K.J. Foley, J. Fu, C.A. Gagliardi, N. Gagunashvili, J. Gans, M.S. Ganti, L. Gaudichet, F. Geurts, V. Ghazikhanian, P. Ghosh, J.E. Gonzalez, O. Grachov, O. Grebenyuk, S. Gronstal, D. Grosnick, S.M. Guertin, A. Gupta, Thomas D. Gutierrez, T.J. Hallman, A. Hamed, D. Hardtke, J.W. Harris, M. Heinz, T.W. Henry, S. Hepplemann, B. Hippolyte, A. Hirsch, E. Hjort, G.W. Hoffmann, M. Horsley, H.Z. Huang, S.L. Huang, E. Hughes, T.J. Humanic, G. Igo, A. Ishihara, P. Jacobs, W.W. Jacobs, M. Janik, H. Jiang, I. Johnson, P.G. Jones, E.G. Judd, S. Kabana, M. Kaplan, D. Keane, V.Yu. Khodyrev, J. Kiryluk, A. Kisiel, J. Klay, S.R. Klein, A. Klyachko, D.D. Koetke, T. Kollegger, M. Kopytine, L. Kotchenda, A.D. Kovalenko, M. Kramer, P. Kravtsov, V.I. Kravtsov, K. Krueger, C. Kuhn, A.I. Kulikov, A. Kumar, G.J. Kunde, C.L. Kunz, R. Kh. Kutuev, A.A. Kuznetsov, M.A.C. Lamont, J.M. Landgraf, S. Lange, B. Lasiuk, F. Laue, J. Lauret, A. Lebedev, R. Lednicky, M.J. Levine, C. Li, Q Li, S.J. Lindenbaum, M.A. Lisa, F. Liu, L. Liu, Z. Liu, Q.J. Liu, T. Ljubicic, W.J. Llope, H. Long, R.S. Longacre, M. Lopez-Noriega, W.A. Love, T. Ludlam, D. Lynn, J. Ma, Y.G. Ma, D. Magestro, S. Mahajan, L.K. Mangotra, D.P. Mahapatra, R. Majka, R. Manweiler, S. Margetis, C. Markert, L. Martin, J.N. Marx, H.S. Matis, Yu.A. Matulenko, C.J. Mcclain, T.S. Mcshane, F. Meissner, Yu. Melnick, A. Meschanin, M.L. Miller, Z. Milosevich, N.G. Minaev, C. Mironov, A. Mischke, D.K. Mishra, J. Mitchell, B. Mohanty, L. Molnar, C.F. Moore, M.J. Mora-Corral, D.A. Morozov, V. Morozov, M.M De Moura, M.G. Munhoz, B.K. Nandi, S.K. Nayak, T.K. Nayak, J.M. Nelson, P.K. Netrakanti, V.A. Nikitin, L.V. Nogach, B. Norman, S.B. Nurushev, G. Odyniec, A. Ogawa, V. Okorokov, M. Oldenburg, D. Olson, G. Paic, S.K. Pal, Y. Panebratsev, S.Y. Panitkin, A.I. Pavlinov, T. Pawlak, T. Peitzmann, V. Perevoztchikov, C. Perkins, W. Peryt, V.A. Petrov, S.C. Phatak, R. Picha, M. Planinic, J. Pluta, N. Porile, J. Porter, A.M. Poskanzer, M. Potekhin, E. Potrebenikova, B.V.K.S. Potukuchi, D. Prindle, C. Pruneau, J. Putschke, G. Rai, G. Rakness, R. Raniwala, S. Raniwala, O. Ravel, R.L. Ray, S.V. Razin, D. Reichhold, J.G. Reid, G. Renault, F. Retiere, A. Ridiger, H.G. Ritter, J.B. Roberts, O.V. Rogachevskiy, J.L. Romero, A. Rose, C. Roy, L. Ruan, R. Sahoo, I. Sakrejda, S. Salur, J. Sandweiss, I. Savin, J. Schambach, R.P. Scharenberg, N. Schmitz, L.S. Schroeder, K. Schweda, J. Seger, P. Seyboth, E. Shahaliev, M. Shao, W. Shao, M. Sharma, K.E. Shestermanov, S.S. Shimanskiy, R.N. Singaraju, F. Simon, G. Skoro, N. Smirnov, R. Snellings, G. Sood, P. Sorensen, J. Sowinski, J. Speltz, H.M. Spinka, B. Srivastava, T.D.S. Stanislaus, R. Stock, A. Stolpovsky, M. Strikhanov, B. Stringfellow, C. Struck, A.A.P. Suaide, E. Sugarbaker, C. Suire, M. Šumbera, B. Surrow, T.J.M. Symons, A. Szanto De Toledo, P. Szarwas, A. Tai, J. Takahashi, A.H. Tang, D. Thein, J.H. Thomas, S. Timoshenko, M. Tokarev, M.B. Tonjes, T.A. Trainor, S. Trentalange, R.E. Tribble, O.D. Tsai, T. Ullrich, D.G. Underwood, G. Van Buren, A.M. Vander Molen, R. Varma, I.M. Vasilevski, A.N. Vasiliev, R. Vernet, S.E. Vigdor, Y.P. Viyogi, S.A. Voloshin, M. Vznunzdaev, W.T. Waggoner, F. Wang, G. Wang, G. Wang, X.L. Wang, Y. Wang, Z.M. Wang, H. Ward, J.W. Watson, J.C. Webb, R. Wells, G.D. Westfall, C. A. Whitten Jr., H. Wieman, R. Willson, S.W. Wissink, R. Witt, J. Wood, J. Wu, N. Xu, Z. Xu, Z.Z. Xu, E. Yamamoto, P. Yepes, V.I. Yurevich, B. Yuting, Y.V. Zanevski, H. Zhang, W.M. Zhang, Z.P. Zhang, Z.P. Zhaomin, Z.P. Zizong, P.A. Zolnierczuk, R. Zoulkarneev, Y. Zoulkarneeva, A.N. Zubarev

Physics

We report results on ρ(770)⁰→π⁺π⁻ production at midrapidity in p+p and peripheral Au+Au collisions at √sNN=200  GeV. This is the first direct measurement of ρ(770)⁰→π⁺π⁻ in heavy-ion collisions. The measured ρ⁰ peak in the invariant mass distribution is shifted by ∼40  MeV/c² in minimum bias p+p interactions and ∼70  MeV/c² in peripheral Au+Au collisions. The ρ⁰ mass shift is dependent on transverse momentum and multiplicity. The modification of the ρ⁰ meson mass, width, and shape due to phase space and dynamical effects are discussed.

Shallow Water Modeling Of Antarctic Bottom Water Crossing The Equator, Paul F. Choboter, Gordon E. Swaters

Mathematics

The dynamics of abyssal equator-crossing flows are examined by studying simplified models of the flow in the equatorial region in the context of reduced-gravity shallow water theory. A simple “frictional geostrophic” model for one-layer cross-equatorial flow is described, in which geostrophy is replaced at the equator by frictional flow down the pressure gradient. This model is compared via numerical simulations to the one-layer reduced-gravity shallow water model for flow over realistic equatorial Atlantic Ocean bottom topography. It is argued that nonlinear advection is important at key locations where it permits the current to flow against a pressure gradient, a mechanism …

Magnetosome Formation In Prokaryotes, Dennis A. Bazylinski, Richard B. Frankel

Physics

Magnetotactic bacteria were discovered almost 30 years ago, and for many years and many different reasons, the number of researchers working in this field was few and progress was slow. Recently, however, thanks to the isolation of new strains and the development of new techniques for manipulating these strains, researchers from several laboratories have made significant progress in elucidating the molecular, biochemical, chemical and genetic bases of magnetosome formation and understanding how these unique intracellular organelles function. We focus here on this progress.

Motion Planning For Formations Of Mobile Robots, T. D. Barfoot, Christopher M. Clark

Computer Science and Software Engineering

This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with non-holonomic constraints is presented. The kinematic equations developed allow a certain class of formations to be maintained while the group as a whole exhibits motion. The work was validated using the Stanford Micro-Autonomous RoverS Testbed.

Azimuthal Anisotropy At The Relativistic Heavy Ion Collider: The First And Fourth Harmonics, Star Collaboration, T.D. Gutierrez

Physics

We report the first observations of the first harmonic (directed flow, v₁) and the fourth harmonic (v₄), in the azimuthal distribution of particles with respect to the reaction plane in Au+Au collisions at the BNL Relativistic Heavy Ion Collider (RHIC). Both measurements were done taking advantage of the large elliptic flow (v₂) generated at RHIC. From the correlation of v₂ with v₁ it is determined that v₂ is positive, or in-plane. The integrated v₄ is about a factor of 10 smaller than v₂. For the sixth (v_{6 …}

Reply To Comment By R. Bousquet Et Al. On “Subduction Factory: 1. Theoretical Mineralogy, Densities, Seismic Wave Speeds And H2O Contents”, Bradley R. Hacker, Geoffrey A. Abers, Simon M. Peacock, Scott Joshnston

Physics

No abstract provided.

Handling Catastrophic Failures In Scalable Internet Applications, Michael Haungs, Raju Pandey, Earl Barr

Computer Science and Software Engineering

User perceived quality is the most important aspect of Internet applications. After a single negative experience, users tend to switch to one of the other myriad of alternatives available to them on the Internet. Two key components of Internet application quality are scalability and reliability. In this paper, we present the first general-purpose mechanism capable of maintaining reliability in the face of process, machine, and catastrophic failures. We define catastrophic failures as events that cause entire clusters of servers to become unavailable such as network partitioning, router failures, natural disasters, or even terrorist attacks. Our mechanism utilizes client-side tunneling, clientside …

Watershed Study Results Offer Strategies For Reducing Erosion And Sedimentation Associated With Cattle Grazing, Lynn E. Moody

Natural Resources Management and Environmental Sciences

The Morro Bay estuary is arguably the most important wetland system on the south central coast of California. It supports commercial fishing industries, numerous recreation activities, and a variety of natural habitats. The estuary and its watershed, representing a diverse biological and economic resource to the people of California, are impacted by various pollutants, with sediment of particular concern. As part of a 10-year national monitoring program funded by the U.S. Environmental Protection Agency (EPA) through California's Regional Water Quality Control Board (Regional Board), a paired watershed study on California Polytechnic State University's Escuela Ranch has shown that Best Management …

Inverse Stochastic Moment Analysis Of Transient Flow In Randomly Heterogeneous Media, B Malama, S P Neuman

Natural Resources Management and Environmental Sciences

No abstract provided.

Constructing Random Probability Distributions, Theodore P. Hill, David E.R. Sitton

Research Scholars in Residence

This article surveys several classes of iterative methods for constructing random probability distributions (or random convex functions, or random homeomorphisms), and includes illustrative applications in statistics, optimal-control theory, and game theory. Computer simulations of these methods are fast and easy to implement

Human-Robot Interaction, Erika Rogers

Computer Science and Software Engineering

The relationship between robots and humans is so different in character from other human-machine relationships that it warrants its own field of study. Robots differ from simple machines and even from complex computers in that they are often designed to be mobile and autonomous. They are not as predictable as other machines; they can enter a human’s personal space, forcing a kind of social interaction that does not happen in other human-machine relationships.

Sils Mrat: A Multi-Agent Decision-Support System For Shipboard Integration Of Logistics Systems, Michael Zang, Jonathan Lee, Joyce Gaoiran, Adam Gray, Jered Gray, Charles Hayek, David Nau, Chad Pond, Michael Rutter, Zachary Speck, Jens G. Pohl

Collaborative Agent Design (CAD) Research Center

This report describes work performed by CDM Technologies Inc. on subcontract to ManTech Advanced Systems International, Inc. (Fairmont, West Virginia), and under sponsorship of the Office of Naval Research (ONR). The principal aim of the SILS (Shipboard Integration of Logistics Systems) project is to provide a decision-support capability for Navy ships that integrates shipboard logistical and tactical systems within a near real-time, automated, computer-based shipboard readiness and situation awareness facility. Specifically, SILS is intended to provide the captain of a ship and his staff with an accurate evaluation of the current condition of the ship, based on the ability of …

One- And Two-Dimensional Optical Lattices On A Chip For Quantum Computing, Katharina Gillen-Christandl, Gregory P. Lafyatis, Seung-Cheol Lee, Jin-Fa Lee

Physics

We propose a way to make arrays of optical frequency dipole-force microtraps for cold atoms above a dielectric substrate. Traps are nodes in the evanescent wave fields above an optical waveguide resulting from interference of different waveguide modes. The traps have features sought in developing neutral atom based architectures for quantum computing: ∼1 mW of laser power yields very tight traps 150 nm above a waveguide with trap vibrational frequencies ∼1 MHz and vibrational ground state sizes ∼10 nm. The arrays are scalable and allow addressing of individual sites for quantum logic operations.

A High Precision Radial Velocity Survey Of K Giants, David S. Mitchell

Physics

Precise radial velocity measurements of stars can provide a powerful tool for both examining the intrinsic atmospheric activity of the star, and testing for the existence of substellar orbital companions. This method has been used to detect the vast majority of known extrasolar planets, as well as probing the asteroseismological characteristics of active stars. This dissertation presents the results of a precise radial velocity survey of 177 bright K giant stars. Six of the stars have data that indicate the presence of planetary or brown dwarf orbital companions. Many others have evidence of nonradial pulsations, and twenty binary stars are …

Refractive-Index Measurements Of Zinc Germanium Diphosphide At 300 And 77 K By Use Of A Modified Michelson Interferometer, Glen D. Gillen, Shekhar Guha

Physics

A method to determine the absolute refractive index of materials available in the shape of flat wafers with parallel sides by using interferometric techniques is presented. With this method, nondestructive, sample-specific measurements can be made. The method is tested by using silicon, germanium and zinc selenide, and measurements for both the ordinary and extraordinary axes of ZnGeP₂ for temperatures of 300 and 77 K are reported.

Revolving Door Scenario For Congressional Fellows, David W. Hafemeister

Physics

No abstract provided.

Pion-Kaon Correlations In Central Au+Au Collisions At √SNn=130 Gev, Star Collaboration, T.D. Gutierrez

Physics

Pion-kaon correlation functions are constructed from central Au+Au STAR data taken at √s_NN=130  GeV by the STAR detector at the Relativistic Heavy Ion Collider (RHIC). The results suggest that pions and kaons are not emitted at the same average space-time point. Space-momentum correlations, i.e., transverse flow, lead to a space-time emission asymmetry of pions and kaons that is consistent with the data. This result provides new independent evidence that the system created at RHIC undergoes a collective transverse expansion.

Three-Pion Hanbury Brown–Twiss Correlations In Relativistic Heavy-Ion Collisions From The Star Experiment, Star Collaboration, T.D. Gutierrez

Physics

Data from the first physics run at the Relativistic Heavy-Ion Collider at Brookhaven National Laboratory, Au+Au collisions at √s_NN=130   GeV, have been analyzed by the STAR Collaboration using three-pion correlations with charged pions to study whether pions are emitted independently at freeze-out. We have made a high-statistics measurement of the three-pion correlation function and calculated the normalized three-particle correlator to obtain a quantitative measurement of the degree of chaoticity of the pion source. It is found that the degree of chaoticity seems to increase with increasing particle multiplicity.

Energy Scaling Law For Buildings, David W. Hafemeister

Physics

This paper is an ode to my friend Hendrik. We collaborated on hyperfine interactions from 1962 to 1984, when he was colleague and friend. Since then I have been working on the Physics of Societal Issues (Springer Verlag, 2003). The paper below models energy use in buildings, which could save considerable energy with well-designed buildings.