On Modular Design of Field Robotic Systems

Robots are needed to perform important field tasks such as hazardous material clean-up, nuclear site inspection, and space exploration. Unfortunately their use is not widespread due to their long development times and high costs. To make them practical, a modular design approach is proposed. Prefabricated modules are rapidly assembled to give a low-cost system for a specific task. This paper described the modular design problem for field robots and the application of a hierarchical selection process to solve this problem. Theoretical analysis and an example case study are presented. The theoretical analysis of the modular design problem revealed the large size of the search space. It showed the advantages of approaching the design on various levels. The hierarchical selection process applies physical rules to reduce the search space to a computationally feasible size and a genetic algorithm performs the final search in a greatly reduced space. This process is based on the observation that simple physically based rules can eliminate large sections of the design space to greatly simplify the search. The design process is applied to a duct inspection task. Five candidate robots were developed. Two of these robots are evaluated using detailed physical simulation. It is shown that the more obvious solution is not able to complete the task, while the non-obvious asymmetric design develop by the process is successful.

Generalizing the dynamic field theory of spatial cognition across real and developmental time scales

Within cognitive neuroscience, computational models are designed to provide insights into the organization of behavior while adhering to neural principles. These models should provide sufficient specificity to generate novel predictions while maintaining the generality needed to capture behavior across tasks and/or time scales. This paper presents one such model, the Dynamic Field Theory (DFT) of spatial cognition, showing new simulations that provide a demonstration proof that the theory generalizes across developmental changes in performance in four tasks—the Piagetian A-not-B task, a sandbox version of the A-not-B task, a canonical spatial recall task, and a position discrimination task. Model simulations demonstrate that the DFT can accomplish both specificity—generating novel, testable predictions—and generality—spanning multiple tasks across development with a relatively simple developmental hypothesis. Critically, the DFT achieves generality across tasks and time scales with no modification to its basic structure and with a strong commitment to neural principles. The only change necessary to capture development in the model was an increase in the precision of the tuning of receptive fields as well as an increase in the precision of local excitatory interactions among neurons in the model. These small quantitative changes were sufficient to move the model through a set of quantitative and qualitative behavioral changes that span the age range from 8 months to 6 years and into adulthood. We conclude by considering how the DFT is positioned in the literature, the challenges on the horizon for our framework, and how a dynamic field approach can yield new insights into development from a computational cognitive neuroscience perspective.

The Specific Status of the Narrow-Skulled Vole (Subgenus Stenocranius Kashchenko) in North America

On morphological and zoogeographical grounds, discussed in the present paper, it is concluded that the narrow-skulled vole in North America, previously designated Microtus (Stenocranius) miurus Osgood, is conspecific with the Eurasian M. (Stenocranius) gregalis Pallas. Fourteen subspecies in Eurasia and 5 in North America are now recognized, but it is probable that the number in Eurasia will be reduced through future investigation. The Eurasian subspecies of this vole comprise two major groups, of which one occupies the tundra zone and the other occurs across central Asia below latitude 60° N; their geographic ranges are largely separate but evidently become confluent in northeastern Siberia. The members of the northern group of Eurasian subspecies and the North American forms are closely related; the present distribution of the latter indicates post-glacial dispersal from the Amphiberingian Refugium. It is believed that the tundra-inhabiting voles in Eurasia likewise survived the Pleistocene glaciations in northern refugia, while the members of the southern group of subspecies probably represent populations that survived south of the limits of the continental glaciers. The ranges of the two Eurasian groups probably have become confluent during post-glacial time in northeastern Siberia as a result of the southward spread of the northern forms. At least, the subspecies having the intervening range closely resembles members of the northern group. Some of the ecological and ethological characteristics of these voles are briefly discussed. The chromosome number of one of the North American subspecies of narrow-skulled vole was determined to be 54; this is the first time that the chromosomes of a member of the subgenus Stenocranius have been investigated. A karyogram has been included. German abstract: Auf morphologischen und tiergeographischen Grundlagen, die in dieser Arbeit besprochen wurden, ist festgestellt worden, daß die schmalschädlige Wiihlmaus in Nordamerika, friiher Microtus (Stenocranius) miurus Osgood bezeichnet, mit der palaearktischen Art M. (Stenocranius) gregalis Pallas identisch ist. Zur Zeit gelten 14 Unterarten in Eurasien und 5 in Nordamerika als unterscheidbar; vermutlich aber wird die Zahl der palaearktischen Unterarten durch eingehendere Untersuchungen künftig vermindert werden. Auf Grund ihrer Verbreitung bilden die palaearktischen Unterarten zwei beinahe vollständig getrennte Gruppen. Die Wühlmäuse der nördlichen Gruppe bewohnen die Tundrazone, während die Vertreter der zweiten Gruppe über Mittelasien südlicher als 60° N.B. verbreitet sind. Die Verbreitungsgebiete der zwei Gruppen verbinden sich anscheinend. Die nordamerikanischen schmalschädligen Wühlmäuse sind mit den in der Tundrazone vorkommenden palaearktischen Formen nahe verwandt; sie haben sich wahrscheinlich während der Postglazialzeit aus dem Amphiberingschen Refugium verbreitet. Möglicherweise überlebten die tundrabewohnenden Wühlmäuse Eurasiens die Eiszeit ebenfalls in vereinzelten Refugien in Nordostsibirien, während die Formen der südlichen Gruppe sie jenseits der Grenzen des Festlandsgletschers überlebten. Wahrscheinlich wurden die zwei Verbreitungsgebiete dieser Art in Eurasien erst während der Postglazialzeit durch das Vordringen der nordischen Formen verbunden, da eine nähere Verwandtschaft zwischen den nördlichen und der dazwischenliegenden Unterart besteht. Einige ökologische und ethologische Eigentümlichkeiten dieser Wühlmäuse werden kurz besprochen. Es wurde festgestellt, daß eine der nordamerikanischen Unterarten der schmalschädligen Wühlmaus 54 Chromosomen hat; sie ist der einzige Vertreter der Untergattung Stenocranius, dessen Chromosomen untersucht worden sind.

Temporal and Spatial Patterns of Avifauna on Wetlands in the Vicinity of Bush Field Airport, Augusta, Georgia, USA

Responding to a U.S. Federal court order to improve discharged wastewater quality, Augusta, Georgia initiated development of artificial wetlands in 1997 to treat effluents. Because of the proximity to Augusta Regional Airport at Bush Field, the U.S. Federal Aviation Administration expressed concern for potential increased hazard to aircraft posed by birds attracted to these wetlands. We commenced weekly low-level aerial surveys of habitats in the area beginning January, 1998. Over a one-year period, 49 surveys identified approximately 42,000 birds representing 52 species, including protected Wood Storks and Bald Eagles, using wetlands within 8 km of the airport. More birds were observed during the mid-winter and fall/spring migratory seasons (1,048 birds/survey; October - April) than during the breeding/post-breeding seasons (394 birds/survey; May - September). In winter, waterfowl dominated the avian assemblage (65% of all birds). During summer, wading birds were most abundant (56% of all birds). Habitat changes within the artificial wetlands produced fish kills and exposed mudflats, resulting in increased use by wading birds and shorebirds. No aquatic birds were implicated in 1998 bird strikes, and most birds involved could safely be placed within songbird categories. Airport incident reports further implicated songbirds. These findings suggested that efforts to decrease numbers of songbirds on the airport property must be included in the development of a wildlife hazard management plan. Seasonal differences in site use among species groups should also be considered in any such plan. Other wetlands within 8 km of the airport supported as many or more birds than the artificial wetlands. With proper management of the artificial wetlands, it should be possible to successfully displace waterfowl and wading birds to other wetlands further from the airport.