Multi-robot control in highly dynamic, competitive environments

The control and coordination of multiple mobile robots is a challenging task; particularly in environments with multiple, rapidly moving obstacles and agents. This paper describes a robust approach to multi-robot control, where robustness is gained from competency at every layer of robot control. The layers are: (i) a central coordination system (MAPS), (ii) an action system (AES), (iii) a navigation module, and (iv) a low level dynamic motion control system. The multi-robot coordination system assigns each robot a role and a sub-goal. Each robot’s action execution system then assumes the assigned role and attempts to achieve the specified sub-goal. The robot’s navigation system directs the robot to specific goal locations while ensuring that the robot avoids any obstacles. The motion system maps the heading and speed information from the navigation system to force-constrained motion. This multi-robot system has been extensively tested and applied in the robot soccer domain using both centralized and distributed coordination.

Semantic caching for multiresolution spatial query processing in mobile environments

Spatial data are particularly useful in mobile environments. However, due to the low bandwidth of most wireless networks, developing large spatial database applications becomes a challenging process. In this paper, we provide the first attempt to combine two important techniques, multiresolution spatial data structure and semantic caching, towards efficient spatial query processing in mobile environments. Based on the study of the characteristics of multiresolution spatial data (MSD) and multiresolution spatial query, we propose a new semantic caching model called Multiresolution Semantic Caching (MSC) for caching MSD in mobile environments. MSC enriches the traditional three-category query processing in semantic cache to five categories, thus improving the performance in three ways: 1) a reduction in the amount and complexity of the remainder queries; 2) the redundant transmission of spatial data already residing in a cache is avoided; 3) a provision for satisfactory answers before 100% query results have been transmitted to the client side. Our extensive experiments on a very large and complex real spatial database show that MSC outperforms the traditional semantic caching models significantly

Distribution of major, minor, and trace metals in lake environments of Antarctica

The concentrations of major, minor and trace metals were measured in water samples collected from five shallow Antarctic lakes (Carezza, Edmonson Point (No 14 and 15a), Inexpressible Island and Tarn Flat) found in Terra Nova Bay (northern Victoria Land, Antarctica) during the Italian Expeditions of 1993-2001. The total concentrations of a large suite of elements (Al, As, Ba, Ca, Cd, Ce, Co, Cr, Cs, Cu, Fe, Ga, Gd, K, La, Li, Mg, Mn, Mo, Na, Nd, Ni, Pb, Pr, Rb, Sc, Si, Sr, Ta, Ti, U, V, Y, W, Zn and Zr) were determined using spectroscopic techniques (ICP-AES, GF-AAS and ICP-MS). The results are similar to those obtained for the freshwater lakes of the Larsemann Hills, East Antarctica, and for the McMurdo Dry Valleys. Principal Component Analysis (PCA) and Cluster Analysis (CA) were performed to identify groups of samples with similar characteristics and to find correlations between the variables. The variability observed within the water samples is closely connected to the sea spray input; hence, it is primarily a consequence of geographical and meteorological factors, such as distance from the ocean and time of year. The trace element levels, in particular those of heavy metals, are very low, suggesting an origin from natural sources rather than from anthropogenic contamination.

Population subdivision in marine environments: the contributions of biogeography, geographic distance, and discontinuous habitat to genetic differentiation in a blennioid

The relative importance of factors that may promote genetic differentiation in marine organisms is largely unknown. Here, contributions to population structure from biogeography, habitat distribution, and isolation by distance were investigated in Axoclinus nigricaudus, a small subtidal rock reef fish, throughout its range in the Gulf of California. A 408 basepair fragment of the mitochondrial control region was sequenced from 105 individuals. Variation was significantly partitioned between many pairs of populations. Phylogenetic analyses, hierarchical analyses of variance, and general linear models substantiated a major break between two putative biogeographic regions. This genetic discontinuity coincides with an abrupt change in ecological characteristics (including temperature and salinity) but does not coincide with known oceanographic circulation patterns. Geographic distance and the nature of habitat separating populations (continuous habitat along a shoreline, discontinuous habitat along a shoreline, and open water) also contributed to population structure in general linear model analyses. To verify that local populations are genetically stable over time, one population was resampled on four occasions over eighteen months; it showed no evidence of a temporal component to diversity. These results indicate that having a planktonic life stage does not preclude geographically partitioned genetic variation over relatively small geographic distances in marine environments. Moreover, levels of genetic differentiation among populations of Axoclinus nigricaudus cannot be explained by a single factor, but are due to the combined influences of a biogeographic boundary, habitat, and geographic distance.

Photoregulation and photodamage in Schefflera arboricola leaves adapted to different light environments

Leaves of the subtropical understorey shrub Schefflera arboricola Hayata growing in full sunlight had higher specific leaf weight, higher chlorophyll a/b ratios, lower total chlorophyll content and a threefold higher xanthophyll cycle pigment content than leaves growing in a naturally shaded, but sunfleck-punctuated, environment. A number of measurements, all made in situ and during natural day/night cycles, were taken as follows: current photochemical capacity (F-v/F-m after 10 min dark-adaptation), size and epoxidation state of the xanthophyll cycle, CO2 gas exchange and determination of the D1 synthesis rate. In sun leaves the lowest daily F-v/F-m was found to be approximately 0.6, the change from maximum correlating with an increase in zeaxanthin. Daily changes in zeaxanthin were partly due to de novo synthesis and turnover. We suggest that sun leaves can dissipate most of the excess light energy absorbed safely via the photoprotective xanthophyll cycle. D1 synthesis rates did not correlate with photosynthetic photon flux density or F-v/F-m. The shade leaves had high F-v/F-m values and constant photosynthetic rates throughout the day except during sunflecks, when photosynthetic rates increased and D1 synthesis accelerated, all without a substantial decrease in F-v/F-m. It seems that leaves of S. arboricola adapted to natural shade conditions can use sunflecks to contribute significantly to their productivity. The third leaf type investigated was from greenhouse-grown plants of S. arboricola after exposure to full sunlight. These leaves showed a rapid and large reduction in F-v/F-m (to 0.3), which neither correlated with zeaxanthin formation nor recovered within the same day. From long-term effects following full sunlight exposure of greenhouse-grown plants we suggest that this F-v/F-m reduction actually reflects photodestruction.

Some challenging group presentations

We study some challenging presentations which arise as groups of deficiency zero. In four cases we settle finiteness: we show that two presentations are for finite groups while two are fur infinite groups. Thus we answer three explicit questions in the literature and we provide the first published deficiency zero presentation for a group with derived length seven. The tools we use are coset enumeration and Knuth-Bendix rewriting, which are well-established as methods for proving finiteness or otherwise of a finitely presented group. We briefly comment on their capabilities and compare their performance.

Multidimensional quantum solitons with nondegenerate parametric interactions: Photonic and Bose-Einstein condensate environments

We consider the quantum theory of three fields interacting via parametric and repulsive quartic couplings. This can be applied to treat photonic chi((2)) and chi((3)) interactions, and interactions in atomic Bose-Einstein condensates or quantum Fermi gases, describing coherent molecule formation together with a-wave scattering. The simplest two-particle quantum solitons or bound-state solutions of the idealized Hamiltonian, without a momentum cutoff, are obtained exactly. They have a pointlike structure in two and three dimensions-even though the corresponding classical theory is nonsingular. We show that the solutions can be regularized with a momentum cutoff. The parametric quantum solitons have much more realistic length scales and binding energies than chi((3)) quantum solitons, and the resulting effects could potentially be experimentally tested in highly nonlinear optical parametric media or interacting matter-wave systems. N-particle quantum solitons and the ground state energy are analyzed using a variational approach. Applications to atomic/molecular Bose-Einstein condensates (BEC's) are given, where we predict the possibility of forming coupled BEC solitons in three space dimensions, and analyze superchemistry dynamics.

Male Teachers in Feminised Teaching Areas: marching to the beat of the men's movement drums?

Calls for more male teachers are prevalent in current gender debates in education. A dominant argument in this debate is that boys are often alienated from school because of a lack of male role models in feminised areas of the school curriculum and in primary schools. Little research has investigated male teachers' accounts of their work within feminised environments. Drawing on data collected in two research studies in music education, this paper focuses on accounts given by male teachers about (a) practices adopted specifically to work with boys and (b) the role of the male music teacher. Analysis of these data suggests that some male teachers working in feminised areas of the school curriculum adopt practices which, rather than challenging dominant constructions of masculinity, sometimes reinforce gender stereotypical behaviours in boys. We argue that calls for increasing the number of male teachers in feminised areas of schooling need also to be informed by open discussion of the underlying assumptions about masculinity which teachers themselves bring to their work.

Geospatial clustering in data-rich environments: Features and issues

Geospatial clustering must be designed in such a way that it takes into account the special features of geoinformation and the peculiar nature of geographical environments in order to successfully derive geospatially interesting global concentrations and localized excesses. This paper examines families of geospaital clustering recently proposed in the data mining community and identifies several features and issues especially important to geospatial clustering in data-rich environments.