Design and analysis of hull configurations for a low-cost, autonomous underwater robot as an enabling technology for system of system applications

The objective of this research is to model and analyze candidate hull configurations for a low-cost, modular, autonomous underwater robot. As the computational power and speed of microprocessors continue to progress, we are seeing a growth in the research, development, and the utilization of underwater robots. The number of applications is broadening in the R&D and science communities, especially in the area of multiple, collaborative robots. These underwater collaborative robots represent an instantiation of a System of Systems (SoS). While each new researcher explores a unique application, control method, etc. a new underwater robot vehicle is designed, developed, and deployed. This sometimes leads to one-off designs that are costly. One limit to the wide-scale utilization of underwater robotics is the cost of development. Another limit is the ability to modify the configuration for new applications and evolving requirements. Consequently, we are exploring autonomous underwater vehicle (AUV) hull designs towards the goal of modularity, vehicle dexterity, and minimizing the cost. In our analysis, we have employed 3D solid modeling tools and finite element methods. In this paper we present our initial results and discuss ongoing work.

Ontogeny of putative GABAergic neurons and their receptors in the nervous system of the crayfish Cherax destructor

Inhibitory neurons exert control the expression of many aspects of behaviour by regulating the effectiveness of excitatory neural function. By comparison with excitatory neural systems, relatively little is known about the development of inhibitory neurons and the influence which these neurons exert on the development of other neural systems. Two issues which relate to the development of inhibitory neurons are of particular interest. First, a paradox arises when inhibitory neurons are considered in terms of modern models of synaptic development which involve activity-dependent mechanisms of synaptic plasticity. Second, there is some evidence that inhibitory neurotransmitters may act in a special trophic manner during the early development of nervous systems. Investigations of these issues would be greatly facilitated in a neural system in which it was possible to experimentally control aspects of the development of individual pre- and postsynaptic cells. The aim of the results presented in this thesis was to characterise the normal development of one such system: the GABAergic inhibitory system of the Australian freshwater crayfish, Cherax destructor. The ontogeny of the inhibitory neurotransmitter GABA across the embryonic period of 30% to 100% development was investigated using immunohistochemical techniques. GABA-like immunoreactive cells and fibres were first detected in the embryonic brain region. The expression of GABA-like immunoreactivity progressed along a rostro-caudal gradient, with GABA-like immunoreactive cells being detected in the most anterior thoracic ganglia at 45% development and in all ganglia by 65% development. GABA-like immunoreactive fibres were evident in peripheral nerves as early as 55% development and ramified extensively throughout the neuropil of the nervous system by 65% development. By contrast, immunoreactivity to the primary excitatory neurotransmitter, glutamate, was not detected until 60-65% development. Glutamate-like immunoreactivity at 60-65% development was evident only in the form of punctate staining in the midline of the ventral nerve cord. Cell body staining was observed only at 90% development and was restricted to only a few cells on the periphery of the ventral nerve cord. Radio-labelled ligand binding methods and autoradiography were used to study the expression of putative GABA receptors in the Cherax embryos from 30% to 100% development. Specific binding was evident in the earliest embryos studies at 30% development. There was an initial increase in binding from 30% to 40% development, followed by a dramatic drop to almost zero binding at 50-55% development. This was followed by a gradual increase in binding levels with age, reaching a plateau at 85% development. Preliminary pharmacological evaluation of binding indicated that at least three GABA receptor types were expressed during embryonic development. Methods for culturing, dissociated neural tissues explanted form Cherax embryos at 85% development were established. The success of cultures was demonstrated by neurite extension, and neuronal networks in which neurons appeared to form connections with other neurons and with explanted muscle cells after two days in culture. Immunohistochemical studies demonstrated that some explanted neurons expressed GABA-like immunoreactivity within two days of explanting. These studies have provided a comprehensive description of the development of GABAergic neurons and their receptors in Cherax destructor embryos. The very early expression of GABA-like immunoreactivity, coupled with the early onset of specific GABA binding, strongly indicates that the GABAergic neurons are functional and able to exert an effect on other cells during much of the period of nervous system development in crayfish embryos. These results support the hypothesis that inhibitory neurons may play an important role as regulators of the overall process of assembly and maturation of the nervous system and provide a substantial basis for future experimental studies in which the specific action of inhibitory neurons on the development of discrete components of the crayfish nervous system may be investigated.

What can student-generated diagrams tell us about their understanding of chemical equations?

Chemical equations are representations that use symbols to summarise the net changes occurring in a reaction whereas depictions such as drawings of the submicroscopic level provide representations of the chemical transformations. While the ability to balance and interpret chemical equations is key to understanding many concepts in chemistry, many undergraduate chemistry students struggle to master these skills. The equations contain a great deal of implicit information and novices may not be able to make the connection between the equation and the actual chemical transformations that are occurring. This paper reports on a study which used submicroscopic diagrams to probe students' understanding of chemical equations. Assessment tasks required students to interpret diagrams, construct diagrams and to relate diagrams to symbolic representations. The analysis showed that some students have misconceptions about the molecular nature and chemical formulae and could not distinguish between coefficients and subscripts when representing chemical formulae. While students were generally able to balance a chemical equation presented as a set of diagrams, a significant number could not generate the balanced equation based on a diagram of the progress of a reaction, The study has demonstrated the use of student-generated diagrams to provide insight into students' understandings of chemical equations.

The natriuretic peptide system of the heart and central blood vessels of the toad, Bufo marinus

This research has established the presence of a natriuretic peptide system in the cardiovascular system of the toad, Bufo marinus. The presence of atrial natriuretic peptide mRNA and the peptide itself were shown in the heart which does not contain natriuretic peptide receptors in contrast to the large arteries and veins. In arteries these receptors mediated vasodilation. Atrial natriuretic peptide released from the heart may act on large arteries to regulate blood flow, but the action does not target the heart.

Interpreting and modeling baggage handling systems as a system of systems

The topic of systems of systems has been one of the most challenging areas in science and engineering due to its multidisciplinary scope and inherent complexity. Despite all attempts carried out so far in both academia and industry, real world applications are far remote. The purpose of this paper is to modify and adopt a recently developed modeling paradigm for system of systems and then employ it to model a generic baggage handling system of an airport complex. In a top-down design approach, we start modeling process by definition of some modeling goals that guide us in selection of some high level attributes. Then functional attributes are defined which act as ties between high level attributes (the first level of abstraction) and low level metrics/measurements. Since the most challenging issues in developing models for system of systems are identification and representation of dependencies amongst constituent entities, a machine learning technique is adopted for addressing these issues.

Outcome measures in assertive outreach : one team's journey towards a system of implementation

The article describes a team's efforts to develop a workable system of outcome measures as a means of supporting good practice and fostering meaningful therapeutic relationships with clients. The team identified their reasons for using outcome measures. Then, they considered what they wanted to measure. The Health of the Nation Outcome Scale was identified as the only compulsory outcome measure. Throughout the process, team members often expressed the need for the system to be workable.

Consensus control for a system of underwater swarm robots

The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal.

Many routes lead to Rome : potential causes for the multi-route migration system of Red Knots, Calidris canutus islandica

Migrants, such as birds or representatives of other taxa, usually make use of several stopover sites to cover the distance between their site of origin and destination. Potentially, multiple routes exist, but often little is known about the causes and consequences of alternative migration routes. Apart from their geographical distribution, the suitability of potential sites might play an important role in the animals’ decisions for a particular itinerary. We used an optimal-migration model to test three nonmutually exclusive hypotheses leading to variations in the spring migration routes of a subspecies of Red Knot, Calidris canutus islandica, which migrates from wintering grounds in Western Europe to breeding grounds in Greenland and the Canadian Arctic: the breeding location hypothesis, the energy budget hypothesis, and the predation risk hypothesis. Varying only breeding location, the model predicted that birds breeding in the Canadian Arctic and on West Greenland stop over on Iceland, whereas birds breeding in East and Northeast Greenland migrate via northern Norway, a prediction that is supported by empirical findings. Energy budgets on stopover sites had a strong influence on the choice of route and staging times. Varying foraging-intensity and mass-dependent predation risk prompted the birds to use less risky sites, if possible. The effect of simultaneous changes in the energy budget and predation risk strongly depended on the site where these occurred. Our findings provide potential explanations for the observations that C. canutus islandica uses a diverse array of migration routes. Scrutinizing the three alternative driving forces for the choice of migratory routes awaits further, specific data collection in rapidly developing fields of research (e.g., predation risk assessment, GPS tracking). Generally, the type of modeling presented here may not only highlight alternative explanations, but also direct follow-up empirical research.

Finding higher symmetries of differential equations using the MAPLE package DESOLVII

We present and describe, with illustrative examples, the MAPLE computer algebra package DESOLVII, which is a major upgrade of DESOLV. DESOLVII now includes new routines allowing the determination of higher symmetries (contact and Lie-Backlund) for systems of both ordinary and partial differential equations.