Control and simulation of robotic swarms in heterogeneous environments

Simulation provides a low cost method of initial testing of control for robotic swarms. The expansion of robotic swarms to heterogeneous environments drives the need to model cooperative operation in those environments. The Autonomous Control Engineering center at The University of Texas at San Antonio is investigating methods of simulation techniques and simulation environments. This paper presents results from adapting simulation tools for diverse environments.

Retrodicting patch use by foraging swans in a heterogeneous environment using a set of functional responses

Effective conservation of important bird areas requires insight in the number of birds an area can support, and how this carrying capacity changes with habitat modifications. When food depletion is the dominant mechanism of competition, it should in principle be possible to calculate the total time foragers can spend per patch from their functional response (intake rate as a function of food density). However, in the field there are likely to be factors modulating the functional response. In this study previously published results of experiments on captive Bewick's swans were used to obtain functional responses of swans digging for tubers of Fennel pondweed on different foraging substrates: sandy and clayey sediment, and in shallow and deep water. In a field study, four 250×250 m sections belonging to different types (sandy–shallow, clayey–shallow, sandy–deep and clayey–deep) were delineated. Here tubers were sampled with sediment corers in three years, both before and after swan exploitation in autumn, and swans were observed and mapped from a hide in two of these years. Giving-up tuber biomass densities varied among sections. Substitution of these giving-up densities in the derived patch-type-specific functional responses yielded the quitting net energy intake rates in the four sections. As expected from the marginal value theorem, the quitting net energy intake rates did not vary among sections. Moreover, the observed foraging pressure (total foraging time per area) per patch type was in quantitative agreement with the integrated functional responses. These results suggest that in spatially heterogeneous environments, patch exploitation by foragers can be predicted from their functional responses after accounting for foraging substrate.

Responses to flooding and drying in seedlings of a common Australian desert floodplain shrub : Muehlenbeckia florulenta Meisn. (tangled lignum)

We investigated the effects of flooding and drying over 6 months on growth and biomass allocation in seedlings of Muehlenbeckia florulenta Meisn. (tangled lignum), a common and widely distributed shrub of Australia's desert floodplains. We sought to determine if lignum seedlings respond to flooding or drying by altering traits or allocation patterns or instead display fixed patterns of development. Since desert floodplains are highly unpredictable and heterogeneous environments, we hypothesised that adaptive phenotypic plasticity is unlikely to have developed or be advantageous in seedlings of this species as environmental state changes are highly variable in their timing and duration and plants risk being caught out of kilter with environmental conditions. To test this, we conducted a glasshouse experiment in which lignum seedlings, grown in both clay and sandy sediments, were subjected to a range of hydrological conditions over a period of 6 months. Lignum seedlings exhibited considerable tolerance of both flooding and drying in our experiment and no mortality was observed. Growth was significantly reduced by flooding, however, and seedlings displayed extremely delayed development rather than plasticity in overall biomass allocation or any of the specific morphological variables we measured. Lignum seedlings were considerably more tolerant of drying than flooding and responded plastically by reducing leaf area ratios through reductions in specific leaf areas and leaf production and expansion. Sediment type had little effect on seedling development. Our results indicate that surface water hydrology is likely to be a major determinant of recruitment patterns in this ecologically significant species.

Effects of Mitochondrial DNA Rate Variation on Reconstruction of Pleistocene Demographic History in a Social Avian Species, Pomatostomus superciliosus

Mitochondrial sequence data is often used to reconstruct the demographic history of Pleistocene populations in an effort to understand how species have responded to past climate change events. However, departures from neutral equilibrium conditions can confound evolutionary inference in species with structured populations or those that have experienced periods of population expansion or decline. Selection can affect patterns of mitochondrial DNA variation and variable mutation rates among mitochondrial genes can compromise inferences drawn from single markers. We investigated the contribution of these factors to patterns of mitochondrial variation and estimates of time to most recent common ancestor (TMRCA) for two clades in a co-operatively breeding avian species, the white-browed babbler Pomatostomus superciliosus. Both the protein-coding ND3 gene and hypervariable domain I control region sequences showed departures from neutral expectations within the superciliosus clade, and a two-fold difference in TMRCA estimates. Bayesian phylogenetic analysis provided evidence of departure from a strict clock model of molecular evolution in domain I, leading to an over-estimation of TMRCA for the superciliosus clade at this marker. Our results suggest mitochondrial studies that attempt to reconstruct Pleistocene demographic histories should rigorously evaluate data for departures from neutral equilibrium expectations, including variation in evolutionary rates across multiple markers. Failure to do so can lead to serious errors in the estimation of evolutionary parameters and subsequent demographic inferences concerning the role of climate as a driver of evolutionary change. These effects may be especially pronounced in species with complex social structures occupying heterogeneous environments. We propose that environmentally driven differences in social structure may explain observed differences in evolutionary rate of domain I sequences, resulting from longer than expected retention times for matriarchal lineages in the superciliosus clade.

Plasmon-enhanced two-photon-induced isomerization for highly-localized light-based actuation of inorganic/organic interfaces

Two-photon initiated photo-isomerization of an azobenzene moiety adsorbed on silver nanoparticles (Ag NPs) is demonstrated. The azobenzene is linked to a materials-binding peptide that brings it into intimate contact with the Ag NP surface, producing a dramatic enhancement of its two-photon absorbance. An integrated modeling approach, combining advanced conformational sampling with Quantum Mechanics/Capacitance Molecular Mechanics and response theory, shows that charge transfer and image charges in the Ag NP generate local fields that enhance two-photon absorption of the cis isomer, but not the trans isomer, of adsorbed molecules. Moreover, dramatic local field enhancement is expected near the localized surface plasmon resonance (LSPR) wavelength, and the LSPR band of the Ag NPs overlaps the azobenzene absorbance that triggers cis to trans switching. As a result, the Ag NPs enable two-photon initiated cis to trans isomerization, but not trans to cis isomerization. Confocal anti-Stokes fluorescence imaging shows that this effect is not due to local heating, while the quadratic dependence of switching rate on laser intensity is consistent with a two-photon process. Highly localized two-photon initiated switching could allow local manipulation near the focal point of a laser within a 3D nanoparticle assembly, which cannot be achieved using linear optical processes.

Dynamic virtual workspace for teleoperation of heterogeneous robots in non-deterministic environments

Robots are ever increasing in a variety of different workplaces providing an array of benefits such alternative solutions to traditional human labor. While developing fully autonomous robots is the ultimate goal in many robotic applications the reality is that there still exist many situationswere robots require some level of teleoperation in order to achieve assigned goals especially when deployed in non-deterministic environments. For instance teleoperation is commonly used in areas such as search and rescue, bomb disposal and exploration of inaccessible or harsh terrain. This is due to a range of factors such as the lack of ability for robots to quickly and reliably navigate unknown environments or provide high-level decision making especially intime critical tasks. To provide an adequate solution for such situations human-in-the-loop control is required. When developing human-in-the-loop control it is important to take advantage of the complimentary skill-sets that both humans and robots share. For example robots can performrapid calculations, provide accurate measurements through hardware such as sensors and store large amounts of data while humans provide experience, intuition, risk management and complex decision making capabilities. Shared autonomy is the concept of building robotic systems that take advantage of these complementary skills-sets to provide a robust an efficient robotic solution. While the requirement of human-in-the-loop control exists Human Machine Interaction (HMI) remains an important research topic especially the area of User Interface (UI) design.In order to provide operators with an effective teleoperation system it is important that the interface is intuitive and dynamic while also achieving a high level of immersion. Recent advancements in virtual and augmented reality hardware is giving rise to innovative HMI systems. Interactive hardware such as Microsoft Kinect, leap motion, Oculus Rift, Samsung Gear VR and even CAVE Automatic Virtual Environments [1] are providing vast improvements over traditional user interface designs such as the experimental web browser JanusVR [2]. This combined with the introduction of standardized robot frameworks such as ROS and Webots [3] that now support a large number of different robots provides an opportunity to develop a universal UI for teleoperation control to improve operator efficiency while reducing teleoperation training.This research introduces the concept of a dynamic virtual workspace for teleoperation of heterogeneous robots in non-deterministic environments that require human-in-the-loop control. The system first identifies the connected robots through the use kinematic information then determines its network capabilities such as latency and bandwidth. Given the robot type and network capabilities the system can then provide the operator with available teleoperation modes such as pick and place control or waypoint navigation while also allowing them to manipulate the virtual workspace layout to provide information from onboard camera’s or sensors.

Riparian vegetation has disproportionate benefits for landscape-scale conservation of woodland birds in highly modified environments

1. Identifying landscape patterns that allow native fauna to coexist with human land use is a global challenge. Riparian vegetation often persists in anthropogenic environments as strips of natural or semi-natural vegetation that provide habitat for many terrestrial species. Its relative contribution to landscape-scale conservation is likely to change as environments become increasingly modified. We used a ‘whole of landscape’ approach to test the hypothesis that riparian vegetation offers disproportionate benefits, relative to non-riparian vegetation, for the conservation of woodland birds in highly modified agricultural landscapes. 2. We selected 24 landscapes, each 100 km2, along a gradient of landscape change represented by decreasing cover of native vegetation (from 60% to <2%), in an agricultural region in SE Australia. Bird species were systematically surveyed at three riparian and seven non-riparian sites in wooded vegetation in each landscape. 3. Riparian sites supported a greater richness of woodland-dependent species, a group of conservation concern, than did non-riparian sites. The composition of assemblages also differed between site types. 4. At the landscape scale, the pooled richness of bird assemblages at riparian and non-riparian sites, respectively, decreased with overall loss of tree cover despite constant sampling effort. Within landscapes, the β-diversity of woodland species among non-riparian sites increased (composition became less similar) as landscape tree cover declined. In contrast, riparian assemblages were relatively stable with no change in β-diversity. Importantly, as landscape tree cover declined, the proportion of woodland species uniquely present at riparian sites increased and made a greater contribution to overall landscape diversity. 5. Synthesis and applications. Landscape-scale richness of woodland species declines as landscape tree cover is lost. In highly depleted landscapes, riparian vegetation retains a relatively rich, stable assemblage compared with that in heterogeneous remnants of non-riparian vegetation and consequently contributes disproportionately to landscape-scale diversity. These observations, together with the diverse benefits of riparian vegetation for aquatic ecosystems, mean that protection and restoration of riparian vegetation is a high priority in anthropogenic environments. Importantly, such actions are directly amenable to individual land managers, and the benefits will accumulate to enhance the persistence and conservation of species at landscape and regional scales.

Atom probe tomography investigation of heterogeneous short-range ordering in the 'komplex' phase state (K-state) of Fe-18Al (at.%)

We study an Fe-18Al (at.%) alloy after various thermal treatments at different times (24-336 h) and temperatures (250-1100 °C) to determine the nature of the so-called 'komplex' phase state (or "K-state"), which is common to other alloy systems having compositions at the boundaries of known order-disorder transitions and is characterised by heterogeneous short-range-ordering (SRO). This has been done by direct observation using atom probe tomography (APT), which reveals that nano-sized, ordered regions/particles do not exist. Also, by employing shell-based analysis of the three-dimensional atomic positions, we have determined chemically sensitive, generalised multicomponent short-range order (GM-SRO) parameters, which are compared with published pairwise SRO parameters derived from bulk, volume-averaged measurement techniques (e.g. X-ray and neutron scattering, Mössbauer spectroscopy) and combined ab-initio and Monte Carlo simulations. This analysis procedure has general relevance for other alloy systems where quantitative chemical-structure evaluation of local atomic environments is required to understand ordering and partial ordering phenomena that affect physical and mechanical properties.