Response threshold models and stochastic learning automata for self-coordination of heterogeneous multi-task distribution in multi-robot systems.

This paper focuses on the general problem of coordinating multiple robots. More specifically, it addresses the self-selection of heterogeneous specialized tasks by autonomous robots. In this paper we focus on a specifically distributed or decentralized approach as we are particularly interested in a decentralized solution where the robots themselves autonomously and in an individual manner, are responsible for selecting a particular task so that all the existing tasks are optimally distributed and executed. In this regard, we have established an experimental scenario to solve the corresponding multi-task distribution problem and we propose a solution using two different approaches by applying Response Threshold Models as well as Learning Automata-based probabilistic algorithms. We have evaluated the robustness of the algorithms, perturbing the number of pending loads to simulate the robot’s error in estimating the real number of pending tasks and also the dynamic generation of loads through time. The paper ends with a critical discussion of experimental results.

Integrated learning of production engineering software applications in a shipbuilding context

Acourse focused on the acquisition of integration competencies in ship production engineering, organized in collaboration with selected industry partners, is presented in this paper. The first part of the course is dedicated to Project Management: the students acquire skills in defining, using MS-PROJECT, the work breakdown structure (WBS), and the organization breakdown structure (OBS) in Engineering projects, through a series of examples of increasing complexity with the final one being the construction planning of a vessel. The second part of the course is dedicated to the use of a database manager, MS-ACCESS, in managing production related information.Aseries of increasing complexity examples is treated, the final one being the management of the piping database of a real vessel. This database consists of several thousand pipes, for which a production timing frame is defined connecting this part of the course with the first one. Finally, the third part of the course is devoted to working withFORAN,an Engineering Production application developed bySENERand widely used in the shipbuilding industry. With this application, the structural elements where all the outfittings will be located are defined through cooperative work by the students, working simultaneously in the same 3D model. In this paper, specific details about the learning process are given. Surveys have been posed to the students in order to get feedback from their experience as well as to assess their satisfaction with the learning process, compared to more traditional ones. Results from these surveys are discussed in the paper.

Residual stress distribution in ferritic-austenitic steel joints made by laser welding

The present investigation addresse the influence of laser welding process-ing parameters used for joining dis-similar metals (ferritic to austenitic steel), on the induced residual stress field. Welding was performed on a Nd:YAG laser DY033 (3300 W) in a continuous wave (CW), keyhole mode. The base metals (BM) employed in this study are AISI 1010 carbon steel (CS) and AISI 304L austenitic stainless steel (SS). Pairs of dissimilar plates of 200 mm x 45 mm x 3 mm were butt joined by laser welding. Different sets of parameters were used to engineer the base metals apportionment at joint formation, namely distinct dilution rates. Residual strain scanning, carried out by neutron diffraction was used to assess the joints. Through-thickness residual stress maps were determined for the laser welded samples of dis-similar steels using high spatial reso-lution. As a result, an appropriate set of processing parameters, able to mi-nimize the local tensile residual stress associated to the welding process, was found.

Residual stress distribution in ferritic to austenitic steel joints made by laser welding,

In this study, autogenous laser welding was used to join thin plates of low carbon ferritic and austenitic stainless steel. Due to the differences in the thermo-physical properties of base metals, this kind of weld exhibits a complex microstructure, which frequently leads to an overall loss of joint quality. Four welded samples were prepared by using different sets of processing parameters, with the aim of minimizing the induced residual stress field. The dissimilar austenitic-ferritic joints obtained under all welding conditions were uniform and free of defects. Variations in beam position did not influence the weld geometiy, which is a typical keyhole welding. Microstructural characterization and residual strain scanning (by neutron diffraction) were used to assess the features of the joints. By varying laser beam power density and by displacing the laser beam towards the carbon steel side, an optimum combination of processing parameters was found.

Entanglement Distribution in Quantum Metropolitan Optical Networks

The ability to generate entangled photon-pairs over a broad wavelength range opens the door to the simultaneous distribution of entanglement to multiple users of a network using a single source and wavelength-division multiplexing technologies. Here we show the design of a metropolitan optical network made of tree-type access networks where entangled photon-pairs are distributed to any pair of users, independently of their location. The resulting network improves the reach, number of users and capabilities of existing proposals. Moreover, it is made up of typical commercial components and uses the existing infrastructure, which allows for moderate deployment costs. Finally, we develop a channel plan and a network design that allow direct optical communications, quantum and classical, between any pair of users. Therefore, multiple quantum information technologies can make use of this network.

Entanglement distribution in optical networks

The ability to generate entangled photon pairs over a broad wavelength range opens the door to the simultaneous distribution of entanglement to multiple users in a network by using centralized sources and flexible wavelength-division multiplexing schemes. Here, we show the design of a metropolitan optical network consisting of tree-type access networks, whereby entangled photon pairs are distributed to any pair of users, independent of their location. The network is constructed employing commercial off-the-shelf components and uses the existing infrastructure, which allows for moderate deployment costs. We further develop a channel plan and a network-architecture design to provide a direct optical path between any pair of users; thus, allowing classical and one-way quantum communication, as well as entanglement distribution. This allows the simultaneous operation of multiple quantum information technologies. Finally, we present a more flexible backbone architecture that pushes away the load limitations of the original network design by extending its reach, number of users and capabilities.

Moisture Distribution in Partially Saturated Concrete Studied by Impedance Spectroscopy

The moisture content and its spatial distribution has a great influence on the durability properties of concrete structures. Several non-destructive techniques have been used for the determination of the total water content, but moisture distribution is difficult to determine. In this paper impedance spectroscopy is used to study the water distribution in concrete samples with controlled and homogeneously distributed moisture contents. The technique is suitable for the determination of water distribution inside the sample, using the appropriate equivalent circuits. It is shown that using the selected drying procedures there is no change in the solid phase of the samples, although the technique can only be used for the qualitative study of variations in the solid phase when samples are too thick. The results of this work show that for a wide range of concrete percentages of saturation, from full to 18 % saturation, practically all the pores keep at least a thin layer of electrolyte covering their walls, since the capacitance measurement results are practically independent of the saturation degree.

An adaptive algorithm for clustering cumulative probability distribution functions using the Kolmogorov–Smirnov two-sample test

This paper proposes an adaptive algorithm for clustering cumulative probability distribution functions (c.p.d.f.) of a continuous random variable, observed in different populations, into the minimum homogeneous clusters, making no parametric assumptions about the c.p.d.f.’s. The distance function for clustering c.p.d.f.’s that is proposed is based on the Kolmogorov–Smirnov two sample statistic. This test is able to detect differences in position, dispersion or shape of the c.p.d.f.’s. In our context, this statistic allows us to cluster the recorded data with a homogeneity criterion based on the whole distribution of each data set, and to decide whether it is necessary to add more clusters or not. In this sense, the proposed algorithm is adaptive as it automatically increases the number of clusters only as necessary; therefore, there is no need to fix in advance the number of clusters. The output of the algorithm are the common c.p.d.f. of all observed data in the cluster (the centroid) and, for each cluster, the Kolmogorov–Smirnov statistic between the centroid and the most distant c.p.d.f. The proposed algorithm has been used for a large data set of solar global irradiation spectra distributions. The results obtained enable to reduce all the information of more than 270,000 c.p.d.f.’s in only 6 different clusters that correspond to 6 different c.p.d.f.’s.

Effects of the fibers distribution in the human eardrum: A biomechanical study

The eardrum separates the external ear from the middle ear and it is responsible to convert the acoustical energy into mechanical energy. It is divided by pars tensa and pars flaccida. The aim of this work is to analyze the susceptibility of the four quadrants of the pars tensa under negative pressure, to different lamina propria fibers distribution. The development of associated ear pathology, in particular the formation of retraction pockets, is also evaluated. To analyze these effects, a computational biomechanical model of the tympano-ossicular chain was constructed using computerized tomography images and based on the finite element method. Three fibers distributions in the eardrum middle layer were compared: case 1 (eardrum with a circular band of fibers surrounding all quadrants equally), case 2 (eardrum with a circular band of fibers that decreases in thickness in posterior quadrants), case 3 (eardrum without circular fibers in the posterior/superior quadrant). A static analysis was performed by applying approximately 3000Pa in the eardrum. The pars tensa of the eardrum was divided in four quadrants and the displacement of a central point of each quadrant analyzed. The largest displacements of the eardrum were obtained for the eardrum without circular fibers in the posterior/superior quadrant.

Effects of the fibers distribution in the human eardrum: A biomechanical study

The eardrum separates the external ear from the middle ear and it is responsible to convert the acoustical energy into mechanical energy. It is divided by pars tensa and pars flaccida. The aim of this work is to analyze the susceptibility of the four quadrants of the pars tensa under negative pressure, to different lamina propria fibers distribution. The development of associated ear pathology, in particular the formation of retraction pockets, is also evaluated. To analyze these effects, a computational biomechanical model of the tympano-ossicular chain was constructed using computerized tomography images and based on the finite element method. Three fibers distributions in the eardrum middle layer were compared: case 1 (eardrum with a circular band of fibers surrounding all quadrants equally), case 2 (eardrum with a circular band of fibers that decreases in thickness in posterior quadrants), case 3 (eardrum without circular fibers in the posterior/superior quadrant). A static analysis was performed by applying approximately 3000Pa in the eardrum. The pars tensa of the eardrum was divided in four quadrants and the displacement of a central point of each quadrant analyzed. The largest displacements of the eardrum were obtained for the eardrum without circular fibers in the posterior/superior quadrant.

Ice rafted debris distribution in sediment core CRP-1

Lonestone abundances in CRP-1 were investigated using three methods: core examination at Cape Roberts Camp, analysis of digital core images and follow-up core examination. For all images of split-core, we determined size and depth of every detectable lonestone larger than 3 mm. Lonestone abundance decreases exponentially with clast size. Although no significant depth-dependent variations in lonestone size distribution were detected, a strong 0.5-0.7 m abundance periodicity, of unknown origin, is evident within diamicts. Lonestone volume percentage was estimated from size distribution: most size classes contribute approximately the same volume to the total. Sizes >16 mm have rare enough lonestones that their counts are nonrepresentative when based on short intervals of split core. This problem does not affect total counts significantly, but the volume analysis needs to be confined to <= 6 mm lonestones to avoid instability induced by rare and nonrepresentative larger lonestones. If lonestone abundance can be used as an indicator of glacial proximity, then our CRP-1 lonestone abundance logs confirm the overall character of previously inferred variations in relative distance to the ice margin. Large-scale changes in lonestone abundance also reflect the CRP-1 sequence stratigraphy, with individual sequences generally characterised by basal lonestone-rich diamict overlain by lonestone-poor sands and muds. The relationship between glacial proximity and lonestone abundance within diamicts and within sand-mud intervals is, however, less certain. For example, two or three gradual lonestone increases may indicate regressions during glacial advances, in contrast to the more common CRP-l pattern of dominantly transgressive sequences.

Reconstruction of hydraulic management of a water distribution system using optimization /

"October 2001."

A winter survey of oxygen distribution in Long Island Sound and Block Island Sound : Cruise STIRNI-III, January-February 1952 /

"Status report no. 24, Contract N6 onr-264, Task 15, NR-083-033, Cornell University, April 1953"

Long chain alkyl diol distribution in Arabian Sea surface sediments

Oxygen exposure has a large impact on lipid biomarker preservation in surface sediments and may affect the application of organic proxies used for reconstructing past environmental conditions. To determine its effect on long chain alkyl diol and keto-ol based proxies, the distributions of these lipids was studied in nine surface sediments from the Murray Ridge in the Arabian Sea obtained from varying water depths (900 to 3000 m) but in close lateral proximity and, therefore, likely receiving a similar particle flux. Due to substantial differences in bottom water oxygen concentration (<3 to 77 µmol/L) and sedimentation rate, substantial differences exist in the time the biomarker lipids are exposed to oxygen in the sediment. Long chain alkyl diol and keto-ol concentrations in the surface sediments (0-0.5 cm) decreased progressively with increasing oxygen exposure time, suggesting increased oxic degradation. The 1,15-keto-ol/diol ratio (DOXI) increased slightly with oxygen exposure time as diols had apparently slightly higher degradation rates than keto-ols. The ratio of 1,14- vs. 1,13- or 1,15-diols, used as upwelling proxies, did not show substantial changes. However, the C30 1,15-diol exhibited a slightly higher degradation rate than C28 and C30 1,13-diols, and thus the Long chain Diol Index (LDI), used as sea surface temperature proxy, showed a negative correlation with the maximum residence time in the oxic zone of the sediment, resulting in ca. 2-3.5 °C change, when translated to temperature. The UK'37 index did not show significant changes with increasing oxygen exposure. This suggests that oxic degradation may affect temperature reconstructions using the LDI in oxic settings and where oxygen concentrations have varied substantially over time.

An investigation of contaminant distribution in subsurface marine wood waste at Mill-A South Terminal, Port of Everett, Washington

This project investigates the correlation between contaminants and the wood waste present in marine sediments off the shore of the Port of Everett in the former Weyerhaeuser Mill-A pulp mill site. The investigation includes the results of two field studies, which tested contaminant levels in 22 boreholes as well as several surface samples. The contaminants include heavy metals and wood waste byproducts. These results, along with 14 other bore logs, provide the framework for a three-dimensional site model, interpolating the full extent of the depositional units and organic and inorganic chemicals found at Mill-A. The sediments of interest are divided into five depositional units defined by the percent wood content and type of wood: native material (<5% wood), intermediate (<30% wood), sawdust (<30% wood), woodchips (<30% wood), and poorly sorted sands with silt (SM-SP) (0% wood). The contaminants include arsenic, 2,4-dimethylphenol, and total organic carbon. Three-dimensional modeling software, RockWorks, interpolated the discrete borehole data of sediment and contaminants assuming horizontal continuity between sampling locations. The sediment distribution was calculated within concentration ranges for each contaminant of concern. The lowest detection limits, the screening levels, and the cleanup levels defined these ranges. Total organic carbon served as a proxy to estimate the quantity of wood waste in the sediment. As a known byproduct of wood decomposition, 2,4-dimethylphenol was expected to be more prevalent in the depositional units with more wood waste. Finally, arsenic was a proxy for other contaminants to determine if contaminants at Mill-A are dominant in sediments with high percentages of wood waste. The volumetric distribution established that high levels of total organic carbon are present in the sediment with higher percentages of wood waste. This correlation was stronger in the decomposing sawdust-rich sediment than the woodchip-rich sediment. The 2,4-dimethylphenol concentrations above cleanup standards were dominant in the sawdust-rich, intermediate and native sediments. Concentrations of 2,4-dimethylphenol below cleanup levels characterized the native sediment. The distribution of arsenic showed no statistically significant correlation to wood content in sediment. These results do not support the hypothesis of contaminant-rich wood waste, as many of the high concentrations of contaminants were not in the wood-rich sediments. This suggests that the contaminants are more distributed among all depositional units at Mill-A rather than focused within sediments with a high percent of wood waste. Understanding the distribution of potentially toxic compounds with wood waste is important for restoring the Puget Sound waterways to a more habitable environment. Future studies should include new data to validate these results and to limit the uncertainty of the extent of contaminants. Future studies may also find motive in looking for a correlation between contaminants and grain size based on previous studies linking these characteristics. These investigations will benefit the current cleanup effort as well as future cleanup efforts at similarly contaminated waterways.