A Reliable Open-Source System Architecture for the Fast Designing and Prototyping of Autonomous Multi-UAV Systems: Simulation and Experimentation

During the process of design and development of an autonomous Multi-UAV System, two main problems appear. The first one is the difficulty of designing all the modules and behaviors of the aerial multi-robot system. The second one is the difficulty of having an autonomous prototype of the system for the developers that allows to test the performance of each module even in an early stage of the project. These two problems motivate this paper. A multipurpose system architecture for autonomous multi-UAV platforms is presented. This versatile system architecture can be used by the system designers as a template when developing their own systems. The proposed system architecture is general enough to be used in a wide range of applications, as demonstrated in the paper. This system architecture aims to be a reference for all designers. Additionally, to allow for the fast prototyping of autonomous multi-aerial systems, an Open Source framework based on the previously defined system architecture is introduced. It allows developers to have a flight proven multi-aerial system ready to use, so that they can test their algorithms even in an early stage of the project. The implementation of this framework, introduced in the paper with the name of “CVG Quadrotor Swarm”, which has also the advantages of being modular and compatible with different aerial platforms, can be found at https://​github.​com/​Vision4UAV/​cvg_​quadrotor_​swarm with a consistent catalog of available modules. The good performance of this framework is demonstrated in the paper by choosing a basic instance of it and carrying out simulation and experimental tests whose results are summarized and discussed in this paper.

Extension of the thermodynamics of small systems to open metastable states: An example

By using a simplified model of small open liquid-like clusters with surface effects, in the gas phase, it is shown how the statistical thermodynamics of small systems can be extended to include metastable supersaturated gaseous states not too far from the gas–liquid equilibrium transition point. To accomplish this, one has to distinguish between mathematical divergence and physical convergence of the open-system partition function.

A comparative study of open domain and opinion question answering systems for factual and opinionated queries

The development of the Web 2.0 led to the birth of new textual genres such as blogs, reviews or forum entries. The increasing number of such texts and the highly diverse topics they discuss make blogs a rich source for analysis. This paper presents a comparative study on open domain and opinion QA systems. A collection of opinion and mixed fact-opinion questions in English is defined and two Question Answering systems are employed to retrieve the answers to these queries. The first one is generic, while the second is specific for emotions. We comparatively evaluate and analyze the systems’ results, concluding that opinion Question Answering requires the use of specific resources and methods.

Behaviours, Processes and Probabilistic Environmental Functions in H-Open Systems

The Patten’s Theory of the Environment, supposes an impotent contribution to the Theoretical Ecology. The hypothesis of the duality of environments, the creaon and genon functions and the three developed propositions are so much of great importance in the field of the Applied Mathematical as Ecology. The authors have undertaken an amplification and revision of this theory, developing the following steps: 1) A theory of processes. 2) A definition of structural and behavioural functions. 3) A probabilistic definition of the environmental functions. In this paper the authors develop the theory of behavioural functions, begin the theory of environmental functions and give a complementary focus to the theory of processes that has been developed in precedent papers.

NASA management plan for Government Open Systems Interconnection Profile (GOSIP) Implementation /

"July 1992."

Open Systems Environment Implementors' Workshop (OIW).

Mode of access: Internet.

Energy as an entanglement witness for quantum many-body systems

We investigate quantum many-body systems where all low-energy states are entangled. As a tool for quantifying such systems, we introduce the concept of the entanglement gap, which is the difference in energy between the ground-state energy and the minimum energy that a separable (unentangled) state may attain. If the energy of the system lies within the entanglement gap, the state of the system is guaranteed to be entangled. We find Hamiltonians that have the largest possible entanglement gap; for a system consisting of two interacting spin-1/2 subsystems, the Heisenberg antiferromagnet is one such example. We also introduce a related concept, the entanglement-gap temperature: the temperature below which the thermal state is certainly entangled, as witnessed by its energy. We give an example of a bipartite Hamiltonian with an arbitrarily high entanglement-gap temperature for fixed total energy range. For bipartite spin lattices we prove a theorem demonstrating that the entanglement gap necessarily decreases as the coordination number is increased. We investigate frustrated lattices and quantum phase transitions as physical phenomena that affect the entanglement gap.

Classical simulation of quantum many-body systems with a tree tensor network

We show how to efficiently simulate a quantum many-body system with tree structure when its entanglement (Schmidt number) is small for any bipartite split along an edge of the tree. As an application, we show that any one-way quantum computation on a tree graph can be efficiently simulated with a classical computer.

First-principles quantum dynamics in interacting Bose gases: I. The positive P representation

The performance of the positive P phase-space representation for exact many- body quantum dynamics is investigated. Gases of interacting bosons are considered, where the full quantum equations to simulate are of a Gross-Pitaevskii form with added Gaussian noise. This method gives tractable simulations of many-body systems because the number of variables scales linearly with the spatial lattice size. An expression for the useful simulation time is obtained, and checked in numerical simulations. The dynamics of first-, second- and third-order spatial correlations are calculated for a uniform interacting 1D Bose gas subjected to a change in scattering length. Propagation of correlations is seen. A comparison is made with other recent methods. The positive P method is particularly well suited to open systems as no conservation laws are hard-wired into the calculation. It also differs from most other recent approaches in that there is no truncation of any kind.

Quantum optical systems for the implementation of quantum information processing

We review the field of quantum optical information from elementary considerations to quantum computation schemes. We illustrate our discussion with descriptions of experimental demonstrations of key communication and processing tasks from the last decade and also look forward to the key results likely in the next decade. We examine both discrete (single photon) type processing as well as those which employ continuous variable manipulations. The mathematical formalism is kept to the minimum needed to understand the key theoretical and experimental results.

Effect of aspect ratio on thermal convection in open and closed systems

Internally heated fluids are found across the nuclear fuel cycle. In certain situations the motion of the fluid is driven by the decay heat (i.e. corium melt pools in severe accidents, the shutdown of liquid metal reactors, molten salt and the passive control of light water reactors) as well as normal operation (i.e. intermediate waste storage and generation IV reactor designs). This can in the long-term affect reactor vessel integrity or lead to localized hot spots and accumulation of solid wastes that may prompt local increases in activity. Two approaches to the modeling of internally heated convection are presented here. These are based on numerical analysis using codes developed in-house and simulations using widely available computational fluid dynamics solvers. Open and closed fluid layers at around the transition between conduction and convection of various aspect ratios are considered. We determine optimum domain aspect ratio (1:7:7 up to 1:24:24 for open systems and 5:5:1, 1:10:10 and 1:20:20 for closed systems), mesh resolutions and turbulence models required to accurately and efficiently capture the convection structures that evolve when perturbing the conductive state of the fluid layer. Note that the open and closed fluid layers we study here are bounded by a conducting surface over an insulating surface. Conclusions will be drawn on the influence of the periodic boundary conditions on the flow patterns observed. We have also examined the stability of the nonlinear solutions that we found with the aim of identifying the bifurcation sequence of these solutions en route to turbulence.

Multipartite entanglement in harmonic oscillators subjected to dissipative quantum dynamics

Una detallada descripción de la dinámica de bajas energías del entrelazamiento multipartito es proporcionada para sistemas armónicos en una gran variedad de escenarios disipativos. Sin hacer ninguna aproximación central, esta descripción yace principalmente sobre un conjunto razonable de hipótesis acerca del entorno e interacción entorno-sistema, ambas consistente con un análisis lineal de la dinámica disipativa. En la primera parte se deriva un criterio de inseparabilidad capaz de detectar el entrelazamiento k-partito de una extensa clase de estados gausianos y no-gausianos en sistemas de variable continua. Este criterio se emplea para monitorizar la dinámica transitiva del entrelazamiento, mostrando que los estados no-gausianos pueden ser tan robustos frente a los efectos disipativos como los gausianos. Especial atención se dedicada a la dinámica estacionaria del entrelazamiento entre tres osciladores interaccionando con el mismo entorno o diferentes entornos a distintas temperaturas. Este estudio contribuye a dilucidar el papel de las correlaciones cuánticas en el comportamiento de la corrientes energéticas.

Strong quantum memory at resonant Fermi edges revealed by shot noise

Studies of non-equilibrium current fluctuations enable assessing correlations involved in quantum transport through nanoscale conductors. They provide additional information to the mean current on charge statistics and the presence of coherence, dissipation, disorder, or entanglement. Shot noise, being a temporal integral of the current autocorrelation function, reveals dynamical information. In particular, it detects presence of non-Markovian dynamics, i.e., memory, within open systems, which has been subject of many current theoretical studies. We report on low-temperature shot noise measurements of electronic transport through InAs quantum dots in the Fermi-edge singularity regime and show that it exhibits strong memory effects caused by quantum correlations between the dot and fermionic reservoirs. Our work, apart from addressing noise in archetypical strongly correlated system of prime interest, discloses generic quantum dynamical mechanism occurring at interacting resonant Fermi edges.