A Survey on Intermediation Architectures for Underwater Robotics

Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.

Photo-induced inactivation of viruses: adsorption of methylene blue, thionine, and thiopyronine on Qbeta bacteriophage.

The adsorption of cationic organic dyes (methylene blue, thionine, and thiopyronine) on Qbeta bacteriophage was studied by UV-visible and fluorescence spectroscopy. The dyes have shown a strong affinity to the virus and some have been used as sensitizers for photo-induced inactivation of virus. In the methylene blue concentration range of 0.1-5 microM and at high ratios of dye to virus (greater than 1000 dye molecules per virion), the dyes bind as aggregates on the virus. Aggregation lowers the efficiency of photoinactivation because of self-quenching of the dye. At lower ratios of dye to virus (lower than 500 dye molecules per virion), the dye binds to the virus as a monomer. Fluorescence polarization and time-resolved studies of the fluorescence support the conclusions based on fluorescence quenching. Increasing the ionic strength (adding NaCl) dissociates bound dye aggregates on the virus and releases monomeric dye into the bulk solution.

Conjectural restoration Indian College of 1655-56 to 1698 in Harvard College, photo lithograph on heavy paper, May 1934

Floor plans and front and end elevations of Indian College drawn by H.R. Shurtleff in May 1934 based on research conducted by Shurtleff from the Harvard College Records and surveys of local period buildings. Shows likely configuration of Indian College with lodging for 20 students, studies, and the printing room which housed the printing press.

1980 census, counting illegal aliens : hearing before the Subcommittee on Energy, Nuclear Proliferation, and Federal Services of the Committee on Governmental Affairs, United States Senate, Ninety-sixth Congress, second session, on S. 2366 ... March 26, 1980.

Mode of access: Internet.

A solution for the wave velocity field existing on an underwater portion of an impervious sloping breakwater /

"Contract No. DA-22-079-civeng-63-104."

Artists at home : photographed by J. P. Mayall, and reproduced in facsimile by photo-engraving on copper plates /

Mode of access: Internet.

On the variations of the photo-electric current due to heating and the occlusion and emission of gases ...

Thesis t.-p. attached to the cover of the issue reprinted from the Physical review, n.s., vol. xii, no. 4, October 1918.

Serial reports on start-up experiments : no. 5. counting losses in BF₃ proportional counter systems.

"Work performed under Contract No. AT-30-2-Gen-16."

Photo-engraving; a practical treatise on the production of printing blocks by modern photograhic methods.

Mode of access: Internet.

American art and American art collections; essays on artistic subjects by the best art writers, fully illustrated with etchings, photo-etchings, photogravures, phototypes, and engravings on steel and wood, by the most celebrated artists;

"Linton's History of wood engraving in America": v.1, p. 401-528.

The secret of pictorial art, or, Self-instructor in painting on glass, china, satin and paper : it teaches the oil photo-miniature, Grecian oil, antique, oriental, crystal and pastel paintings, crystalline, decalcomanie and diaphanie transferring /

Includes index.