Programmable Self-Assembly: Constructing Global Shape using Biologically-inspire

In this thesis I present a language for instructing a sheet of identically-programmed, flexible, autonomous agents (``cells'') to assemble themselves into a predetermined global shape, using local interactions. The global shape is described as a folding construction on a continuous sheet, using a set of axioms from paper-folding (origami). I provide a means of automatically deriving the cell program, executed by all cells, from the global shape description. With this language, a wide variety of global shapes and patterns can be synthesized, using only local interactions between identically-programmed cells. Examples include flat layered shapes, all plane Euclidean constructions, and a variety of tessellation patterns. In contrast to approaches based on cellular automata or evolution, the cell program is directly derived from the global shape description and is composed from a small number of biologically-inspired primitives: gradients, neighborhood query, polarity inversion, cell-to-cell contact and flexible folding. The cell programs are robust, without relying on regular cell placement, global coordinates, or synchronous operation and can tolerate a small amount of random cell death. I show that an average cell neighborhood of 15 is sufficient to reliably self-assemble complex shapes and geometric patterns on randomly distributed cells. The language provides many insights into the relationship between local and global descriptions of behavior, such as the advantage of constructive languages, mechanisms for achieving global robustness, and mechanisms for achieving scale-independent shapes from a single cell program. The language suggests a mechanism by which many related shapes can be created by the same cell program, in the manner of D'Arcy Thompson's famous coordinate transformations. The thesis illuminates how complex morphology and pattern can emerge from local interactions, and how one can engineer robust self-assembly.

Disseny d’un comportament en ROS per a mantenir la posició d’un vehicle autònom submarí a partir de referències visuals

En el Centre d'Investigació en Robòtica Submarina (CIRS) de la Universitat de Gironaes disposa de diferents robots submarins els quals utilitzen una arquitectura software anomenada Component Oriented Layered-based Architecture for Autonomy ( COLA2 ), la qual ha estat desenvolupada per estudiants i professors del mateix centre. Per tal de fer aquesta arquitectura més accessible per a professors i estudiant d’altres centres la COLA2 s’està adaptant al Robot Operative System (ROS) que és un framework genèric per al desenvolupament d’aplicacions amb robots. Aquest projecte pretén dissenyar un comportament per al robot Girona500 que estigui desenvolupat dins la versió ROS de l’arquitectura COLA2. El comportament haurà de fer mantenir una determinada posició al robot amb informació visual de la càmera del robot i amb dades de navegació. La tasca de mantenir la posició es de vital importància per a poder realitzar intervencions submarines que requereixen de precisió i, precisament, el medi on es treballa no ajuda

Espeleotemas de ópalo y pseudocarst granítico

The amorphous silica (opal-A) speleothems associated to the open structural system of granitic rocks where the slow circulation of runoff is produced are mainly the result of the biological degradation of the rock. These speleothems are found in many different geographic, climatic and geological environments though always associated to granitoids. They show two different morphologies: cylindrical or long bodies and laminar or layered forms. They are internally formed by a mass of clasts and spheres of opal-Awith a porous texture that evolves to compact and massive due to the reiteration of the re-dissolution/re-precipitation of the amorphous opal by the water that circulates through it after each rainfall period. A final characteristic of each growth stage (end of rainy period) is the development of whiskers of minerals, normally gypsum, on the water output points of the speleothems. The dimensions of the speleothems are millimetric (length and/or thickness). In this paper their morphology and mineralogy are described based on their study by SEM, XRD and XRF, and there is established a new and more complete genetic hypothesis than the one that exists up to now to understand their formation

Representing traumatic pasts at the District Six Museum

Using this metaphoric framework as a starting point, I would like to focus on the characteristics of the District Six Museum which extend its work beyond being that of representation (of traumatic memory). Representation signifies in some ways distance and separation, a telling of a story depicted for others. The work of the Museum is more akin to what could broadly speaking be described as ‘engagement’. Although this is word is much over-used, it nonetheless indicates more closely an embodied practice which invites personal insertion, empathy and emplacement. It includes a whole range of sense-making practices by those closest to the Museum’s story – the dispossessed ex-residents – who participate in the memorialisation practices of the Museum in both harmonious and dissonant ways. The architectural metaphor of this seminar is key to this approach, indicating a practice which is constructed and layered, fixed yet changeable. It speaks to a spectrum of activities related to the imperatives to develop as well as conserve – elements which are central to the Museum’s work in relation to the process of return and restitution. To signify the unfinished business of representation, the permanent exhibition is called Digging Deeper, a framework which allows for an always further uncovering of facts, meanings and perspectives.

Droplet shape of an anisotropic liquid

We investigate how a droplet of a complex liquid is modified by its internal nanoscale structure. As the liquid passes from an isotropic disordered state to an anisotropic layered morphology, the droplet shape switches from a smooth spherical cap to a terraced hyperbolic profile, which can be modeled as a stack of thin concentric circular disks with a repulsion between adjacent disk edges. Our ability to resolve the detailed shape of these defect-free droplets offers a unique opportunity to explore the underlying physics.

The assessment of benchmarks executed on bare-metal and using para-virtualization

A full assessment of para-­virtualization is important, because without knowledge about the various overheads, users can not understand whether using virtualization is a good idea or not. In this paper we are very interested in assessing the overheads of running various benchmarks on bare-­‐metal, as well as on para-­‐virtualization. The idea is to see what the overheads of para-­‐ virtualization are, as well as looking at the overheads of turning on monitoring and logging. The knowledge from assessing various benchmarks on these different systems will help a range of users understand the use of virtualization systems. In this paper we assess the overheads of using Xen, VMware, KVM and Citrix, see Table 1. These different virtualization systems are used extensively by cloud-­‐users. We are using various Netlib1 benchmarks, which have been developed by the University of Tennessee at Knoxville (UTK), and Oak Ridge National Laboratory (ORNL). In order to assess these virtualization systems, we run the benchmarks on bare-­‐metal, then on the para-­‐virtualization, and finally we turn on monitoring and logging. The later is important as users are interested in Service Level Agreements (SLAs) used by the Cloud providers, and the use of logging is a means of assessing the services bought and used from commercial providers. In this paper we assess the virtualization systems on three different systems. We use the Thamesblue supercomputer, the Hactar cluster and IBM JS20 blade server (see Table 2), which are all servers available at the University of Reading. A functional virtualization system is multi-­‐layered and is driven by the privileged components. Virtualization systems can host multiple guest operating systems, which run on its own domain, and the system schedules virtual CPUs and memory within each Virtual Machines (VM) to make the best use of the available resources. The guest-­‐operating system schedules each application accordingly. You can deploy virtualization as full virtualization or para-­‐virtualization. Full virtualization provides a total abstraction of the underlying physical system and creates a new virtual system, where the guest operating systems can run. No modifications are needed in the guest OS or application, e.g. the guest OS or application is not aware of the virtualized environment and runs normally. Para-­‐virualization requires user modification of the guest operating systems, which runs on the virtual machines, e.g. these guest operating systems are aware that they are running on a virtual machine, and provide near-­‐native performance. You can deploy both para-­‐virtualization and full virtualization across various virtualized systems. Para-­‐virtualization is an OS-­‐assisted virtualization; where some modifications are made in the guest operating system to enable better performance. In this kind of virtualization, the guest operating system is aware of the fact that it is running on the virtualized hardware and not on the bare hardware. In para-­‐virtualization, the device drivers in the guest operating system coordinate the device drivers of host operating system and reduce the performance overheads. The use of para-­‐virtualization [0] is intended to avoid the bottleneck associated with slow hardware interrupts that exist when full virtualization is employed. It has revealed [0] that para-­‐ virtualization does not impose significant performance overhead in high performance computing, and this in turn this has implications for the use of cloud computing for hosting HPC applications. The “apparent” improvement in virtualization has led us to formulate the hypothesis that certain classes of HPC applications should be able to execute in a cloud environment, with minimal performance degradation. In order to support this hypothesis, first it is necessary to define exactly what is meant by a “class” of application, and secondly it will be necessary to observe application performance, both within a virtual machine and when executing on bare hardware. A further potential complication is associated with the need for Cloud service providers to support Service Level Agreements (SLA), so that system utilisation can be audited.

Anthraquinone catalysis in the glucose-driven reduction of indigo to leuco-indigo

Anthraquinone immobilised onto the surface of indigo microcrystals enhances the reductive dissolution of indigo to leuco-indigo. Indigo reduction is driven by glucose in aqueous NaOH and a vibrating gold disc electrode is employed to monitor the increasing leuco-indigo concentration with time. Anthraquinone introduces a strong catalytic effect which is explained by invoking a molecular "wedge effect'' during co-intercalation of Na+ and anthraquinone into the layered indigo crystal structure. The glucose-driven indigo reduction, which is in effective in 0.1 M NaOH at 65 degrees C, becomes facile and goes to completion in the presence of anthraquinone catalyst. Electron microscopy of indigo crystals before and after reductive dissolution confirms a delamination mechanism initiated at the edges of the plate-like indigo crystals. Catalysis occurs when the anthraquinone-indigo mixture reaches a molar ratio of 1:400 (at 65 degrees C; corresponding to 3 mu M anthraquinone) with excess of anthraquinone having virtually no effect. A strong temperature effect ( with a composite E-A approximate to 120 kJ mol(-1)) is observed for the reductive dissolution in the presence of anthraquinone. The molar ratio and temperature effects are both consistent with the heterogeneous nature of the anthraquinone catalysis in the aqueous reaction mixture.

Dicopper(II) trihydroxide cyanoureate dihydrate

The title compound, poly[[mu-cyanoureato-tri-mu-hydroxidodicopper(II)] dihydrate], {[Cu-2(C2H2N3O)(OH)(3)]center dot 2H(2)O}(n), is a new layered copper(II) hydroxide salt (LHS) with cyanoureate ions and water molecules in the interlayer space. The three distinct copper(II) ions have distorted octahedral geometry: one Cu (symmetry (1) over bar) is coordinated to six hydroxide groups (4OH + 2OH), whilst the other two Cu atoms (symmetries (1) over bar and 1) are coordinated to four hydroxides and two N atoms from nitrile groups of the cyanoureate ions (4OH + 2N). The structure is held together by hydrogen-bonding interactions between the terminal-NH2 groups and the central cyanamide N atoms of organic anions associated with neighbouring layers.

Dicaesium pentacyanotricuprate(I), Cs2Cu3(CN)(5)

Cs2Cu3(CN)(5) has a layered structure consisting of [Cu-3(CN)(5)](2-) sheets stacked in an ABAB fashion along the c axis, with Cs+ cations lying between the sheets. The sheets are generated by linking -(CuCN) - chains, in which the C N groups are ordered, via [Cu(CN)(3)](2-) units. The two bridging cyanide groups of each [Cu(CN)(3)](2-) unit show partial 'head-to-tail' disorder of C and N, whilst the third C N group is terminal and ordered with C bonded to Cu.

The synthesis and characterisation of four new antimony sulphides incorporating transition-metal complexes

Four new antimony sulphides, [T(dien)(2)]Sb6S10 center dot xH(2)O [T = Ni (1), Co (2) x approximate to 0.45], [Co(en)(3)]SbsSI(3) (3) and [Ni(en)(3)]Sb12S19 (4), have been synthesised under solvothermal conditions. In compounds (1) - (3), Sb12S228- secondary building units are connected to form layered structures. In (1) and (2), Sb-6 S-2- layers containing Sb16S16 heterorings are separated by [T(dien]2](2+) cations, whilst in (3), Sb8 S2- layers 10 13 contain [Co(en)3]2+ cations within large Sb22S22 pores. Compound (4) adopts a three-dimensional structure in which [Ni(en)3 12 cations lie within ca. 5 A wide channels. (c) 2007 Elsevier Ltd. All rights reserved.

New copper(I) cyanide networks: interpenetration, self-penetration and polymorphism

The structures Of four alkali-metal copper (I) cyanides, KCu2(CN)(3)(H2O)-H-.-II (I), K2Cu3(CN)(5) (II), CsCu3(CN)(4) (III) and KCu3(CN)(4) (IV) are described. Three of these, ((II)-(IV)), with previously unknown ACN:CuCN ratios have new copper-cyanide frameworks, whilst (1) is a new polymorph of KCu2(CN)(3)(H2O)-H-.. These structures are discussed in terms of assembly from the simple building units Cu(CN)(2/2), Cu(CN)(3/2), Cu(CN)(2/2)(CN)(1/1) and Cu(CN)(4/2). Compounds (I), (II) and (III) are layered materials based on (6,3) nets containing (CuCN)(6) rings (I) and (CuCN)(8) rings (II) and (III). In compound (IV), (4,4) nets containing (CuCN)(12) rings link to generate a three-dimensional network. Both (III) and (IV) are examples of interpenetrating solids in which two and four identical networks interweave, respectively. These materials illustrate the structural versatility of copper (I) in cyanide frameworks. (c) 2006 Elsevier SAS. All rights reserved.

Solvothermal syntheses, crystal structures and properties of five new thloantimonates(III) containing the [Sb4S7](2-) anion

Five new thioantimonates have been synthesized in the presence of organic amines under solvothermal conditions and their structures determined by single-crystal X-ray diffraction. All of the compounds are layered and contain antimony-sulphide anions of stoichiometry [Sb4S7](2-), but the structure of the anion formed is dependent on the amine used in synthesis. (H3N(CH2)(4)NH3)[Sb4S7] (1) contains [Sb4S7](2-) double chains directed along [010]. Weak interchain Sb-S interactions between neighbouring chains cause the double chains to pack into layers in the ab plane. In the [001] direction, the layers of double chains alternate with doubly protonated diaminobutane molecules to which the chains are hydrogen bonded. Compounds of general formula (TH)(2)[Sb4S7] (T= CH3(CH2)(2)NH2 (2), (CH3)(2)CHNH2 (3), CH3(CH2)(3)NH2 (4) and CH3(CH2)(4)NH2 (5)) adopt a more complex structure in which [Sb3S8](7-) units are linked by Sb-3(3-) pyramids to form chains, which in turn are bridged by sulphur atoms to create sheets containing large heterorings. Pairs of such sheets form double layers of four atoms thickness that are stacked along [001]. Protonated amine molecules are located between anionic antimony-sulphide layers to which they are hydrogen bonded. Thermal analysis reveals that the decomposition temperature of materials containing [Sb4S7](2-) anions is dependent both on the structure of the anion, the lowest decomposition temperature being that of the low-dimensional phase (1) and on the identity of the amine, the decomposition temperature decreasing with an increasing number of carbon atoms and decreasing density. (c) 2005 Elsevier Inc. All rights reserved.

Urea-N,N-dimethylacetamide (1/1)

Urea forms a 1:1 solvate with N,N-dimethylacetamide (DMA) [systematic name: diaminomethanal- N,N-dimethylacetamide (1/1), C4H9NO center dot CH4N2O] with both molecules positioned on a twofold axis, giving rise to rotational disorder of the DMA molecule. The molecules display a layered structure in which urea molecules form hydrogen-bonded ribbons bounded by molecules of solvent.

Robust real-time tracking for visual surveillance

This paper describes a real-time multi-camera surveillance system that can be applied to a range of application domains. This integrated system is designed to observe crowded scenes and has mechanisms to improve tracking of objects that are in close proximity. The four component modules described in this paper are (i) motion detection using a layered background model, (ii) object tracking based on local appearance, (iii) hierarchical object recognition, and (iv) fused multisensor object tracking using multiple features and geometric constraints. This integrated approach to complex scene tracking is validated against a number of representative real-world scenarios to show that robust, real-time analysis can be performed. Copyright (C) 2007 Hindawi Publishing Corporation. All rights reserved.

Structures of Pd(CN)2and Pt(CN)2: intrinsically nanocrystalline materials?

Analysis and modeling of X-ray and neutron Bragg and total diffraction data show that the compounds referred to in the literature as “Pd(CN)2”and“Pt(CN)2” are nanocrystalline materials containing of small sheets of vertex-sharing square-planar M(CN)4 units, layered in a disordered manner with an intersheet separation of 3.44 A at 300 K. The small size of the crystallites means that the sheets’ edges form a significant fraction of each material. The Pd(CN)2 nanocrystallites studied using total neutron diffraction are terminated by water and the Pt(CN)2 nanocrystallites by ammonia, in place of half of the terminal cyanide groups, thus maintaining charge neutrality. The neutron samples contain sheets of approximate dimensions 30 A x 30 A. For sheets of the size we describe, our structural models predict compositions of Pd(CN)2-xH2O and Pt(CN)2-yNH3 (x = y = 0.29). These values are in good agreement with those obtained from total neutron diffraction and thermal analysis, and are also supported by infrared and Raman spectroscopy measurements. It is also possible to prepare related compounds Pd(CN)2-pNH3 and Pt(CN)2-qH2O, in which the terminating groups are exchanged. Additional samples showing sheet sizes in the range 10 A x 10 A (y = 0.67) to 80 A x 80 A (p = q = 0.12), as determined by X-ray diffraction, have been prepared. The related mixed-metal phase, Pd1/2Pt1/2(CN)2-qH2O(q = 0.50), is also nanocrystalline (sheet size 15 A x 15 A). In all cases, the interiors of the sheets are isostructural with those found in Ni(CN)2. Removal of the final traces of water or ammonia by heating results in decomposition of the compounds to Pd and Pt metal, or in the case of the mixed-metal cyanide, the alloy, Pd1/2Pt1/2, making it impossible to prepare the simple cyanides, Pd(CN)2, Pt(CN)2 or Pd1/2Pt1/2(CN)2, by this method.