Leader Based Cyclic Pursuit

In this work a system of autonomous agents engaged in cyclic pursuit (under constant bearing (CB) strategy) is considered, for which one informed agent (the leader) also senses and responds to a stationary beacon. Building on the framework proposed in a previous work on beacon-referenced cyclic pursuit, necessary and suffi- cient conditions for the existence of circling equilibria in a system with one informed agent are derived, with discussion of stability and performance. In a physical testbed, the leader (robot) is equipped with a sound sensing apparatus composed of a real time embedded system, estimating direction of arrival of sound by an Interaural Level and Phase Difference Algorithm, using empirically determined phase and level signatures, and breaking front-back ambiguity with appropriate sensor placement. Furthermore a simple framework for implementing and evaluating the performance of control laws with the Robot Operating System (ROS) is proposed, demonstrated, and discussed.

Interaction of Acoustic Waves with a Laminar Line-Flame

A systematic study was conducted to elucidate the effects of acoustic perturbations on laminar diffusion line-flames and the conditions required to cause acoustically-driven extinction. Flames were produced from the fuels n-pentane, n-hexane, n-heptane, n-octane, and JP-8, using fuel-laden wicks. The wicks were housed inside of a burner whose geometry produced flames that approximated a two dimensional flame sheet. The acoustics utilized ranged in frequency between 30-50 Hz and acoustic pressures between 5-50 Pa. The unperturbed mass loss rate and flame height of the alkanes were studied, and they were found to scale in a linear manner consistent with Burke-Schumann. The mass loss rate of hexane-fueled flames experiencing acoustic perturbations was then studied. It was found that the strongest influence on the mass loss rate was the magnitude of oscillatory air movement experienced by the flame. Finally, acoustic perturbations were imposed on flames using all fuels to determine acoustic extinction criterion. Using the data collected, a model was developed which characterized the acoustic conditions required to cause flame extinction. The model was based on the ratio of an acoustic Nusselt Number to the Spalding B Number of the fuel, and it was found that at the minimum speaker power required to cause extinction this ratio was a constant. Furthermore, it was found that at conditions where the ratio was below this constant, a flame could still exist; at conditions where the ratio was greater than or equal to this constant, flame extinction always occurred.

A Quantitative analysis of pulsed signals emitted by wild bottlenose dolphins

Common bottlenose dolphins (Tursiops truncatus), produce a wide variety of vocal emissions for communication and echolocation, of which the pulsed repertoire has been the most difficult to categorize. Packets of high repetition, broadband pulses are still largely reported under a general designation of burst-pulses, and traditional attempts to classify these emissions rely mainly in their aural characteristics and in graphical aspects of spectrograms. Here, we present a quantitative analysis of pulsed signals emitted by wild bottlenose dolphins, in the Sado estuary, Portugal (2011-2014), and test the reliability of a traditional classification approach. Acoustic parameters (minimum frequency, maximum frequency, peak frequency, duration, repetition rate and inter-click-interval) were extracted from 930 pulsed signals, previously categorized using a traditional approach. Discriminant function analysis revealed a high reliability of the traditional classification approach (93.5% of pulsed signals were consistently assigned to their aurally based categories). According to the discriminant function analysis (Wilk's Λ = 0.11, F3, 2.41 = 282.75, P < 0.001), repetition rate is the feature that best enables the discrimination of different pulsed signals (structure coefficient = 0.98). Classification using hierarchical cluster analysis led to a similar categorization pattern: two main signal types with distinct magnitudes of repetition rate were clustered into five groups. The pulsed signals, here described, present significant differences in their time-frequency features, especially repetition rate (P < 0.001), inter-click-interval (P < 0.001) and duration (P < 0.001). We document the occurrence of a distinct signal type-short burst-pulses, and highlight the existence of a diverse repertoire of pulsed vocalizations emitted in graded sequences. The use of quantitative analysis of pulsed signals is essential to improve classifications and to better assess the contexts of emission, geographic variation and the functional significance of pulsed signals.

Compréhension des différences de distribution spatiale des anchois et de leurs œufs

La campagne PELGAS participe à la gestion du stock d’anchois du Golfe de Gascogne, en réalisant une évaluation directe à la mer de la biomasse d’anchois. Pour déterminer la biomasse totale, des appareils acoustiques envoyant des ultra-sons dans l’eau pour détecter les bancs de poisson sont utilisés. Ensuite des pêches sont effectuées sur les zones détectées pour déterminer la composition des bancs (espèces, poids, longueurs…). En parallèle, les oeufs d’anchois sont comptés. A partir des données récoltées de 2000 à 2015, j’ai pu réaliser des cartes de distribution spatiale des anchois et de leurs oeufs, ainsi que des analyses statistiques afin de comprendre les différences de distribution entre les deux. Il s’avère que les oeufs sont plus au large que les anchois, ce qui est dû à une question de poids moyen et de fécondité. Les anchois les plus gros seraient plus féconds et se localisent plus au large, d’où la répartition des oeufs plus éloignées des côtes que la biomasse totale d’anchois. La fécondité et le poids des anchois font parties des paramètres qui ont une influence sur la distribution des oeufs.

La noción del aparato sonoro en la obra de tres artistas colombianos

En este trabajo se propone realizar un análisis del elemento sonoro en las prácticas de tres artistas contemporáneos colombianos -- Esta búsqueda se realiza desde una mirada filosófica que indaga sobre cómo el sonido conecta el cuerpo opaco interior del ser con el mundo exterior, tratando y se sustenta en la forma en la que los artistas utilizan el sonido en sus obras, teniendo como punto de partida esa pretensión de alcances ontológicos: sonido que define al ser y su relación con el mundo y da lugar al interrogante sobre cuál es la resonancia de ese mundo interior en la creación de la obra artística -- La idea fundamental de esta búsqueda está sustentada en la existencia de los cambios en la sensibilidad implicados en la irrupción del aparato sonoro en la cotidianidad -- El sustento referencial se acerca de manera directa a plantear la existencia de un ser sonoro, permeado desde antes de nacer por la onda vibratoria; un ser producto de fuerzas históricas moldeadas en la resonancia -- Se utiliza el concepto de acusmática para proponer un régimen de lo sonoro, allí donde de manera directa se insertan todos los dispositivos que al aparecer interrogan y jalonan la percepción

Un drone marin écoresponsable vogue en Nouvelle-Calédonie

This text presents and explicits the story of a marine drone: the Wave Glider, designed and developed by Liquid Robotics, an American company of the Silicon Valley. The text specifies its functioning, directly dependent on energies that are the swell and the sun and its technical characteristics authorizing a set of measures of in situ parameters (sea temperature, salinity, currents, marine acoustics, video but also meteorological data acquisitions). A set of scientific or operational applications is also introduced. A detail is supplied on the first experience led in New Caledonia: inaugural mission of the drone Wave Glider, property of the Company Assystem, for a route between Nouméa and Lifou and return. Several perspectives of use of such a tool in New Caledonia and in the Pacific are proposed.

Radio. Planificación y diseño arquitectónico de una estación de radiodifusión

La arquitectura en un medio de comunicación se construye a partir de algunas variables en dónde la tecnología, la acústica, la naturaleza del medio y de todos los actores que en el intervienen en el, hacen de este espacio un lugar conocido pero poco atendido. Es por esta razón que el presente trabajo muestra en primera instancia los conocimientos básicos sobre la historia, conceptos acústicos básicos y principalmente evalúa las necesidades espaciales que la Ley Orgánica de Comunicación del Ecuador demanda sutilmente en algunos de sus artículos. Por otra parte valora el programa arquitectónico de medios locales de la ciudad de Cuenca en comparación con un medio de comunicación europeo de larga trayectoria como lo es la Radio y Televisión Pública de Noruega NRK. En este proceso se desmenuzan algunos aspectos constructivos y formales que responden al medio y su emplazamiento, exponiendo virtudes y falencias de Familia FM, FM 88 y radio Ingapirca. A partir de este momento se plantea los lineamientos para la planificación arquitectónica de un medio de comunicación, para que esta guíe de forma sencilla al arquitecto a responder de forma eficaz en la remodelación o construcción de estudios de radiotransmisión considerando los tres puntos inicialmente presentados.

Magnetic and Acoustic Investigations of Turbulent Spherical Couette Flow

Title of dissertation: MAGNETIC AND ACOUSTIC INVESTIGATIONS OF TURBULENT SPHERICAL COUETTE FLOW Matthew M. Adams, Doctor of Philosophy, 2016 Dissertation directed by: Professor Daniel Lathrop Department of Physics This dissertation describes experiments in spherical Couette devices, using both gas and liquid sodium. The experimental geometry is motivated by the Earth's outer core, the seat of the geodynamo, and consists of an outer spherical shell and an inner sphere, both of which can be rotated independently to drive a shear flow in the fluid lying between them. In the case of experiments with liquid sodium, we apply DC axial magnetic fields, with a dominant dipole or quadrupole component, to the system. We measure the magnetic field induced by the flow of liquid sodium using an external array of Hall effect magnetic field probes, as well as two probes inserted into the fluid volume. This gives information about possible velocity patterns present, and we extend previous work categorizing flow states, noting further information that can be extracted from the induced field measurements. The limitations due to a lack of direct velocity measurements prompted us to work on developing the technique of using acoustic modes to measure zonal flows. Using gas as the working fluid in our 60~cm diameter spherical Couette experiment, we identified acoustic modes of the container, and obtained excellent agreement with theoretical predictions. For the case of uniform rotation of the system, we compared the acoustic mode frequency splittings with theoretical predictions for solid body flow, and obtained excellent agreement. This gave us confidence in extending this work to the case of differential rotation, with a turbulent flow state. Using the measured splittings for this case, our colleagues performed an inversion to infer the pattern of zonal velocities within the flow, the first such inversion in a rotating laboratory experiment. This technique holds promise for use in liquid sodium experiments, for which zonal flow measurements have historically been challenging.

Inverse Spectral Methods in Acoustic Normal Mode Velocimetry of High Reynolds Number Spherical Couette Flows

Experimental geophysical fluid dynamics often examines regimes of fluid flow infeasible for computer simulations. Velocimetry of zonal flows present in these regimes brings many challenges when the fluid is opaque and vigorously rotating; spherical Couette flows with molten metals are one such example. The fine structure of the acoustic spectrum can be related to the fluid’s velocity field, and inverse spectral methods can be used to predict and, with sufficient acoustic data, mathematically reconstruct the velocity field. The methods are to some extent inherited from helioseismology. This work develops a Finite Element Method suitable to matching the geometries of experimental setups, as well as modelling the acoustics based on that geometry and zonal flows therein. As an application, this work uses the 60-cm setup Dynamo 3.5 at the University of Maryland Nonlinear Dynamics Laboratory. Additionally, results obtained using a small acoustic data set from recent experiments in air are provided.

Spatial and Temporal Patterns in the Distribution, Behavior, and Activity of Fishes in Canals of the Everglades

Landscape characteristics, disturbances, and temporal variability influence predator-prey relationships, but are often overlooked in experimental studies. In the Everglades, seasonal disturbances force the spatial overlap of predators and prey, potentially increasing predation risk for prey. This study examined seasonal and diel patterns of fish use of canals and assessed predation risk for small fishes using an encounter rate model. I deployed an imaging sonar in Everglades canals to quantify density and swimming speeds of fishes, and detect anti-predator behaviors by small fishes. Generally, seasonal declines of marsh water-levels increased the density of large fishes in canals. Densities of small and large fishes were positively correlated and, as small-fish density increased, schooling frequency also increased. At night, schools disbanded and small fishes were observed congregating along the canal edge. The encounter rate model predicted highest predator-prey encounters during the day, but access to cover may reduce predation risk for small fishes.

Acoustic manipulation and alignment of particles for applications in separation, micro-templating and device fabrication

This dissertation studies the manipulation of particles using acoustic stimulation for applications in microfluidics and templating of devices. The term particle is used here to denote any solid, liquid or gaseous material that has properties, which are distinct from the fluid in which it is suspended. Manipulation means to take over the movements of the particles and to position them in specified locations. ^ Using devices, microfabricated out of silicon, the behavior of particles under the acoustic stimulation was studied with the main purpose of aligning the particles at either low-pressure zones, known as the nodes or high-pressure zones, known as anti-nodes. By aligning particles at the nodes in a flow system, these particles can be focused at the center or walls of a microchannel in order to ultimately separate them. These separations are of high scientific importance, especially in the biomedical domain, since acoustopheresis provides a unique approach to separate based on density and compressibility, unparalleled by other techniques. The study of controlling and aligning the particles in various geometries and configurations was successfully achieved by controlling the acoustic waves. ^ Apart from their use in flow systems, a stationary suspended-particle device was developed to provide controllable light transmittance based on acoustic stimuli. Using a glass compartment and a carbon-particle suspension in an organic solvent, the device responded to acoustic stimulation by aligning the particles. The alignment of light-absorbing carbon particles afforded an increase in visible light transmittance as high as 84.5%, and it was controlled by adjusting the frequency and amplitude of the acoustic wave. The device also demonstrated alignment memory rendering it energy-efficient. A similar device for suspended-particles in a monomer enabled the development of electrically conductive films. These films were based on networks of conductive particles. Elastomers doped with conductive metal particles were rendered surface conductive at particle loadings as low as 1% by weight using acoustic focusing. The resulting films were flexible and had transparencies exceeding 80% in the visible spectrum (400-800 nm) These films had electrical bulk conductivities exceeding 50 S/cm. ^

Call recognition and individual identification of fish vocalizations based on automatic speech recognition: An example with the Lusitanian toadfish

The study of acoustic communication in animals often requires not only the recognition of species specific acoustic signals but also the identification of individual subjects, all in a complex acoustic background. Moreover, when very long recordings are to be analyzed, automatic recognition and identification processes are invaluable tools to extract the relevant biological information. A pattern recognition methodology based on hidden Markov models is presented inspired by successful results obtained in the most widely known and complex acoustical communication signal: human speech. This methodology was applied here for the first time to the detection and recognition of fish acoustic signals, specifically in a stream of round-the-clock recordings of Lusitanian toadfish (Halobatrachus didactylus) in their natural estuarine habitat. The results show that this methodology is able not only to detect the mating sounds (boatwhistles) but also to identify individual male toadfish, reaching an identification rate of ca. 95%. Moreover this method also proved to be a powerful tool to assess signal durations in large data sets. However, the system failed in recognizing other sound types.

Aspects concerning the acoustical performance of school buildings in Portugal

Acoustic measurements were performed in eight schools of different levels of education (from kindergarten to college) located in Viseu – Portugal. The acoustic evaluation was made in order to analyze the most common problems that may condition the acoustic environment inside school building. The acoustics evaluation of school buildings was made by the measurement of: reverberation time in classrooms; sound insulation between classrooms and between classrooms and corridors; impact sound insulation of floors and airborne sound insulation of façade. The sound insulation of façade was made with all elements closed and with natural ventilation conditions (banners or windows tilt mode). It was found that most of the studied cases revealed disabled constructive aspects in relation to the acoustic requirements of school buildings compromising the quality of education.

Acoustic Propagation over Periodic and Quasi-Period Rough Surfaces Proceedings

Numerical techniques such as the Boundary Element Method, Finite Element Method and Finite Difference Time Domain have been used widely to investigate plane and curved wave-front scattering by rough surfaces. For certain shapes of roughness elements (cylinders, semi-cylinders and ellipsoids) there are semi-analytical alternatives. Here, we present a theory for multiple scattering by cylinders on a hard surface to investigate effects due to different roughness shape, the effects of vacancies and variation of roughness element size on the excess attenuation due to a periodically rough surfaces.

Método LNEC para avaliação e classificação da qualidade acústica de edifícios habitacionais: ferramenta de estimação de custos médios de transição entre classes acústicas

O conforto acústico na habitação é essencial para permitir um repouso tranquilo e regenerativo. Este conforto é obtido principalmente pela redução do ruído e aumento do isolamento sonoro dos elementos de compartimentação. Para a qualificação deste conforto é necessário efetuar uma análise global do edifício, onde são considerados os fatores internos e externos à habitação, ou seja, considerando a acústica da envolvente (Vizinhança), do edifício (Edifício) e da fração (Habitação). Para este efeito foi produzido o “Método LNEC para avaliação e classificação da qualidade acústica de edifícios habitacionais”, o qual permite fazer uma avaliação global do conforto acústico na habitação. Este método inovador em Portugal origina uma Classe Acústica LNEC que permite representar com razoável fiabilidade o conforto acústico realmente sentido e a qualidade acústica da habitação. Este método pode ser aplicado a edifícios novos e a edifícios a reabilitar. De modo a permitir uma estimação dos custos médios necessários para transitar entre determinadas classes (e alcançar respetivo conforto acústico) é necessário possuir uma ferramenta de cálculo apropriada. Deste modo apresenta-se nesta comunicação uma ferramenta para estimar os custos de transição entre classes acústicas. Esta metodologia permite fazer escolhas mais fundamentadas nos processos de obtenção de determinado conforto acústico. Abstract The acoustic comfort in dwellings is essential to a peaceful and regenerative sleep. The achievement of this comfort is primarily obtained by reducing noise and increasing sound insulation of separating elements. To classify this comfort is necessary to conduct a comprehensive analysis of the habitation. This global analysis assesses the internal and external factors of the habitation, evaluating the acoustics of the environment (Vicinity), of the building (Building) and of the dwelling place (Lodging). Recently in Portugal was developed the “LNEC method for evaluation and acoustic quality classification of residential buildings” that allows an overall evaluation of the acoustic comfort in dwellings, resulting also in a “LNEC Acoustic Class” that portrays the real acoustic comfort sensed. Since this method can be applied to evaluate the acoustic comfort of new and of restored buildings, it is necessary a tool that gives an estimation of the needed investment to upgrade to a specific “LNEC Acoustic Class” (and achieve the respective acoustic comfort). In this communication is presented a tool that allows the estimation of that upgrade costs.