Design and implementation of a relative localization system for ground and aerial robotic teams

The main focus of this thesis is to address the relative localization problem of a heterogenous team which comprises of both ground and micro aerial vehicle robots. This team configuration allows to combine the advantages of increased accessibility and better perspective provided by aerial robots with the higher computational and sensory resources provided by the ground agents, to realize a cooperative multi robotic system suitable for hostile autonomous missions. However, in such a scenario, the strict constraints in flight time, sensor pay load, and computational capability of micro aerial vehicles limits the practical applicability of popular map-based localization schemes for GPS denied navigation. Therefore, the resource limited aerial platforms of this team demand simpler localization means for autonomous navigation. Relative localization is the process of estimating the formation of a robot team using the acquired inter-robot relative measurements. This allows the team members to know their relative formation even without a global localization reference, such as GPS or a map. Thus a typical robot team would benefit from a relative localization service since it would allow the team to implement formation control, collision avoidance, and supervisory control tasks, independent of a global localization service. More importantly, a heterogenous team such as ground robots and computationally constrained aerial vehicles would benefit from a relative localization service since it provides the crucial localization information required for autonomous operation of the weaker agents. This enables less capable robots to assume supportive roles and contribute to the more powerful robots executing the mission. Hence this study proposes a relative localization-based approach for ground and micro aerial vehicle cooperation, and develops inter-robot measurement, filtering, and distributed computing modules, necessary to realize the system. The research study results in three significant contributions. First, the work designs and validates a novel inter-robot relative measurement hardware solution which has accuracy, range, and scalability characteristics, necessary for relative localization. Second, the research work performs an analysis and design of a novel nonlinear filtering method, which allows the implementation of relative localization modules and attitude reference filters on low cost devices with optimal tuning parameters. Third, this work designs and validates a novel distributed relative localization approach, which harnesses the distributed computing capability of the team to minimize communication requirements, achieve consistent estimation, and enable efficient data correspondence within the network. The work validates the complete relative localization-based system through multiple indoor experiments and numerical simulations. The relative localization based navigation concept with its sensing, filtering, and distributed computing methods introduced in this thesis complements system limitations of a ground and micro aerial vehicle team, and also targets hostile environmental conditions. Thus the work constitutes an essential step towards realizing autonomous navigation of heterogenous teams in real world applications.

Radiolarian abundance of sediment core Y8

A high-resolution record of radiolarian faunal changes from Site Y8 south of the Subtropical Front (STF), offshore eastern New Zealand, provides insight into the paleoceanographic history of the last 265 kyrs. Quantitative analysis of radiolarian paleotemperature indicators and radiolarian-based sea surface temperature (SST) estimates reveal distinct shifts during glacial-interglacial (G-I) climate cycles encompassing marine isotope stages (MIS) 8-1. Faunas at Site Y8 are abundant and diverse and consist of a mixture of species typical of the subantarctic, transitional and subtropical zones which is characteristic of subantarctic waters just south of the STF. During interglacials, diverse radiolarian faunas have increased numbers of warm-water taxa (not, vert, similar 15%) while cool-water taxa decrease to not, vert, similar 11% of the assemblage. Warmest climate conditions occurred during MIS 5.5 and the early Holocene Climatic Optimum (HCO) at the onset of MIS 1 where SSTs reach maxima of 12.8 and 12.9 °C, respectively. This suggests that temperatures during the HCO were comparable to the Eemian, one of the warmest interglacial intervals of the Late Quaternary. Glacials are characterized by less diverse radiolarian faunas with cool-water taxa increasing to 49% of the assemblage. Coolest climate conditions occurred in MIS 4 and 2 where SSTs are reduced to 5.4 °C and 4.3 °C, respectively. Radiolarian faunal changes and SST estimates clearly identify major water masses and oceanic fronts in the offshore eastern New Zealand area. During warmest MIS 5.5 and early MIS 1 substantial influence of northern-sourced Subtropical Surface Water (STW) is evident at Site Y8. This implies southward incursions of STW around the eastern crest of Chatham Rise with the STF displaced towards higher latitudes and spinning off eddies as far south as Campbell Plateau. Additionally, increased flow of the Southland Current (SC) might have enhanced the local occurrence of warm-water radiolarians derived from the subtropical Tasman Sea. Coolest glacials are marked by a strong inflow of cool, southern-sourced waters at Site Y8 indicating a more vigorous flow along the Subantarctic Front (SAF).

Stochastic descriptors to study the fate and potential of naive T cell clonotypes in the periphery

The population of naive T cells in the periphery is best described by determining both its T cell receptor diversity, or number of clonotypes, and the sizes of its clonal subsets. In this paper, we make use of a previously introduced mathematical model of naive T cell homeostasis, to study the fate and potential of naive T cell clonotypes in the periphery. This is achieved by the introduction of several new stochastic descriptors for a given naive T cell clonotype, such as its maximum clonal size, the time to reach this maximum, the number of proliferation events required to reach this maximum, the rate of contraction of the clonotype during its way to extinction, as well as the time to a given number of proliferation events. Our results show that two fates can be identified for the dynamics of the clonotype: extinction in the short-term if the clonotype experiences too hostile a peripheral environment, or establishment in the periphery in the long-term. In this second case the probability mass function for the maximum clonal size is bimodal, with one mode near one and the other mode far away from it. Our model also indicates that the fate of a recent thymic emigrant (RTE) during its journey in the periphery has a clear stochastic component, where the probability of extinction cannot be neglected, even in a friendly but competitive environment. On the other hand, a greater deterministic behaviour can be expected in the potential size of the clonotype seeded by the RTE in the long-term, once it escapes extinction.

Race, Power and Economic Extraction in Benton Harbor, MI

My dissertation investigates twin financial interventions—urban development and emergency management—in a single small town. Once a thriving city drawing blacks as blue-collar workers during the Great Migration, Benton Harbor, Michigan has suffered from waves of out-migration, debt, and alleged poor management. Benton Harbor’s emphasis on high-end economic development to attract white-collar workers and tourism, amidst the poverty, unemployment, and disenfranchisement of black residents, highlights an extreme case of American urban inequality. At the same time, many bystanders and representative observers argue that this urban redevelopment scheme and the city’s takeover by the state represent Benton Harbor residents’ only hope for a better life. I interviewed 44 key players and observers in local politics and development, attended 20 public meetings, conducted three months of observations, and collected extensive archival data. Examining Benton Harbor’s time under emergency management and its luxury golf course development as two exemplars of a larger relationship, I find that the top-down processes allegedly intended to alleviate Benton Harbor’s inequality actually reproduce and deepen the city’s problems. I propose that the beneficiaries of both plans constitute a white urban regime active in Benton Harbor. I show how the white urban regime serves its interests by operating an extraction machine in the city, which serves to reproduce local poverty and wealth by directing resources toward the white urban regime and away from the city.

La mesure alternative d’hostilité dans les relations de rivalité interacteur.

Le présent travail explore le phénomène de la rivalité interétatique1 et les mesures de son intensité. Chacune des définitions existantes de la rivalité fait la lumière sur l’une de ses caractéristiques. La rivalité durable met l’accent sur la compétition militarisée, la rivalité stratégique accorde une importance particulière à la perception de l’ennemi, tandis que la rivalité interétatique est axée sur les questions autour desquelles la compétition se déroule. Ces visions différentes du phénomène de la rivalité laissent leur empreinte sur son opérationnalisation et sur le choix des paramètres visant à le capter. Nous réunissons ces trois interprétations dans une seule définition de rivalité interacteur, en proposant une nouvelle classification des actions hostiles, ainsi que la mesure alternative d’hostilité fondée sur la fréquence de ces dernières. Les quatre études de cas suivantes nous ont permis d’atteindre ces objectifs : les relations de rivalité entre l’Afghanistan et le Pakistan, entre l’Arménie et l’Azerbaïdjan, entre le Bélize et le Guatemala, ainsi qu’entre la Somalie et l’Éthiopie.

The Decolonization of Northwest Community College

In 1996, the authors of the Canadian Royal Commission on Aboriginal Peoples concluded Canadian educational policy had been based on the false assumption of the superiority of European worldviews. The report authors recommended the transformation of curriculum and schools to recognize that European knowledge was not universal. Aboriginal researcher Battiste believes the current system of Canadian education causes Aboriginal children to face cognitive imperialism and cognitive assimilation and that this current practice of cultural racism in Canada makes educational institutions a hostile environment for Aboriginal learners. In order to counter this cultural racism, Battiste calls for the decolonization of education. In 2005, the president of Northwest Community College (NWCC), publicly committed to decolonizing the college in order to address the continuing disparity in educational attainment between Aboriginal and non-Aboriginal learners. Upon the president’s departure in 2010, the employees of NWCC were left to define for themselves the meaning of decolonization. This qualitative study was designed to build a NWCC definition of colonization and decolonization by collecting researcher observations, nine weeks of participant blog postings, and pre and post blog Word survey responses drawn from a purposeful sample of six Aboriginal and six non-Aboriginal NWCC employees selected from staff, instructor and administrator employee groups. The findings revealed NWCC employees held multiple definitions of colonization and decolonization which did not vary between employee groups, or based on participant gender; however, differences were found based on whether the participants were Aboriginal or non-Aboriginal. Both Aboriginal and non-Aboriginal participants thought decolonization was a worthy goal for the college. Aboriginal participants felt hopeful that decolonization would happen in the future and thought decolonization had to do with moving forward to a time when they would be valued, respected, empowered, unashamed, safe, and viewed as equal to non-Aboriginals. Non-Aboriginal participants were unsure if decolonization was possible because it would require going back in time to restore the Aboriginal way of life. When non-Aboriginal participants felt their thoughts were not being valued or they were being associated with colonialism, they felt angry and guarded and were uncomfortable with Aboriginal participants expressing anger towards Colonizers.

Antarctic free-air and complete Bouguer gravity anomaly grid

Gravity surveying is challenging in Antarctica because of its hostile environment and inaccessibility. Nevertheless, many ground-based, airborne and shipborne gravity campaigns have been completed by the geophysical and geodetic communities since the 1980s. We present the first modern Antarctic-wide gravity data compilation derived from 13 million data points covering an area of 10 million km**2, which corresponds to 73% coverage of the continent. The remove-compute-restore technique was applied for gridding, which facilitated levelling of the different gravity datasets with respect to an Earth Gravity Model derived from satellite data alone. The resulting free-air and Bouguer gravity anomaly grids of 10 km resolution are publicly available. These grids will enable new high-resolution combined Earth Gravity Models to be derived and represent a major step forward towards solving the geodetic polar data gap problem. They provide a new tool to investigate continental-scale lithospheric structure and geological evolution of Antarctica.

Francisco Franco, articulista de incógnito (1945–1960)

Se trata de un análisis pormenorizado de los artículos publicados por Francisco Franco en el periódico Arriba entre los años 1945 y 1960 bajo los seudónimos de Jakim Boor, Hispanicus y Macaulay. Se lleva a cabo su disección en dos grandes categorías: enemigos del Régimen y política, economía y sociedad. Para ello, se toma como ejemplo el propio artículo de Hispanicus titulado “Lo político, lo económico y lo social”. En la primera de las dos grandes categorías se agrupan todos aquellos elementos abstractos -instituciones o ideologías- que Franco consideraba perjudiciales para la España que él gobernaba o que históricamente habían sido hostiles a este país; en la segunda se recogen el comentario sobre política en términos actuales o generales, las situaciones económicas y sociales así como los numerosos fragmentos de Historia de España que el dictador gustaba de incluir en sus colaboraciones periodísticas.

Isis a través de los textos: El culto isíaco en la literatura grecolatina de época altoimperial

El culto a la diosa Isis, de origen egipcio aunque helenizado a partir del dominio macedónico, se expande por el mundo grecorromano hasta abarcar un espacio geográfico muy amplio, como nunca antes había conocido. Los testimonios literarios que se refieren a él en época altoimperial son abundantes y de distinta naturaleza, desde descripciones precisas de elementos clave hasta escritos hostiles por parte de autores cristianos con una intencionalidad muy clara. El análisis pormenorizado de estos textos se antoja necesario si se quiere llegar a conocer el estado en el que se encuentra el culto isíaco en un período como el Alto Imperio.

Women into Non-Traditional Sectors: Addressing Gender Segregation in the Northern Ireland Workforce

The horizontal segregation of the workforce along gender lines tends to assign women to lower paid, lower status employment. Consequently, schemes to address segregation have focused on preparing women to enter non‐traditional occupations through training and development processes. This article examines models to encourage women into non‐traditional employment, focusing on the Women into Non‐Traditional Sectors (WINS) project in Belfast, Northern Ireland. However, changing women to suit a hostile work environment assumes women to be the problem, whereas it is the barriers that women face in undertaking non‐traditional jobs that need to be changed. It is concluded, therefore, that while models such as WINS can be successful in assisting women into non‐traditional sectors, change processes to make workplaces more accessible are a more pressing and appropriate approach to de‐segregating the workforce.

Cloning and Characterization of Two Potent Kunitz Type Protease Inhibitors from Echinococcus granulosus

The tapeworm Echinococcus granulosus is responsible for cystic echinococcosis (CE), a cosmopolitan disease which imposes a significant burden on the health and economy of affected communities. Little is known about the molecular mechanisms whereby E. granulosus is able to survive in the hostile mammalian host environment, avoiding attack by host enzymes and evading immune responses, but protease inhibitors released by the parasite are likely implicated. We identified two nucleotide sequences corresponding to secreted single domain Kunitz type protease inhibitors (EgKIs) in the E. granulosus genome, and their cDNAs were cloned, bacterially expressed and purified. EgKI-1 is highly expressed in the oncosphere (egg) stage and is a potent chymotrypsin and neutrophil elastase inhibitor that binds calcium and reduced neutrophil infiltration in a local inflammation model. EgKI-2 is highly expressed in adult worms and is a potent inhibitor of trypsin. As powerful inhibitors of mammalian intestinal proteases, the EgKIs may play a pivotal protective role in preventing proteolytic enzyme attack thereby ensuring survival of E. granulosus within its mammalian hosts. EgKI-1 may also be involved in the oncosphere in host immune evasion by inhibiting neutrophil elastase and cathepsin G once this stage is exposed to the mammalian blood system. In light of their key roles in protecting E. granulosus from host enzymatic attack, the EgKI proteins represent potential intervention targets to control CE. This is important as new public health measures against CE are required, given the inefficiencies of available drugs and the current difficulties in its treatment and control. In addition, being a small sized highly potent serine protease inhibitor, and an inhibitor of neutrophil chemotaxis, EgKI-1 may have clinical potential as a novel anti-inflammatory therapeutic.

Functional expression of a novel Kunitz type protease inhibitor from the human blood fluke Schistosoma mansoni

BACKGROUND: Schistosomes are able to survive for prolonged periods in the blood system, despite continuous contact with coagulatory factors and mediators of the host immune system. Protease inhibitors likely play a critical role in host immune modulation thereby promoting parasite survival in this extremely hostile environment. Even though Kunitz type serine protease inhibitors have been shown to play important physiological functions in a range of organisms these proteins are less well characterised in parasitic helminths.

METHODS: We have cloned one gene sequence from S. mansoni, Smp_147730 (SmKI-1) which is coded for single domain Kunitz type protease inhibitor, E. coli-expressed and purified. Immunolocalisation and western blotting was carried out using affinity purified polyclonal anti-SmKI-1 murine antibodies to determine SmKI-1 expression in the parasite. Protease inhibitor assays and coagulation assays were performed to evaluate the functional roles of SmKI-1.

RESULTS: SmKI-1 is localised in the tegument of adult worms and the sub-shell region of eggs. Furthermore, this Kunitz protein is secreted into the host in the ES products of the adult worm. Recombinant SmKI-1 inhibited mammalian trypsin, chymotrypsin, neutrophil elastase, FXa and plasma kallikrein with IC50 values of 35 nM, 61 nM, 56 nM, 142 nM and 112 nM, respectively. However, no inhibition was detected for pancreatic elastase or cathepsin G. SmKI-1 (4 μM) delayed blood clot formation, reflected in an approximately three fold increase in activated partial thromboplastin time and prothrombin time.

CONCLUSIONS: We have functionally characterised the first Kunitz type protease inhibitor (SmKI-1) from S. mansoni and show that it has anti-inflammatory and anti-coagulant properties. SmKI-1 is one of a number of putative Kunitz proteins in schistosomes that have presumably evolved as an adaptation to protect these parasites from the defence mechanisms of their mammalian hosts. As such they may represent novel vaccine candidates and/or drug targets for schistosomiasis control.

Quand la manifestation tourne à l'émeute : les affrontements violents entre forces de l'ordre et manifestants en Côte d'Ivoire.

Les manifestations de crise, en Côte d'Ivoire, ont été extrêmement violentes. Au cours des quinze dernières années, plus de 400 personnes sont mortes, tuées dans des affrontements avec les forces de sécurités ou des contre-manifestants. Malgré la gravité du problème, peu d’études scientifiques y sont consacrées et les rares analyses et enquêtes existantes portent, de façon unilatérale, sur l’identité et la responsabilité pénale des auteurs et commanditaires putatifs de cette violence. La présente étude s’élève contre le moralisme inhérent à ces approches pour aborder la question sous l’angle de l’interaction : cette thèse a pour objectif de comprendre les processus et logiques qui sous-tendent l’usage de la violence au cours des manifestations. Le cadre théorique utilisé dans cette étude qualitative est l’interactionnisme symbolique. Le matériel d’analyse est composé d’entrevues et de divers documents. Trente-trois (33) entrevues semi-dirigées ont été réalisées avec des policiers et des manifestants, cooptés selon la technique de la boule de neige, entre le 3 janvier et le 15 mai 2013, à Abidjan. Les rapports d’enquête, de l’ONG Human Rights Watch, sur les manifestations de crise, les manuels de formation de la police et divers autres matériaux périphériques ont également été consultés. Les données ont été analysées suivant les principes et techniques de la théorisation ancrée (Paillée, 1994). Trois principaux résultats ont été obtenus. Premièrement, le système ivoirien de maintien de l'ordre est conçu selon le modèle d’une « police du prince ». Les forces de sécurité dans leur ensemble y occupent une fonction subalterne d’exécutant. Elles sont placées sous autorité politique avec pour mandat la défense inconditionnelle des institutions. Le style standard de gestion des foules, qui en découle, est légaliste et répressif, correspondant au style d’escalade de la force (McPhail, Schweingruber, & Carthy, 1998). Cette « police du prince » dispose toutefois de marges de manœuvre sur le terrain, qui lui permettent de moduler son style en fonction de la conception qu’elle se fait de l’attitude des manifestants : paternaliste avec les foules dites calmes, elle devient répressive ou déviante avec les foules qu’elle définit comme étant hostiles. Deuxièmement, à rebours d’une conception victimaire de la foule, la violence est une transaction situationnelle dynamique entre forces de sécurité et manifestants. La violence suit un processus ascendant dont les séquences et les règles d’enchainement sont décrites. Ainsi, le premier niveau auquel s’arrête la majorité des manifestations est celui d’une force non létale bilatérale dans lequel les deux acteurs, protestataires et policiers, ont recours à des armes non incapacitantes, où les cailloux des premiers répondent au gaz lacrymogène des seconds. Le deuxième niveau correspond à la létalité unilatérale : la police ouvre le feu lorsque les manifestants se rapprochent de trop près. Le troisième et dernier niveau est atteint lorsque les manifestants utilisent à leur tour des armes à feu, la létalité est alors bilatérale. Troisièmement, enfin, le concept de « l’indignité républicaine » rend compte de la logique de la violence dans les manifestations. La violence se déclenche et s’intensifie lorsqu’une des parties, manifestants ou policiers, interprète l’acte posé par l’adversaire comme étant en rupture avec le rôle attendu du statut qu’il revendique dans la manifestation. Cet acte jugé indigne a pour conséquence de le priver de la déférence rattachée à son statut et de justifier à son encontre l’usage de la force. Ces actes d’indignités, du point de vue des policiers, sont symbolisés par la figure du manifestant hostile. Pour les manifestants, l’indignité des forces de sécurité se reconnait par des actes qui les assimilent à une milice privée. Le degré d’indignité perçu de l’acte explique le niveau d’allocation de la violence.

La compétence sociale des enfants et des adolescents atteints de déficience motrice cérébrale

Les enfants atteints de déficience motrice cérébrale (DMC) intégrés en milieu scolaire ordinaire vivent davantage de difficultés relatives à la compétence sociale que les autres enfants. En lien avec le modèle SOCIAL de Beauchamp et Anderson (2010) (The socio-cognitive integration of abilities model), deux questions sont abordées afin de comprendre ces difficultés. Dans le premier article, les attributions d’intentions (AI) hostiles sont mesurées par le Home Interview with Child (HIWC), un ensemble de vignettes représentants des situations sociales ambigües. Les résultats montrent que l’acceptation sociale, plus que le statut de naissance, est associé à l’hostilité des AI à 15 ans. Les enfants rejetés et populaires ont un niveau d’AI hostiles supérieur aux enfants de la catégorie d’acceptation sociale moyenne. Il est proposé que l’acceptation sociale soit un médiateur important à considérer dans le développement d’un biais d’AI hostile chez les enfants atteints de DMC. Dans le deuxième article, la dominance sociale (i.e., une forme de leadership) est évaluée dans une situation de résolution de problème en équipe. Les comportements relatifs à la dominance sociale (i.e., les comportements prosociaux et coercitifs) sont codifiés à l’aide d’une grille créée et validée pour cette étude. Les résultats révèlent que, sans égard au score d’acceptation sociale, les enfants atteints de DMC effectuent significativement moins de comportements prosociaux et coercitifs que les enfants sans DMC au cours de la résolution de problème. De plus, leur équipe de travail émet un nombre de comportements prosociaux et coercitifs inférieur à celui observé dans l’équipe des deux enfants témoins. Les difficultés de compétence sociale observées chez les jeunes atteints de DMC pourraient être en partie expliquées par une faible dominance sociale lors d’activités sollicitant les fonctions exécutives. Enfin, les deux articles présentés permettent d’explorer de nouvelles avenues pour comprendre et soutenir le développement de la compétence sociale chez les enfants et les adolescents atteints de DMC. Les interventions auprès de cette clientèle devraient avoir lieu tôt et devraient cibler autant les habiletés motrices de ces jeunes que leur compétence sociale, avant que des signaux clairs ne compromettent déjà leur expérience sociale globale en milieu scolaire ordinaire.

Obtención de un modelo estadístico para proporcionar QoS en enlaces inalámbricos ópticos submarinos

Máster Universitario en Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería (SIANI)