Multi-Agent Rendezvous Algorithm with Rectilinear Decision Domain

The aim of this paper is to develop a computationally efficient decentralized rendezvous algorithm for a group of autonomous agents. The algorithm generalizes the notion of sensor domain and decision domain of agents to enable implementation of simple computational algorithms. Specifically, the algorithm proposed in this paper uses a rectilinear decision domain (RDD) as against the circular decision domain assumed in earlier work. Because of this, the computational complexity of the algorithm reduces considerably and, when compared to the standard Ando's algorithm available in the literature, the RDD algorithm shows very significant improvement in convergence time performance. Analytical results to prove convergence and supporting simulation results are presented in the paper.

Rectilinear Path Following in 3D Space

This paper addresses the problem of determining an optimal (shortest) path in three dimensional space for a constant speed and turn-rate constrained aerial vehicle, that would enable the vehicle to converge to a rectilinear path, starting from any arbitrary initial position and orientation. Based on 3D geometry, we propose an optimal and also a suboptimal path planning approach. Unlike the existing numerical methods which are computationally intensive, this optimal geometrical method generates an optimal solution in lesser time. The suboptimal solution approach is comparatively more efficient and gives a solution that is very close to the optimal one. Due to its simplicity and low computational requirements this approach can be implemented on an aerial vehicle with constrained turn radius to reach a straight line with a prescribed orientation as required in several applications. But, if the distance between the initial point and the straight line to be followed along the vertical axis is high, then the generated path may not be flyable for an aerial vehicle with limited range of flight path angle and we resort to a numerical method for obtaining the optimal solution. The numerical method used here for simulation is based on multiple shooting and is found to be comparatively more efficient than other methods for solving such two point boundary value problem.

Kinematics of the Cometary Globules in the Gum Nebula

We report a study of the kinematics of the cometary globules in the Gum Nebula using the J = 1 yields 0 transition line of (CO-12)O. A morphological center for the system with which 60 percent of the globules are associated is identified. It is shown that the observed radial velocities of the heads of the globules are consistent with an expansion of the system. Systematic velocity gradients are present along some of the tails. The estimated expansion age and the tail stretching age are both about a few million years, suggesting a common origin for the expansion and the formation of the tails. The presence of young stars of similar ages in some of the globules points to star formation triggered by the same cause. Possible scenarios are briefly discussed.

Performance of a mixed flow pump with varying tip clearance .1.

Measurements of the three-dimensional flow field entering and leaving a mixed flow pump of non-dimensional specific speed k = 1.89 [N-s = 100 r/min (metric)] are discussed as a function of flowrate. Flow reversal at inlet at reduced flows is seen to result in abnormally high total pressures in the casing region, but causes no noticeable discontinuities on the head-flow characteristics. Inlet prerotation is associated with the transport of angular momentum by the reversal eddy and begins with the initiation of flow reversal.

Performance of a mixed flow pump with varying tip clearance .2.

Measurements in a mixed flow pump of non-dimensional specific speed k = 1.89[N-S = 100 r/min (metric)] are analysed to give loss distribution and local hydraulic efficiencies at different flowrates and values of tip clearance. Fairly close agreement is obtained between the relative flow angles leaving the blading as predicted by simple deviation and slip models and derived from the measurements. The head developed is broken up into two parts: that contributed by Coriolis action and that associated with blade circulation. It is suggested that lift coefficients based on blade circulation are of limited value in selecting blade profiles. The variation of pump efficiency with tip clearance is greater than that reported for centrifugal pumps.

Effect of Strain Rate on Ductile-to-Brittle Transition Temperature of a Free-Standing Pt-Aluminide Bond Coat

The ductile-to-brittle transition temperature (DBTT) of a free-standing Pt-aluminide (PtAl) bondcoat was determined using the microtensile testing method and the effect of strain rate variation, in the range 10(-5) to 10(-1) s(-1), on the DBTT studied. The DBTT increased appreciably with the increase in strain rate. The activation energy determined for brittle-to-ductile transition, suggested that such transition is most likely associated with vacancy diffusion. Climb of aOE (c) 100 > dislocations observed in analysis of dislocation structure using a transmission electron microscope (TEM) supported the preceding mechanism.

TolA mediates the differential detergent resistance pattern between the Salmonella enterica subsp enterica serovars Typhi and Typhimurium

The tol-pal genes are essential for maintaining the outer membrane integrity and detergent resistance in various Gram-negative bacteria, including Salmonella. The role of TolA has been well established for the bile resistance of Salmonella enterica subsp. enterica serovar Typhimurium. We compared the bile resistance pattern between the S. enterica serovars Typhi and Typhimurium and observed that Typhi is more resistant to bile-mediated damage. A closer look revealed a significant difference in the TolA sequence between the two serovars which contributes to the differential detergent resistance. The tolA knockout of both the serovars behaves completely differently in terms of membrane organization and morphology. The role of the Pal proteins and difference in LPS organization between the two serovars were verified and were found to have no direct connection with the altered bile resistance. In normal Luria broth (LB), S. Typhi Delta tolA is filamentous while S. Typhimurium Delta tolA grows as single cells, similar to the wildtype. In low osmolarity LB, however, S. Typhimurium Delta tolA started chaining and S. Typhi Delta tolA showed no growth. Further investigation revealed that the chaining phenomenon observed was the result of failure of the outer membrane to separate in the dividing cells. Taken together, the results substantiate the evolution of a shorter TolA in S. Typhi to counteract high bile concentrations, at the cost of lower osmotic tolerance.

Electrical transport and magnetic properties of La0.5Ca0.5MnO3-y with varying oxygen content

We report the tuning of oxygen content of La0.5Ca0.5MnO3-y and its effect on electrical transport and magnetic properties. A small reduction of oxygen content leads to a decrease in sample resistivity, which is more dramatic at low temperatures. No significant change is seen to occur in the magnetic properties for this case. Further reduction in the oxygen content increases the resistivity remarkably, as compared to the as-prepared sample. The amplitude of the ferromagnetic (FM) transition at 225 K decreases, and the antiferromagnetic (AFM) transition at 130 K disappears. For samples with y=0.17, insulator-metal transition and paramagnetic-ferromagnetic transition occur around 167 K. The results are explained in terms of the effect of oxygen vacancies on the coexistence of the metallic FM phase and the insulating charge ordered AFM phase.

Incremental-angle and angular velocity estimation using a star sensor

A method is described for estimating the incremental angle and angular velocity of a spacecraft using integrated rate parameters with the help of a star sensor alone. The chief advantage of this method is that the measured stars need not be identified, whereas the identification of the stars is necessary in earlier methods. This proposed estimation can be carried out with all of the available measurements by a simple linear Kalman filter, albeit with a time-varying sensitivity matrix. The residuals of estimated angular velocity by the proposed spacecraft incremental-angle and angular velocity estimation method are as accurate as the earlier methods. This method also enables the spacecraft attitude to be reconstructed for mapping the stars into an imaginary unit sphere in the body reference frame, which will preserve the true angular separation of the stars. This will pave the way for identification of the stars using any angular separation or triangle matching techniques applied to even a narrow field of view sensor that is made to sweep the sky. A numerical simulation for inertial as well as Earth pointing spacecraft is carried out to establish the results.

Insulator-metal transition and magnetoresistance of La0.5Ca0.5MnOy induced by tuning the oxygen content

The oxygen content of La0.5Ca0.5MnOy was tuned by annealing the samples at high temperatures in flowing nitrogen with graphite powder nearby. The reduction of oxygen content has dramatic effect on the electrical transport and magnetic properties. The samples with y=2.983, 2.83, and 2.803 show an insulator-metal transition, and an unusual temperature and magnetic-field dependence of the magnetoresistance. The paramagnetic-ferromagnetic transition also shifts to lower temperatures and the antiferromagnetic transition at lower temperature is suppressed. The results are discussed in terms of the effect of oxygen vacancies on the various properties of La0.5Ca0.5MnOy. (C) 2002 American Institute of Physics.

Synthesis and structure of La14V6CuO36.5: a transparent Cu(I) vanadate containing [OCuO](3-) sticks

The title compound, La14V6CuO36.5, was prepared from a stoichiometric mixture of La2O3,V2O5, and CuO at 1050-1080 degreesC. The compound forms transparent, pale green crystals and was characterized by wavelength dispersive spectroscopy and single crystal X-ray diffraction. The structure contains isolated VO43- tetrahedra and [OCuO](3-) sticks dispersed in a lanthanum oxide network. Films of La14V6CuO36.5 were grown on R-plane sapphire by using pulsed laser deposition. Rutherford backscattering spectroscopic and X-ray diffraction analyses of the films showed oriented growth of the title phase, a similar to5 eV optical band gap and n-type conductivity. The compound is an example of a transparent copper(I) oxide.

Crystal structure of Rv2118c: an AdoMet-dependent methyltransferase from Mycobacterium tuberculosis H37Rv

Rv2118c belongs to the class of conserved hypothetical proteins from Mycobacterium tuberculosis H37Rv. The crystal structure of Rv2118c in complex with S-adenosyl-Image -methionine (AdoMet) has been determined at 1.98 Å resolution. The crystallographic asymmetric unit consists of a monomer, but symmetry-related subunits interact extensively, leading to a tetrameric structure. The structure of the monomer can be divided functionally into two domains: the larger catalytic C-terminal domain that binds the cofactor AdoMet and is involved in the transfer of methyl group from AdoMet to the substrate and a smaller N-terminal domain. The structure of the catalytic domain is very similar to that of other AdoMet-dependent methyltransferases. The N-terminal domain is primarily a β-structure with a fold not found in other methyltransferases of known structure. Database searches reveal a conserved family of Rv2118c-like proteins from various organisms. Multiple sequence alignments show several regions of high sequence similarity (motifs) in this family of proteins. Structure analysis and homology to yeast Gcd14p suggest that Rv2118c could be an RNA methyltransferase, but further studies are required to establish its functional role conclusively.

Image fusion in GRDSS for Land use Mapping

Image fusion techniques are useful to integrate the geometric detail of a high-resolution panchromatic (PAN) image and the spectral information of a low-resolution multispectral (MSS) image, particularly important for understanding land use dynamics at larger scale (1:25000 or lower), which is required by the decision makers to adopt holistic approaches for regional planning. Fused images can extract features from source images and provide more information than one scene of MSS image. High spectral resolution aids in identification of objects more distinctly while high spatial resolution allows locating the objects more clearly. The geoinformatics technologies with an ability to provide high-spatial-spectral-resolution data helps in inventorying, mapping, monitoring and sustainable management of natural resources. Fusion module in GRDSS, taking into consideration the limitations in spatial resolution of MSS data and spectral resolution of PAN data, provide high-spatial-spectral-resolution remote sensing images required for land use mapping on regional scale. GRDSS is a freeware GIS Graphic User Interface (GUI) developed in Tcl/Tk is based on command line arguments of GRASS (Geographic Resources Analysis Support System) with the functionalities for raster analysis, vector analysis, site analysis, image processing, modeling and graphics visualization. It has the capabilities to capture, store, process, analyse, prioritize and display spatial and temporal data.

On Optimal Performance in Mobile Ad-Hoc Networks

In this paper we are concerned with finding the maximum throughput that a mobile ad hoc network can support. Even when nodes are stationary, the problem of determining the capacity region has long been known to be NP-hard. Mobility introduces an additional dimension of complexity because nodes now also have to decide when they should initiate route discovery. Since route discovery involves communication and computation overhead, it should not be invoked very often. On the other hand, mobility implies that routes are bound to become stale resulting in sub-optimal performance if routes are not updated. We attempt to gain some understanding of these effects by considering a simple one-dimensional network model. The simplicity of our model allows us to use stochastic dynamic programming (SDP) to find the maximum possible network throughput with ideal routing and medium access control (MAC) scheduling. Using the optimal value as a benchmark, we also propose and evaluate the performance of a simple threshold-based heuristic. Unlike the optimal policy which requires considerable state information, the heuristic is very simple to implement and is not overly sensitive to the threshold value used. We find empirical conditions for our heuristic to be near-optimal as well as network scenarios when our simple heuristic does not perform very well. We provide extensive numerical and simulation results for different parameter settings of our model.

The Mathematical modeling of inhomogeneites in ventricular tissue

Cardiac arrhythmias such as ventricular tachycardia (VT) or ventricular fibrillation (VF) are the leading cause of death in the industrialised world. There is a growing consensus that these arrhythmias arise because of the formation of spiral waves of electrical activation in cardiac tissue; unbroken spiral waves are associated with VT and broken ones with VF. Several experimental studies have been carried out to determine the effects of inhomogeneities in cardiac tissue on such arrhythmias. We give a brief overview of such experiments, and then an introduction to partial-differential-equation models for ventricular tissue. We show how different types of inhomogeneities can be included in such models, and then discuss various numerical studies, including our own, of the effects of these inhomogeneities on spiral-wave dynamics. The most remarkable qualitative conclusion of our studies is that the spiral-wave dynamics in such systems depends very sensitively on the positions of these inhomogeneities.