A subexponential construction of graph coloring for multiparty computation

We show the first deterministic construction of an unconditionally secure multiparty computation (MPC) protocol in the passive adversarial model over black-box non-Abelian groups which is both optimal (secure against an adversary who possesses any tMPC over non-Abelian groups can be reduced to finding a t-reliable n-coloring of planar graphs, we show the construction of such a graph which allows a path from the input nodes to the output nodes when any t-party subset is in the possession of the adversary. Unlike the deterministic constructions from Desmedt et al. (2012) our construction has subexponential complexity and is optimal at the same time, i.e., it is secure for any t

Preparation of magnetic porous ceramsite and its application in biological aerated filters

Ceramsite plays a significant role as a biological aerated filter (BAF) in the treatment of wastewater. In this study, a mixture of goethite, sawdust and palygorskite clay was thermally treated to form magnetic porous ceramsite (MPC). An optimization experiment was conducted to measure the compressive strength of the MPC. X-ray diffraction (XRD), scanning electron microscopy (SEM), and polarizing microscopy (PM) characterized the pore structure of the MPC. The results show that a combination of goethite, sawdust and palygorskite clay with a mass ratio of 10:2:5 is suitable for the formation of MPC. The compressive strength of MPC conforms to the Chinese national industrial standard (CJ/T 299-2008) for wastewater treatment. The SEM and PM results also show that the uniform and interconnected pores in MPC were well suited for microbial growth. The MPC produced in this study can serve as a biomedium for advanced wastewater treatment.

Development of a robust framework for an outdoor mobile manipulation UAV

There is a growing interest to autonomously collect or manipulate objects in remote or unknown environments, such as mountains, gullies, bush-land, or rough terrain. There are several limitations of conventional methods using manned or remotely controlled aircraft. The capability of small Unmanned Aerial Vehicles (UAV) used in parallel with robotic manipulators could overcome some of these limitations. By enabling the autonomous exploration of both naturally hazardous environments, or areas which are biologically, chemically, or radioactively contaminated, it is possible to collect samples and data from such environments without directly exposing personnel to such risks. This paper covers the design, integration, and initial testing of a framework for outdoor mobile manipulation UAV. The framework is designed to allow further integration and testing of complex control theories, with the capability to operate outdoors in unknown environments. The results obtained act as a reference for the effectiveness of the integrated sensors and low-level control methods used for the preliminary testing, as well as identifying the key technologies needed for the development of an outdoor capable system.

A Reactive Tabu Search Based Equalizer for Severely Delay-Spread UWB MIMO-ISI Channels

We propose a novel equalizer for ultrawideband (UWB) multiple-input multiple-output (MIMO) channels characterized by severe delay spreads. The proposed equalizer is based on reactive tabu search (RTS), which is a heuristic originally designed to obtain approximate solutions to combinatorial optimization problems. The proposed RTS equalizer is shown to perform increasingly better for increasing number of multipath components (MPC), and achieve near maximum likelihood (ML) performance for large number of MPCs at a much less complexity than that of the ML detector. The proposed RTS equalizer is shown to perform close to within 0.4 dB of single-input multiple-output AWGN performance at 10(-3) uncoded BER on a severely delay-spread UWB MIMO channel with 48 equal-energy MPCs.

Giant radio sources

We present multifrequency Very Large Array (VLA) observations of two giant quasars, 0437-244 and 1025-229, from the Molonglo Complete Sample. These sources have well-defined FR II radio structure, possible one-sided jets, no significant depolarization between 1365 and 4935 MHz and low rotation measure (\ RM \ < 20 rad m(-2)). The giant sources are defined to be those with overall projected size greater than or equal to 1 Mpc. We have compiled a sample of about 50 known giant radio sources from the literature, and have compared some of their properties with a complete sample of 3CR radio sources of smaller sizes to investigate the evolution of giant sources, and test their consistency with the unified scheme for radio galaxies and quasars. We find an inverse correlation between the degree of core prominence and total radio luminosity, and show that the giant radio sources have similar core strengths to smaller sources of similar total luminosity. Hence their large sizes are unlikely to be caused by stronger nuclear activity. The degree of collinearity of the giant sources is also similar to that of the sample of smaller sources. The luminosity-size diagram shows that the giant sources are less luminous than our sample of smaller sized 3CR sources, consistent with evolutionary scenarios in which the giants have evolved from the smaller sources, losing energy as they expand to these large dimensions. For the smaller sources, radiative losses resulting from synchrotron radiation are more significant while for the giant sources the equipartition magnetic fields are smaller and inverse Compton lass owing to microwave background radiation is the dominant process. The radio properties of the giant radio galaxies and quasars are consistent with the unified scheme.

Damped Belief Propagation Based Near-Optimal Equalization of Severely Delay-Spread UWB MIMO-ISI Channels

In this paper, we present a belief propagation (BP) based equalizer for ultrawideband (UWB) multiple-input multiple-output (MIMO) inter-symbol interference (ISI) channels characterized by severe delay spreads. We employ a Markov random field (MRF) graphical model of the system on which we carry out message passing. The proposed BP equalizer is shown to perform increasingly closer to optimal performance for increasing number of multipath components (MPC) at a much lesser complexity than that of the optimum equalizer. The proposed equalizer performs close to within 0.25 dB of SISO AWGN performance at 10-3 bit error rate on a severely delay-spread MIMO-ISI channel with 20 equal-energy MPCs. We point out that, although MIMO/UWB systems are characterized by fully/densely connected graphical models, the following two proposed features are instrumental in achieving near-optimal performance for large number of MPCs at low complexities: i) use of pairwise compatibility functions in densely connected MRFs, and ii) use of damping of messages.

Strength reliability and in vitro degradation of three-dimensional powder printed strontium-substituted magnesium phosphate scaffolds

Strontium ions (Sr2+) are known to prevent osteoporosis and also encourage bone formation. Such twin requirements have motivated researchers to develop Sr-substituted biomaterials for orthopaedic applications. The present study demonstrates a new concept of developing Sr-substituted Mg-3(PO4)(2) - based biodegradable scaffolds. In particular, this work reports the fabrication, mechanical properties with an emphasis on strength reliability as well as in vitro degradation of highly biodegradable strontium-incorporated magnesium phosphate cements. These implantable scaffolds were fabricated using three-dimensional powder printing, followed by high temperature sintering and/or chemical conversion, a technique adaptable to develop patient-specific implants. A moderate combination of strength properties of 36.7 MPa (compression), 242 MPa (bending) and 10.7 MPa (tension) were measured. A reasonably modest Weibull modulus of up to 8.8 was recorded after uniaxial compression or diametral tensile tests on 3D printed scaffolds. A comparison among scaffolds with varying compositions or among sintered or chemically hardened scaffolds reveals that the strength reliability is not compromised in Sr-substituted scaffolds compared to baseline Mg-3(PO4)(2). The micro-computed tomography analysis reveals the presence of highly interconnected porous architecture in three-dimension with lognormal pore size distribution having median in the range of 17.74-26.29 mu m for the investigated scaffolds. The results of extensive in vitro ion release study revealed passive degradation with a reduced Mg2+ release and slow but sustained release of Sr2+ from strontium-substituted magnesium phosphate scaffolds. Taken together, the present study unequivocally illustrates that the newly designed Sr-substituted magnesium phosphate scaffolds with good strength reliability could be used for biomedical applications requiring consistent Sr2+-release, while the scaffold degrades in physiological medium. Statement of significance The study investigates the additive manufacturing of scaffolds based on different strontium-substituted magnesium phosphate bone cements by means of three-dimensional powder printing technique (3DPP). Magnesium phosphates were chosen due to their higher biodegradability compared to calcium phosphates, which is due to both a higher solubility as well as the absence of phase changes (to low soluble hydroxyapatite) in vivo. Since strontium ions are known to promote bone formation by stimulating osteoblast growth, we aimed to establish such a highly degradable magnesium phosphate ceramic with an enhanced bioactivity for new bone ingrowth. After post-processing, mechanical strengths of up to 36.7 MPa (compression), 24.2 MPa (bending) and 10.7 MPa (tension) could be achieved. Simultaneously, the failure reliability of those bioceramic implant materials, measured by Weibull modulus calculations, were in the range of 4.3-8.8. Passive dissolution studies in vitro proved an ion release of Mg2+ and PO43- as well as Sr2+, which is fundamental for in vivo degradation and a bone growth promoting effect. In our opinion, this work broadens the range of bioceramic bone replacement materials suitable for additive manufacturing processing. The high biodegradability of MPC ceramics together with the anticipated promoting effect on osseointegration opens up the way for a patient-specific treatment with the prospect of a fast and complete healing of bone fractures. (C) 2015 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

The intergalactic and circumgalactic medium surrounding star-forming galaxies at redshifts 2 < z < 3

We present measurements of the spatial distribution, kinematics, and physical properties of gas in the circumgalactic medium (CGM) of 2.0<z<2.8 UV color-selected galaxies as well as within the 2<z<3 intergalactic medium (IGM). These measurements are derived from Voigt profile decomposition of the full Lyα and Lyβ forest in 15 high-resolution, high signal-to-noise ratio QSO spectra resulting in a catalog of ∼6000 HI absorbers.

Chapter 2 of this thesis focuses on HI surrounding high-z star-forming galaxies drawn from the Keck Baryonic Structure Survey (KBSS). The KBSS is a unique spectroscopic survey of the distant universe designed to explore the details of the connection between galaxies and intergalactic baryons within the same survey volumes. The KBSS combines high-quality background QSO spectroscopy with large densely-sampled galaxy redshift surveys to probe the CGM at scales of ∼50 kpc to a few Mpc. Based on these data, Chapter 2 presents the first quantitative measurements of the distribution, column density, kinematics, and absorber line widths of neutral hydrogen surrounding high-z star-forming galaxies.

Chapter 3 focuses on the thermal properties of the diffuse IGM. This analysis relies on measurements of the ∼6000 absorber line widths to constrain the thermal and turbulent velocities of absorbing "clouds." A positive correlation between the column density of HI and the minimum line width is recovered and implies a temperature-density relation within the low-density IGM for which higher-density regions are hotter, as is predicted by simple theoretical arguments.

Chapter 4 presents new measurements of the opacity of the IGM and CGM to hydrogen-ionizing photons. The chapter begins with a revised measurement of the HI column density distribution based on this new absorption line catalog that, due to the inclusion of high-order Lyman lines, provides the first statistically robust measurement of the frequency of absorbers with HI column densities 14 ≲ log(N_HI/cm^-2) ≲ 17.2. Also presented are the first measurements of the column density distribution of HI within the CGM (50 <d < 300 pkpc) of high-z galaxies. These distributions are used to calculate the total opacity of the IGM and IGM+CGM and to revise previous measurements of the mean free path of hydrogen-ionizing photons within the IGM. This chapter also considers the effect of the surrounding CGM on the transmission of ionizing photons out of the sites of active star-formation and into the IGM.

This thesis concludes with a brief discussion of work in progress focused on understanding the distribution of metals within the CGM of KBSS galaxies. Appendix B discusses my contributions to the MOSFIRE instrumentation project.

Convex model predictive control for vehicular systems

In this work, the author presents a method called Convex Model Predictive Control (CMPC) to control systems whose states are elements of the rotation matrices SO(n) for n = 2, 3. This is done without charts or any local linearization, and instead is performed by operating over the orbitope of rotation matrices. This results in a novel model predictive control (MPC) scheme without the drawbacks associated with conventional linearization techniques such as slow computation time and local minima. Of particular emphasis is the application to aeronautical and vehicular systems, wherein the method removes many of the trigonometric terms associated with these systems’ state space equations. Furthermore, the method is shown to be compatible with many existing variants of MPC, including obstacle avoidance via Mixed Integer Linear Programming (MILP).

Uso do espaço do marsupial Caluromys philander (Didelphimorphia, Didelphidae) no Parque Nacional da Serra dos Órgãos - Rio de Janeiro, Brasil

Uso do espaço é um padrão bem estudado em ecologia. Entretanto, formação de área de vida e posição relativa dos abrigos com área de uso são pouco estudados, principalmente para marsupiais didelfídeos. Dentre estes animais, podemos destacar Caluromys philander, devido ao seu baixo registro em armadilhas na Mata Atlântica e características peculiares dentro do grupo, como seu desenvolvimento, longevidade e hábito alimentar. Neste estudo foram investigadas as formações das áreas de uso destes animais através da comparação com seus movimentos diários, e a posição dos seus abrigos dentro das suas áreas de uso. Para isso foram monitorados seis indivíduos de C. philander através de colares rádio transmissores. Estes indivíduos se deslocaram em média 534 153 m por noite. Além disso, apresentaram área diária de 9548 3591 m e área de vida de 2,8 0,4 ha. Noventa e sete por cento das áreas diárias apresentaram sobreposição entre si, com média de 19,4% de sobreposição. Não houve diferença nos locais dos abrigos dos indivíduos monitorados, dentro dos seus Mínimos Polígonos Convexos. Entretanto, estes mesmos abrigos não estiveram localizados nas áreas de maior intensidade de uso. A média de abrigos utilizados por indivíduo foi de 6,3 (3-10) com utilização média de 2,9 (1-17) vezes em cada abrigo, sendo que 48% das vezes os animais só possuíram um registro em cada abrigo, demonstrando baixa fidelidade. Entretanto, dois indivíduos apresentaram diferença de utilização entre seus abrigos, com três destes sendo mais utilizados que os outros. O trabalho sugere que os indivíduos de C. philander monitorados apresentam área de vida propriamente dita (restrita), onde ocorrem as sobreposições entre suas áreas diárias. C. philander utilizam mais de um abrigo em suas vidas, trocando com frequência de abrigos, apesar de alguns destes abrigos poderem ser mais utilizados que outros. Além disso, os abrigos destes animais não são localizados nas suas áreas de maior intensidade de uso.

Low Effort L-i Nuclear Fusion Plasma Control Using Model Predictive Control Laws

One of the main problems of fusion energy is to achieve longer pulse duration by avoiding the premature reaction decay due to plasma instabilities. The control of the plasma inductance arises as an essential tool for the successful operation of tokamak fusion reactors in order to overcome stability issues as well as the new challenges specific to advanced scenarios operation. In this sense, given that advanced tokamaks will suffer from limited power available from noninductive current drive actuators, the transformer primary coil could assist in reducing the power requirements of the noninductive current drive sources needed for current profile control. Therefore, tokamak operation may benefit from advanced control laws beyond the traditionally used PID schemes by reducing instabilities while guaranteeing the tokamak integrity. In this paper, a novel model predictive control (MPC) scheme has been developed and successfully employed to optimize both current and internal inductance of the plasma, which influences the L-H transition timing, the density peaking, and pedestal pressure. Results show that the internal inductance and current profiles can be adequately controlled while maintaining the minimal control action required in tokamak operation.

Comportamento territorial de Lipaugus lanioides (Aves: Cotingidae) em área de Floresta Atlântica na Ilha Grande, RJ

O comportamento territorial é uma estratégia de monopolização de recursos quando esses são essenciais para o sucesso reprodutivo de um organismo. Um território é uma área de uso exclusivo, defendido contra invasores coespecíficos de mesmo sexo, resultante da interação social entre vizinhos. A territorialidade exerce importante papel no sistema reprodutivo de uma espécie, pois influencia a participação do macho na reprodução. Nesses casos, as fêmeas podem obter vantagens diretas, como sítios de nidificação e cuidado parental. O comportamento territorial também exerce influência na regulação do tamanho populacional através de uma relação entre custos e benefícios individuais: em ambientes ótimos e com alta densidade populacional, os territórios são pequenos com pouca substituição, e jovens machos têm dificuldade para conseguirem estabelecer-se. O presente estudo teve como objetivo investigar aspectos comportamentais do tropeiro-da-serra, espécie rara e endêmica de Floresta Atlântica, com distribuição bastante restrita. Ao longo de 18 meses na Ilha Grande (RJ), analisamos seu comportamento territorial, mensuramos os tamanhos de territórios individuais de machos e realizamos estimativas de densidade populacional. O playback foi utilizado para atestar a presença de territorialidade na espécie, para simular a aproximação de coespecíficos (interações intraespecíficas) e para induzir o deslocamento dos indivíduos até os limites de seus territórios. Para investigar as respostas comportamentais à aproximação de invasores, analisamos quantitativamente as reações dos indivíduos a estímulos sonoros (vocalização espontânea e induzida pelo playback). Os territórios individuais foram definidos em duas estações reprodutivas através do método do Mínimo Polígono Convexo (MPC) em uma área equivalente a 20ha. A densidade populacional foi definida através do número de territórios encontrados e pelo número de indivíduos vistos/ouvidos por unidade de área através de transecções lineares. As vocalizações espontâneas e induzidas ocorreram somente entre os meses de agosto a janeiro, caracterizando uma estação reprodutiva bem definida. Durante este período, os machos tornaram-se solitários e agressivos com coespecíficos; na fase não-reprodutiva, entretanto, os indivíduos mostram-se sociáveis, forrageando em pequenos grupos de até quatro indivíduos. Os resultados indicam que o território é estabelecido para a monopolização de alimento e acesso às fêmeas. Essas observações sugerem que a espécie estudada é territorialista. Foram estimados sete territórios com valores entre 0,21ha e 0,73ha (0,43 + 0,16ha). Os indivíduos apresentaram fidelidade territorial, ocupando os mesmos territórios em duas estações reprodutivas. A densidade populacional de L. lanioides apresentou flutuações ao longo do ano, com os maiores valores encontrados durante a estação reprodutiva (variando entre 0,37 e 1,84 indivíduos/ha). Flutuações na densidade populacional podem apontar migrações altitudinais motivadas por variações na disponibilidade de recursos alimentares. Concluímos que o comportamento reprodutivo de L. lanioides não se enquadra no conceito de sistema reprodutivo em leks, conhecido em outros cotingídeos (ex. Lipaugus vociferans), no qual a corte é um comportamento social, com disputa por status de dominância, e o papel do macho resume-se à cópula sem benefícios diretos para as fêmeas. Dessa forma, os resultados do presente estudo trazem informações originais sobre a biologia de L. lanioides

The changing face and role of CACSD

Computer Aided Control Engineering involves three parallel streams: Simulation and modelling, Control system design (off-line), and Controller implementation. In industry the bottleneck problem has always been modelling, and this remains the case - that is where control (and other) engineers put most of their technical effort. Although great advances in software tools have been made, the cost of modelling remains very high - too high for some sectors. Object-oriented modelling, enabling truly re-usable models, seems to be the key enabling technology here. Software tools to support control systems design have two aspects to them: aiding and managing the work-flow in particular projects (whether of a single engineer or of a team), and provision of numerical algorithms to support control-theoretic and systems-theoretic analysis and design. The numerical problems associated with linear systems have been largely overcome, so that most problems can be tackled routinely without difficulty - though problems remain with (some) systems of extremely large dimensions. Recent emphasis on control of hybrid and/or constrained systems is leading to the emerging importance of geometric algorithms (ellipsoidal approximation, polytope projection, etc). Constantly increasing computational power is leading to renewed interest in design by optimisation, an example of which is MPC. The explosion of embedded control systems has highlighted the importance of autocode generation, directly from modelling/simulation products to target processors. This is the 'new kid on the block', and again much of the focus of commercial tools is on this part of the control engineer's job. Here the control engineer can no longer ignore computer science (at least, for the time being). © 2006 IEEE.

The changing face and role of CACSD

Computer Aided Control Engineering involves three parallel streams: Simulation and modelling, Control system design (off-line), and Controller implementation. In industry the bottleneck problem has always been modelling, and this remains the case - that is where control (and other) engineers put most of their technical effort. Although great advances in software tools have been made, the cost of modelling remains very high - too high for some sectors. Object-oriented modelling, enabling truly re-usable models, seems to be the key enabling technology here. Software tools to support control systems design have two aspects to them: aiding and managing the work-flow in particular projects (whether of a single engineer or of a team), and provision of numerical algorithms to support control-theoretic and systems-theoretic analysis and design. The numerical problems associated with linear systems have been largely overcome, so that most problems can be tackled routinely without difficulty - though problems remain with (some) systems of extremely large dimensions. Recent emphasis on control of hybrid and/or constrained systems is leading to the emerging importance of geometric algorithms (ellipsoidal approximation, polytope projection, etc). Constantly increasing computational power is leading to renewed interest in design by optimisation, an example of which is MPC. The explosion of embedded control systems has highlighted the importance of autocode generation, directly from modelling/simulation products to target processors. This is the 'new kid on the block', and again much of the focus of commercial tools is on this part of the control engineer's job. Here the control engineer can no longer ignore computer science (at least, for the time being). ©2006 IEEE.

Surface excavation with model predictive control

This paper describes the application of variable-horizon model predictive control to trajectory generation in surface excavation. A nonlinear dynamic model of a surface mining machine digging in oil sand is developed as a test platform. This model is then stabilised with an inner-loop controller before being linearised to generate a prediction model. The linear model is used to design a predictive controller for trajectory generation. A variable horizon formulation is augmented with extra terms in the cost function to allow more control over digging, whilst still preserving the guarantee of finite-time completion. Simulations show the generation of realistic trajectories, motivating new applications of variable horizon MPC for autonomy that go beyond the realm of vehicle path planning. ©2010 IEEE.