Multi-UAV Task Allocation using Team Theory

A multiple UAV search and attack mission in a battlefield involves allocating UAVs to different target tasks efficiently. This task allocation becomes difficult when there is no communication among the UAVs and the UAVs sensors have limited range to detect the targets and neighbouring UAVs, and assess target status. In this paper, we propose a team theoretic approach to efficiently allocate UAVs to the targets with the constraint that UAVs do not communicate among themselves and have limited sensor range. We study the performance of team theoretic approach for task allocation on a battle field scenario. The performance obtained through team theory is compared with two other methods, namely, limited sensor range but with communication among all the UAVs, and greedy strategy with limited sensor range and no communication. It is found that the team theoretic strategy performs the best even though it assumes limited sensor range and no communication.

A Mechanism for the Occurrence of Ions in Distilled Water

Solar distillation can be used to produce potable water from contaminated water. However, studies show that ions such as F(-) and NO(3)(-) occur in distillates from solar stills. In order to understand the reasons for this behavior, imaging and distillation experiments were conducted. White dots were seen in the vapor space above the interface of hot water poured into containers. The concentrations of various ions such as F(-) and SO(4)(2-) in the distillates from thermal and solar distillation experiments were roughly comparable when the feed consisted of deionized water and also solutions having fluoride concentrations of 100 and 10 000 mg/L. These observations suggest that aerosols enter the distillation setup through leaks and provide nuclei for the condensation of water vapor. The water-soluble component of aerosols dissolves in the drops formed, and some of the drops are transferred to the distillate by buoyancy-driven convection.

Electrochemical detection and removal of lead in water using poly(propylene imine) modified re-compressed exfoliated graphite electrodes

Modification of exfoliated graphite (EG) electrode with generation 2 poly(propylene imine) dendrimer by electrodeposition resulted in an electrochemical sensor which was used to detect lead ions in water to a limit of 1 ppb and a linear response between 2.5 and 40 ppb using square wave anodic stripping voltammetry (SW-ASV). Pb(II) was also removed from spiked water sample using a 40-mm diameter unmodified EG electrode with an applied potential of -1,000 mV for 180 min. A removal efficiency of 99% was calculated from a 150 mL sample. The results obtained in both cases using SW-ASV, correlated with atomic absorption spectroscopy.

Exfoliation of copper hydroxysalt in water and the conversion of the exfoliated layers to cupric and cuprous oxide nanoparticles

P-aminobenzoate- intercalated copper hydroxysalt was prepared by coprecipitation at high pH (similar to 12). As the pH was reduced to similar to 7 on washing with water, the development of partial positive charge on the amine end of the intercalated anion caused repulsion between the layers leading to delamination and colloidal dispersion of monolayers of copper hydroxysalt in water. The dispersed copper hydroxysalt monolayers were used as precursors for the synthesis of copper(I)/(II) oxide nanoparticles at room temperature. While the hydroxysalt layers yielded spindle-shaped CuO particles when left to stand, they formed hollow spherical nanoparticles of Cu(2)O when treated with an alkaline solution of ascorbic acid.

Sensitivity of terrestrial water and energy budgets to CO(2)-physiological forcing: an investigation using an offline land model

Increasing concentrations of atmospheric carbon dioxide (CO(2)) influence climate by suppressing canopy transpiration in addition to its well- known greenhouse gas effect. The decrease in plant transpiration is due to changes in plant physiology (reduced opening of plant stomata). Here, we quantify such changes in water flux for various levels of CO(2) concentrations using the National Center for Atmospheric Research's (NCAR) Community Land Model. We find that photosynthesis saturates after 800 ppmv (parts per million, by volume) in this model. However, unlike photosynthesis, canopy transpiration continues to decline at about 5.1% per 100 ppmv increase in CO(2) levels. We also find that the associated reduction in latent heat flux is primarily compensated by increased sensible heat flux. The continued decline in canopy transpiration and subsequent increase in sensible heat flux at elevated CO(2) levels implies that incremental warming associated with the physiological effect of CO(2) will not abate at higher CO(2) concentrations, indicating important consequences for the global water and carbon cycles from anthropogenic CO(2) emissions.

Cooperative Profit Sharing in Coalition-Based Resource Allocation in Wireless Networks

We consider a network in which several service providers offer wireless access to their respective subscribed customers through potentially multihop routes. If providers cooperate by jointly deploying and pooling their resources, such as spectrum and infrastructure (e.g., base stations) and agree to serve each others' customers, their aggregate payoffs, and individual shares, may substantially increase through opportunistic utilization of resources. The potential of such cooperation can, however, be realized only if each provider intelligently determines with whom it would cooperate, when it would cooperate, and how it would deploy and share its resources during such cooperation. Also, developing a rational basis for sharing the aggregate payoffs is imperative for the stability of the coalitions. We model such cooperation using the theory of transferable payoff coalitional games. We show that the optimum cooperation strategy, which involves the acquisition, deployment, and allocation of the channels and base stations (to customers), can be computed as the solution of a concave or an integer optimization. We next show that the grand coalition is stable in many different settings, i.e., if all providers cooperate, there is always an operating point that maximizes the providers' aggregate payoff, while offering each a share that removes any incentive to split from the coalition. The optimal cooperation strategy and the stabilizing payoff shares can be obtained in polynomial time by respectively solving the primals and the duals of the above optimizations, using distributed computations and limited exchange of confidential information among the providers. Numerical evaluations reveal that cooperation substantially enhances individual providers' payoffs under the optimal cooperation strategy and several different payoff sharing rules.

Solution of a class of surface water wave scattering problems involving non-reflecting vertical barriers

A large class of scattering problems of surface water waves by vertical barriers lead to mixed boundary value problems for Laplace equation. Specific attentions are paid, in the present article, to highlight an analytical method to handle this class of problems of surface water wave scattering, when the barriers in question are non-reflecting in nature. A new set of boundary conditions is proposed for such non-reflecting barriers and tile resulting boundary value problems are handled in the linearized theory of water waves. Three basic poblems of scattering by vertical barriers are solved. The present new theory of non-reflecting vertical barriers predict new transmission coefficients and tile solutions of tile mathematical problems turn out to be extremely simple and straight forward as compared to the solution for other types of barriers handled previously.

Exciting forces due to interaction of water waves with a submerged sphere in an ice-covered two-layer fluid of finite depth

Scattering of water waves by a sphere in a two-layer fluid, where the upper layer has an ice-cover modelled as an elastic plate of very small thickness, while the lower one has a rigid horizontal bottom surface, is investigated within the framework of linearized water wave theory. The effects of surface tension at the surface of separation is neglected. There exist two modes of time-harmonic waves - the one with lower wave number propagating along the ice-cover and the one with higher wave number along the interface. Method of multipole expansions is used to find the particular solution for the problem of wave scattering by a submerged sphere placed in either of the layers. The exciting forces for vertical and horizontal directions are derived and plotted against different values of the wave number for different submersion depths of the sphere and flexural rigidity of the ice-cover. When the flexural rigidity and the density of the ice-cover are taken to be zero, the numerical results for the exciting forces for the problem with free surface are recovered as particular cases. (C) 2011 Elsevier Ltd. All rights reserved.

Cation-templated 2-D Mn(II)-oxalate framework with an acyclic tetrameric water cluster

The single-crystal X-ray structure of a cation-templated manganese-oxalate coordination polymer [NH(C2H5)(3)][Mn-2(ox)(3)]center dot(5H(2)O)] (1) is reported. In 1, triethylammonium cation is entrapped between the cavities of 2-D honeycomb layers constructed by oxalate and water. The acyclic tetrameric water clusters and discrete water assemble the parallel 2-D honeycomb oxalate layers via an intricate array of hydrogen bonds into an overall 3-D network. The magnetic susceptibility, with and without the water cluster, are reported with infrared and EPR studies.

Role of water contamination within the GC column of a GasBench II peripheral on the reproducibility of O-18/O-16 ratios in water samples

The GasBench II peripheral along with MAT 253 combination provides a more sensitive platform for the determination of water isotope ratios. Here, we examined the role of adsorbed moisture within the gas chromatography (GC) column of the GasBench II on measurement uncertainties. The uncertainty in O-18/O-16 ratio measurements is determined by several factors, including the presence of water in the GC. The contamination of GC with water originating from samples as water vapour over a longer timeframe is a critical factor in determining the reproducibility of O-18/O-16 ratios in water samples. The shift in isotope ratios observed in the experiment under dry and wet conditions correlates strongly with the retention time of analyte CO2, indicating the effect of accumulated moisture. Two possible methods to circumvent or minimise the effect of adsorbed water on isotope ratios are presented here. The proposed methodology includes either the regular baking of the GC column at a higher temperature (120 degrees C) after analysis of a batch of 32 sample entries or conducting the experiment at a low GC column temperature (22.5 degrees C). The effects of water contamination on long-term reproducibility of reference water, with and without baking protocol, have been described.