Towards coordinated multirobot missions for lunar sample collection in an unknown environment

In this paper, the recent results of the space project IMPERA are presented. The goal of IMPERA is the development of a multirobot planning and plan execution architecture with a focus on a lunar sample collection scenario in an unknown environment. We describe the implementation and verification of different modules that are integrated into a distributed system architecture. The modules include a mission planning approach for a multirobot system and modules for task and skill execution within a lunar use-case scenario. The skills needed for the test scenario include cooperative exploration and mapping strategies for an unknown environment, the localization and classification of sample containers using a novel approach of semantic perception, and the skill of transporting sample containers to a collection point using a mobile manipulation robot. Additionally, we present our approach of a reliable communication framework that can deal with communication loss during the mission. Several modules are tested within several experiments in the domain of planning and plan execution, communication, coordinated exploration, perception, and object transportation. An overall system integration is tested on a mission scenario experiment using three robots.

Using conservation evidence to guide management

Almost 10 years ago, Pullin and Knight (2001) called for an “effectiveness revolution in conservation” to be enabled by the systematic evaluation of evidence for conservation decision making. Drawing from the model used in clinicalmedicine, they outlined the concept of “evidencebased conservation” in which existing information, or evidence, from relevant and rigorous research is compiled and analyzed in a systematic manner to inform conservation actions (Cochrane 1972). The promise of evidencebased conservation has generated significant interest; 25 systematic reviews have been completed since 2004 and dozens are underway (Collaboration for Environmental Evidence 2010). However we argue that an “effectiveness revolution” (Pullin & Knight 2001) in conservation will not be possible unless mechanisms are devised for incorporating the growing evidence base into decision frameworks. For conservation professionals to accomplish the missions of their organizations they must demonstrate that their actions actually achieve objectives (Pullin & Knight 2009). Systematic evaluation provides a framework for objectively evaluating the effectiveness of actions. To leverage the benefit of these evaluations, we need resource-allocation systems that are responsive to their outcomes. The allocation of conservation resources is often the product of institutional priorities or reliance on intuition (Sutherland et al. 2004; Pullin & Knight 2005; Cook et al. 2010). We highlight the NICE technologyappraisal process because it provides an example of formal integration of systematic-evidence evaluation with provision of guidance for action. The transparent process, which clearly delineates costs and benefits of each alternative action, could also provide the public with new insight into the environmental effects of different decisions. This insight could stimulate a wider discussion about investment in conservation by demonstrating how changes in funding might affect the probability of achieving conservation objectives. ©2010 Society for Conservation Biology

Search Strategies for Multiple UAV Search and Destroy Missions

Multiple UAVs are deployed to carry out a search and destroy mission in a bounded region. The UAVs have limited sensor range and can carry limited resources which reduce with use. The UAVs perform a search task to detect targets. When a target is detected which requires different type and quantities of resources to completely destroy, then a team of UAVs called as a coalition is formed to attack the target. The coalition members have to modify their route to attack the target, in the process, the search task is affected, as search and destroy tasks are coupled. The performance of the mission is a function of the search and the task allocation strategies. Therefore, for a given task allocation strategy, we need to devise search strategies that are efficient. In this paper, we propose three different search strategies namely; random search strategy, lanes based search strategy and grid based search strategy and analyze their performance through Monte-Carlo simulations. The results show that the grid based search strategy performs the best but with high information overhead.

UAV Grouping and Coordination Tactics for Ground Attack Missions

Grouping and coordination tactics for ground attack missions by a heterogeneous mix of reconnaissance, enemy suppression, and attack unmanned aerial vehicles (UAVs) is presented. Dubins' paths are used to determine the optimal number of attack UAVs and their positional and heading freedoms, as functions of weapon seeker range and field of view. A generic battlefield scenario with layered defense is created and the tactics are evaluated on a Group Flyer simulation platform for both nominal and off-nominal conditions.

Integration of fisheries acoustics surveys and bathymetric mapping to characterize midwater-seafloor habitats of US Virgin Islands and Puerto Rico (2008-2010)

NOAA’s Coral Reef Conservation program (CRCP) develops coral reef management priorities by bringing together various partners to better understand threats to coral reef ecosystems with the goal of conserving, protecting and restoring these resources. Place-based and ecosystem-based management approaches employed by CRCP require that spatially explicit information about benthic habitats and fish utilization are available to characterize coral reef ecosystems and set conservation priorities. To accomplish this, seafloor habitat mapping of coral reefs around the U.S. Virgin Islands (USVI) and Puerto Rico has been ongoing since 2004. In 2008, fishery acoustics surveys were added to NOAA survey missions in the USVI and Puerto Rico to assess fish distribution and abundance in relation to benthic habitats in high priority conservation areas. NOAA’s National Centers for Coastal Ocean Science (NCCOS) have developed fisheries acoustics survey capabilities onboard the NOAA ship Nancy Foster to complement the CRCP seafloor habitat mapping effort spearheaded by the Center for Coastal Monitoring and Assessment Biogeography Branch (CCMA-BB). The integration of these activities has evolved on the Nancy Foster over the three years summarized in this report. A strategy for improved operations and products has emerged over that time. Not only has the concurrent operation of multibeam and fisheries acoustics surveys been beneficial in terms of optimizing ship time and resources, this joint effort has advanced an integrated approach to characterizing bottom and mid-water habitats and the fishes associated with them. CCMA conducts multibeam surveys to systematically map and characterize coral reef ecosystems, resulting in products such as high resolution bathymetric maps, backscatter information, and benthic habitat classification maps. These products focus on benthic features and live bottom habitats associated with them. NCCOS Centers (the Center for Coastal Fisheries and Habitat Research and the Center for Coastal Environmental Health and Biomolecular Research) characterize coral reef ecosystems by using fisheries acoustics methods to capture biological information through the entire water column. Spatially-explicit information on marine resources derived from fisheries acoustics surveys, such as maps of fish density, supports marine spatial planning strategies and decision making by providing a biological metric for evaluating coral reef ecosystems and assessing impacts from pollution, fishing pressure, and climate change. Data from fisheries acoustics surveys address management needs by providing a measure of biomass in management areas, detecting spatial and temporal responses in distribution relative to natural and anthropogenic impacts, and identifying hotspots that support high fish abundance or fish aggregations. Fisheries acoustics surveys conducted alongside multibeam mapping efforts inherently couple water column data with information on benthic habitats and provide information on the heterogeneity of both benthic habitats and biota in the water column. Building on this information serves to inform resource managers regarding how fishes are organized around habitat structure and the scale at which these relationships are important. Where resource managers require place-based assessments regarding the location of critical habitats along with high abundances of fish, concurrent multibeam and fisheries acoustics surveys serve as an important tool for characterizing and prioritizing coral reef ecosystems. This report summarizes the evolution of fisheries acoustics surveys onboard the NOAA ship Nancy Foster from 2008 to 2010, in conjunction with multibeam data collection, aimed at characterizing benthic and mid-water habitats in high priority conservation areas around the USVI and Puerto Rico. It also serves as a resource for the continued development of consistent data products derived from acoustic surveys. By focusing on the activities of 2010, this report highlights the progress made to date and illustrates the potential application of fisheries data derived from acoustic surveys to the management of coral reef ecosystems.

Multi-objective optimization for multiphase orbital rendezvous missions

A multi-objective optimization approach was proposed for multiphase orbital rendezvous missions and validated by application to a representative numerical problem. By comparing the Pareto fronts obtained using the proposed method, the relationships between the three objectives considered are revealed, and the influences of other mission parameters, such as the sensors' field of view, can also be analyzed effectively. For multiphase orbital rendezvous missions, the tradeoff relationships between the total velocity increment and the trajectory robustness index as well as between the total velocity increment and the time of flight are obvious and clear. However, the tradeoff relationship between the time of flight and the trajectory robustness index is weak, especially for the four- and five-phase missions examined. The proposed approach could be used to reorganize a stable rendezvous profile for an engineering rendezvous mission, when there is a failure that prevents the completion of the nominal mission.

An Englishwoman's twenty-five years in tropical Africa: being the biography of Gwen Elen Lewis, missionary to the Cameroons and the Congo, by George Hawker

http://www.archive.org/details/anenglishwomanst00hawkuoft

In southern India : a visit to some of the chief mission stations in the Madras presidency / by Mrs. Murray Mitchell.

http://www.archive.org/details/insouthernindivi00mitcuoft

The journal of the Bishop of Montreal : during a visit to the Church Missionary Society's north-west America mission; to which is prefixed, by the secretaries, an introduction, giving an account of the formation of the mission and its progress to August 1848.

http://www.archive.org/details/journalofthebish00mounuoft

Missionary life among the cannibals : being the life of the Rev. John Geddie, D.D., first missionary to the New Hebrides : with a history of the Nova Scotia Presbyterian mission on that group / by George Patterson.

http://www.archive.org/details/cannibalmission00pattuoft

The journal of the Bishop of Montreal the Church Missionary Society's North-west America Mission. To which is added, by the secretaries, an appendix, giving an account of the formation of the mission, and its progress to the present time.

http://www.archive.org/details/bishopofmontreal00mounuoft

China's new day; a study of events that have led to its coming, by Isaac Taylor Headland.

$u http://books.google.com/books?vid=OCLC02623863&id=mQz8gPn0et8C&a_sbrr=1 View book via Google

A memorial of the dedication of monuments erected by the Moravian Historical Society : to mark the sites of ancient missionary stations in New York and Connecticut.

http://www.archive.org/details/memorialofdedica00moraiala

A Chinese appeal to Christendom concerning Christian mission / by Lin Shao-yang [pseud.].

http://www.archive.org/details/achineseappealto00johnuoft

By-paths to forgotten folks; stories of real life in Baptist home mission fields, by Coe Hayne. Ed. by the Department of missionary education, Board of education of the Northern Baptist convention.

http://www.archive.org/details/bypathstoforgott00haynrich