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.

Reinforcement Learning With Function Approximation for Traffic Signal Control

We propose, for the first time, a reinforcement learning (RL) algorithm with function approximation for traffic signal control. Our algorithm incorporates state-action features and is easily implementable in high-dimensional settings. Prior work, e. g., the work of Abdulhai et al., on the application of RL to traffic signal control requires full-state representations and cannot be implemented, even in moderate-sized road networks, because the computational complexity exponentially grows in the numbers of lanes and junctions. We tackle this problem of the curse of dimensionality by effectively using feature-based state representations that use a broad characterization of the level of congestion as low, medium, or high. One advantage of our algorithm is that, unlike prior work based on RL, it does not require precise information on queue lengths and elapsed times at each lane but instead works with the aforementioned described features. The number of features that our algorithm requires is linear to the number of signaled lanes, thereby leading to several orders of magnitude reduction in the computational complexity. We perform implementations of our algorithm on various settings and show performance comparisons with other algorithms in the literature, including the works of Abdulhai et al. and Cools et al., as well as the fixed-timing and the longest queue algorithms. For comparison, we also develop an RL algorithm that uses full-state representation and incorporates prioritization of traffic, unlike the work of Abdulhai et al. We observe that our algorithm outperforms all the other algorithms on all the road network settings that we consider.

Diseño del sistema de tensor de cadena y acople de pinza de freno trasero para moto de competición.

[ES]En este documento se propone el diseño de dos sistemas imprescindibles en el tren trasero de una moto de competición, el sistema de tensor de cadena y el del acople de pinza de freno trasero. Junto a estos sistemas se diseñará, dada su relevancia, el basculante de la moto. Estos diseños se realizarán de tal manera que cumplan una serie de requisitos geométricos y de resistencia, garantizando en todo momento la estabilidad y seguridad del piloto. Se realizará también el estudio de la fabricación de cada uno de los elementos que componen los sistemas, con el fin de realizar diseños viables, que resulten económicamente factibles y mantengan un alto grado de calidad. En el proyecto se analizarán las diferentes alternativas de los sistemas que se puedan adoptar, sus ventajas y desventajas, para así poder escoger, con un alto grado de seguridad, la opción que mejor cumpla los objetivos y condiciones establecidos. Cabe destacar que este proyecto se encuentra dentro de otro de mayor envergadura consistente en el diseño y la fabricación de una motocicleta de competición para participar en el campeonato internacional llamado “MotoStudent”. Esta competición se realiza entre universidades de todo el mundo y en ella los equipos de estudiantes se enfrentan al desafío de diseñar y desarrollar un prototipo de motocicleta de competición similar a la categoría mundialista de “Moto3”.

Lehiaketako motozikleta baten baskulatzailearen optimizazio erresistentea.

[EU]Gradu amaierako lan honetan, baskulatzaile baten orejeten diseinua eta optimizazio erresistentea burutuko dira. Orejeta horien betebeharra, esekidura-triangeluaren eta baskulatzailearen arteko lotura izatea izango da. Diseinua eta optimizazio erresistentea garatzeko egin behar diren elementu finituen analisiak, PTC Creo Parametric softwarearen bidez gauzatuko dira. Proiektu honen abiapuntua, motostudent lehiaketako motozikleta baten baskulatzailea da. Honi aipatutako orejetak gehitu beharko zaizkio, eta horien optimizazio erresistentea lortu. Optimizazioa bilatzeko orejeten lehen bertsio bat diseinatuko da. Behin orejetak baskulatzaileari erantsita, elementu finituen analisiak burutuko dira orejeten bariazio geometriko desberdinekin. Analisi horien helburua, orejetek geometria optimoena izatea da, agertzen diren tentsioak neke-tentsio onargarria baino txikiagoak izanik.

A aplicação das geotecnologias na gestão do esporte: um olhar nos megaeventos esportivos na cidade do Rio de Janeiro

O presente documento apresenta sucintamente os conceitos e definições das geotecnologias, com ênfase em duas ferramentas tecnológicas de suporte a utilização desta metodologia: o geoprocessamento e o sistema de informação geográfica (SIG). A proposta metodológica da utilização da geotecnologias teve como objetivo a observação dos fenômenos dos megaeventos esportivos, que serão sediados na cidade do Rio de Janeiro, a Copa do Mundo de Futebol 2014 e os Jogos Olímpicos e Paralímpicos de 2016, bem como atender as exigências de conclusão da tese de doutorado. Para tal, foram realizados dois artigos que observaram o fenômeno megaeventos esportivos no espaço geográfico da cidade do Rio de Janeiro. O primeiro verificou as mudanças urbanas com as características socioeconômicas ocorridas nas proximidades do parque olímpico, a partir de uma visão temporal da década de 2000. O segundo artigo observou o espaço geográfico da cidade junto aos sítios olímpicos e as mudanças climáticas que vêm ocorrendo nesses locais, através da observação da evolução da temperatura de superfície com a construção de mapas termais, e de dados meteorológicos.

Community-based tarball monitoring in the Maldives

Monitoring oil pollution by using students to count tarballs on beaches. Samples were taken between 2006 and 2010; a significant relationship was demonstrated between the abundance of tarballs and exposure to shipping lanes. The contribution of local communities to monitoring marine pollution was also demonstrated.

DIESE Final Report

The DIESE program (Determination of relevant Indicators for Environmental monitoring: A Strategy for Europe) brought together seven French and British research teams, a private company and the agencies responsible for the management of water bodies of the two countries (ONEMA and the Environmental Agency) in a joint effort to document the ecotoxicological effects related to the presence of chemicals in the environment. To contribute to a better understanding and management of the environment, the program has expanded its efforts to (1) use existing knowledge, or new information acquired during the research program, to identify important biological problems affecting wildlife, (2) increase our understanding of toxicological mechanisms involved and thus be able to identify the causes of the identified dysfunctions and (3) to hone our expertise and vigilance systems in order to better monitor changes in the environment and make appropriate diagnoses. The first part of the program identified clear biological effects, and using biological tests representative of the mechanisms of action of compounds, identified the responsible compounds present in the environment. In connection with the feminization observed in many fish species in European streams, a search for estrogenic and anti-androgenic compounds was conducted. A new test identifying estrogenic compounds has been developed in roach and the ER-Calux test for anti-androgenic effects has been implemented. The results showed that, in addition to biocides such as triclosan and chlorophène, many aromatic hydrocarbon compounds are likely to disturb the physiology of living organisms by interacting with the androgen receptor. Six of these were identified in sediment extracts: benzanthrone, fluoranthene, 1,2- benzodiphenylene sulfide, benzo[a]pyrene, benz[a] anthracene, and 9-phenylcarbazole. The second part of the program aimed at documenting and understanding the mechanisms of action of chemicals leading to physiological changes. This work represents a particular challenge when dealing with molluscs, as knowledge about their physiology and endocrinology is still fragmentary. Thus, new technologies including metabolomic and transcriptomic analyses have been implemented in order to obtain a comprehensive picture of the effects on molluscs. Metabolomic research demonstrated that estrogenic compounds are able to alter the metabolism of eicosanoids and amines, while transcriptomic strategies identified genes whose expression is altered in intersex clams. Because these genes mainly appear as “male” genes, the results suggest that these profound physiological changes result from demasculinisation of male clams. Proteomic studies have also been carried out to elucidate the mechanisms of action of pollutants on fish physiology. These studies generally included a set of molecular marker measurements in an integrative and ecological perspective. The results showed that not only male fish physiology is altered but also female reproductive status is impaired. Moreover, it appeared that other alterations of the fish endocrine system, such as androgenic effects, are at work and that the immune system is also subject to chemical pressure including effects from environmental estrogens. Notably, the immune system, like the endocrine system, seems to show periods of particular sensitivity during development. Measurements on growth and on the general metabolism emphasize the importance of environmental conditions in the physiology of aquatic organisms and in particular the inter-site variability due to temperature,hypoxic conditions, and fish development strategies. They thus provide a unique perspective that allow us to better understand the context and consequences of natural conditions on the population. In a third part of the program, the research conducted had the objective of developing and testing a biomarker strategy to support the environmental management methodologies. Two lanes of specific studies have been followed. The first was to implement, over all or part of the study area, robust biomarkers to establish maps that highlight the water bodies at risk and provide information on sources of compounds and associated disturbances. The second part of the work aimed at exploring methodologies to take advantage of biomarker measurements and to integrate them in a very simple and clear index. Partial or comprehensive maps of the Channel area were produced to report the presence of mutagenic or anti-androgenic compounds in the sediments, intersex fish and clams, and imposex. These maps may remain to be completed and work will be necessary to confront this information in order to learn relevant lessons for management of the environment, a goal that the DIESE program has contributed to by providing some necessary and original information.

Automated detection and tracking of solar magnetic bright points

Magnetic bright points (MBPs) in the internetwork are among the smallest objects in the solar photosphere and appear bright against the ambient environment. An algorithm is presented that can be used for the automated detection of the MBPs in the spatial and temporal domains. The algorithm works by mapping the lanes through intensity thresholding. A compass search, combined with a study of the intensity gradient across the detected objects, allows the disentanglement of MBPs from bright pixels within the granules. Object growing is implemented to account for any pixels that might have been removed when mapping the lanes. The images are stabilized by locating long-lived objects that may have been missed due to variable light levels and seeing quality. Tests of the algorithm, employing data taken with the Swedish Solar Telescope, reveal that approximate to 90 per cent of MBPs within a 75 x 75 arcsec(2) field of view are detected.

The Area Distribution of Solar Magnetic Bright Points

Magnetic bright points (MBPs) are among the smallest observable objects on the solar photosphere. A combination of G-band observations and numerical simulations is used to determine their area distribution. An automatic detection algorithm, employing one-dimensional intensity profiling, is utilized to identify these structures in the observed and simulated data sets. Both distributions peak at an area of approximate to 45,000 km(2), with a sharp decrease toward smaller areas. The distributions conform with log-normal statistics, which suggests that flux fragmentation dominates over flux convergence. Radiative magneto-convection simulations indicate an independence in the MBP area distribution for differing magnetic flux densities. The most commonly occurring bright point size corresponds to the typical width of inter-granular lanes.

Photospheric magnetic vortex structures

Using direct numerical magneto-hydrodynamic (MHD) simulations, we demonstrate the evidence of two physically different types of vortex motions in the solar photosphere. Baroclinic motions of plasma in non-magnetic granules are the primary source of vorticity in granular regions of the solar photosphere, however, there is a significantly more efficient mechanism of vorticity production in strongly magnetised intergranular lanes. These swirly motions of plasma in intergranular magnetic field concentrations could be responsible for the generation of different types of MHD wave modes, for example, kink, sausage and torsional Alfven waves. These waves could transport a relevant amount of energy from the lower solar atmosphere and contribute to coronal plasma heating.

Propagating Wave Phenomena Detected in Observations and Simulations of the Lower Solar Atmosphere

We present high-cadence observations and simulations of the solar photosphere, obtained using the Rapid Oscillations in the Solar Atmosphere imaging system and the MuRAM magnetohydrodynamic (MHD) code, respectively. Each data set demonstrates a wealth of magnetoacoustic oscillatory behavior, visible as periodic intensity fluctuations with periods in the range 110–600 s. Almost no propagating waves with periods less than 140 s and 110 s are detected in the observational and simulated data sets, respectively. High concentrations of power are found in highly magnetized regions, such as magnetic bright points and intergranular lanes. Radiative diagnostics of the photospheric simulations replicate our observational results, confirming that the current breed of MHD simulations are able to accurately represent the lower solar atmosphere. All observed oscillations are generated as a result of naturally occurring magnetoconvective processes, with no specific input driver present. Using contribution functions extracted from our numerical simulations, we estimate minimum G-band and 4170 Å continuum formation heights of 100 km and 25 km, respectively. Detected magnetoacoustic oscillations exhibit a dominant phase delay of −8◦ between the G-band and 4170 Å continuum observations, suggesting the presence of upwardly propagating waves.More than 73% of MBPs (73% from observations and 96% from simulations) display upwardly propagating wave phenomena, suggesting the abundant nature of oscillatory behavior detected higher in the solar atmosphere may be traced back to magnetoconvective processes occurring in the upper layers of the Sun’s convection zone.

Rapid Fluctuations in the Lower Solar Atmosphere

The Rapid Oscillations in the Solar Atmosphere instrument reveals solar atmospheric fluctuations at high frequencies. Spectra of variations of the G-band intensity (IG ) and Ca II K-line intensity (IK ) show correlated fluctuations above white noise to frequencies beyond 300 mHz and 50 mHz, respectively. The noise-corrected G-band spectrum for f = 28-326 mHz shows a power law with exponent -1.21 ± 0.02, consistent with the presence of turbulent motions. G-band spectral power in the 25-100 mHz ("UHF") range is concentrated at the locations of magnetic bright points in the intergranular lanes and is highly intermittent in time. The intermittence of the UHF G-band fluctuations, shown by a positive kurtosis ?, also suggests turbulence. Combining values of IG , IK , UHF power, and ? reveals two distinct states of the solar atmosphere. State 1, including almost all the data, is characterized by low IG , IK , and UHF power and ? ˜ 6. State 2, including only a very small fraction of the data, is characterized by high IG , IK , and UHF power and ? ˜ 3. Superposed epoch analysis shows that the UHF power peaks simultaneously with spatio-temporal IG maxima in either state. For State 1, IK shows 3.5 minute chromospheric oscillations with maxima occurring 21 s after IG maxima implying a 150-210 km effective height difference. However, for State 2 the IK and IG maxima are simultaneous; in this highly magnetized environment sites of G-band and K-line emission may be spatially close together.

Stellar Surface Magneto-Convection as a Source of Astrophysical Noise. I. Multi-component Parameterisation of Absorption Line Profiles

We outline our techniques to characterise photospheric granulation as an astrophysical noise source. A four component parameterisation of granulation is developed that can be used to reconstruct stellar line asymmetries and radial velocity shifts due to photospheric convective motions. The four components are made up of absorption line profiles calculated for granules, magnetic intergranular lanes, non-magnetic intergranular lanes, and magnetic bright points at disc centre. These components are constructed by averaging Fe I $6302 \mathrm{\AA}$ magnetically sensitive absorption line profiles output from detailed radiative transport calculations of the solar photosphere. Each of the four categories adopted are based on magnetic field and continuum intensity limits determined from examining three-dimensional magnetohydrodynamic simulations with an average magnetic flux of $200 \mathrm{G}$. Using these four component line profiles we accurately reconstruct granulation profiles, produced from modelling 12 x 12 Mm$^2$ areas on the solar surface, to within $\sim \pm$ 20 cm s$^{-1}$ on a $\sim$ 100 m s$^{-1}$ granulation signal. We have also successfully reconstructed granulation profiles from a $50 \mathrm{G}$ simulation using the parameterised line profiles from the $200 \mathrm{G}$ average magnetic field simulation. This test demonstrates applicability of the characterisation to a range of magnetic stellar activity levels.

The Map of Watchful Architecture 2.0:Defensive forms along Ireland's border

For The Map of Watchful Architecture I only concerned myself with defensive architecture along the Border. As the map followed a border it came out as a wavy line of points. This was largely artificial, I only charted architecture within the Border corridor, but was not entirely artificial. That linear landscape has long been staked-out by the regularity of certain kinds of architecture. The 1st/2nd century Black Pig’s Dyke and Dorsey correspond with today’s Border. The concentration of souterrains in north Louth indicate that it may have been a volatile interface zone in later centuries. In 1618 Londonderry and its walls were built. Further north and two centuries later, Martello Towers were constructed to watch over Lough Foyle. During the Second World War pillboxes and observation posts were manned along the Border, close to what was now an international frontier. Then came the Operation Banner installations built during The Troubles. All this adds up to be one of the longest unbroken traditions of defensive architecture anywhere in Western Europe, a tradition some thought finally broken as the last of the Operation Banner towers were de-installed in 2007. But, take a bus south across the Border and you will often be pulled over by the Garda Síochána. They ID check the passengers in an attempt to stop illegal immigration via the UK. What about illegal immigrants who walk through the fields or along quiet lanes? They will have understood the Border is not really how it seems on most maps. It is not a solid line, it is a row of points.