| 1. |
- Fenstermacher, M.E., et al.
(författare)
-
DIII-D research advancing the physics basis for optimizing the tokamak approach to fusion energy
- 2022
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Ingår i: Nuclear Fusion. - : IOP Publishing. - 0029-5515 .- 1741-4326. ; 62:4
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Tidskriftsartikel (refereegranskat)abstract
- DIII-D physics research addresses critical challenges for the operation of ITER and the next generation of fusion energy devices. This is done through a focus on innovations to provide solutions for high performance long pulse operation, coupled with fundamental plasma physics understanding and model validation, to drive scenario development by integrating high performance core and boundary plasmas. Substantial increases in off-axis current drive efficiency from an innovative top launch system for EC power, and in pressure broadening for Alfven eigenmode control from a co-/counter-I p steerable off-axis neutral beam, all improve the prospects for optimization of future long pulse/steady state high performance tokamak operation. Fundamental studies into the modes that drive the evolution of the pedestal pressure profile and electron vs ion heat flux validate predictive models of pedestal recovery after ELMs. Understanding the physics mechanisms of ELM control and density pumpout by 3D magnetic perturbation fields leads to confident predictions for ITER and future devices. Validated modeling of high-Z shattered pellet injection for disruption mitigation, runaway electron dissipation, and techniques for disruption prediction and avoidance including machine learning, give confidence in handling disruptivity for future devices. For the non-nuclear phase of ITER, two actuators are identified to lower the L-H threshold power in hydrogen plasmas. With this physics understanding and suite of capabilities, a high poloidal beta optimized-core scenario with an internal transport barrier that projects nearly to Q = 10 in ITER at ∼8 MA was coupled to a detached divertor, and a near super H-mode optimized-pedestal scenario with co-I p beam injection was coupled to a radiative divertor. The hybrid core scenario was achieved directly, without the need for anomalous current diffusion, using off-axis current drive actuators. Also, a controller to assess proximity to stability limits and regulate β N in the ITER baseline scenario, based on plasma response to probing 3D fields, was demonstrated. Finally, innovative tokamak operation using a negative triangularity shape showed many attractive features for future pilot plant operation.
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| 2. |
- Adams, C. B., et al.
(författare)
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Observation of the Gamma-Ray Binary HESS J0632+057 with the HESS, MAGIC, and VERITAS Telescopes
- 2021
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Ingår i: Astrophysical Journal. - : Institute of Physics Publishing (IOPP). - 0004-637X .- 1538-4357. ; 923:2
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Tidskriftsartikel (refereegranskat)abstract
- The results of gamma-ray observations of the binary system HESS J0632 + 057 collected during 450 hr over 15 yr, between 2004 and 2019, are presented. Data taken with the atmospheric Cherenkov telescopes H.E.S.S., MAGIC, and VERITAS at energies above 350 GeV were used together with observations at X-ray energies obtained with Swift-XRT, Chandra, XMM-Newton, NuSTAR, and Suzaku. Some of these observations were accompanied by measurements of the H alpha emission line. A significant detection of the modulation of the very high-energy gamma-ray fluxes with a period of 316.7 +/- 4.4 days is reported, consistent with the period of 317.3 +/- 0.7 days obtained with a refined analysis of X-ray data. The analysis of data from four orbital cycles with dense observational coverage reveals short-timescale variability, with flux-decay timescales of less than 20 days at very high energies. Flux variations observed over a timescale of several years indicate orbit-to-orbit variability. The analysis confirms the previously reported correlation of X-ray and gamma-ray emission from the system at very high significance, but cannot find any correlation of optical H alpha parameters with fluxes at X-ray or gamma-ray energies in simultaneous observations. The key finding is that the emission of HESS J0632 + 057 in the X-ray and gamma-ray energy bands is highly variable on different timescales. The ratio of gamma-ray to X-ray flux shows the equality or even dominance of the gamma-ray energy range. This wealth of new data is interpreted taking into account the insufficient knowledge of the ephemeris of the system, and discussed in the context of results reported on other gamma-ray binary systems.
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| 3. |
- Abe, H., et al.
(författare)
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Gamma-ray observations of MAXI J1820+070 during the 2018 outburst
- 2022
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Ingår i: Monthly notices of the Royal Astronomical Society. - : Oxford University Press. - 0035-8711 .- 1365-2966. ; 517:4, s. 4736-4751
-
Tidskriftsartikel (refereegranskat)abstract
- MAXIJ1820+070 is a low-mass X-ray binary with a black hole (BH) as a compact object. This binary underwent an exceptionally bright X-ray outburst from 2018 March to October, showing evidence of a non-thermal particle population through its radio emission during this whole period. The combined results of 59.5 h of observations of the MAXI J1820+070 outburst with the H.E.S.S., MAGIC and VERITAS experiments at energies above 200 GeV are presented, together with Fermi-LAT data between 0.1 and 500 GeV, and multiwavelength observations from radio to X-rays. Gamma-ray emission is not detected from MAXI J1820+070, but the obtained upper limits and the multiwavelength data allow us to put meaningful constraints on the source properties under reasonable assumptions regarding the non-thermal particle population and the jet synchrotron spectrum. In particular, it is possible to show that, if a high-energy (HE) gamma-ray emitting region is present during the hard state of the source, its predicted flux should be at most a factor of 20 below the obtained Fermi-LAT upper limits, and closer to them for magnetic fields significantly below equipartition. During the state transitions, under the plausible assumption that electrons are accelerated up to similar to 500 GeV, the multiwavelength data and the gamma-ray upper limits lead consistently to the conclusion that a potential HE and very-HE gamma-ray emitting region should be located at a distance from the BH ranging between 10(11) and 10(13) cm. Similar outbursts from low-mass X-ray binaries might be detectable in the near future with upcoming instruments such as CTA.
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| 4. |
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| 5. |
- Aalbers, Jelle, et al.
(författare)
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Solar neutrino detection sensitivity in DARWIN via electron scattering
- 2020
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Ingår i: European Physical Journal C. - : Springer Science and Business Media LLC. - 1434-6044 .- 1434-6052. ; 80:12
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Tidskriftsartikel (refereegranskat)abstract
- We detail the sensitivity of the proposed liquid xenon DARWIN observatory to solar neutrinos via elastic electron scattering. We find that DARWIN will have the potential to measure the fluxes of five solar neutrino components: pp, 7Be, 13N, 15O and pep. The precision of the 13N, 15O and pep components is hindered by the double-beta decay of 136Xe and, thus, would benefit from a depleted target. A high-statistics observation of pp neutrinos would allow us to infer the values of the electroweak mixing angle, sin2 theta w, and the electron-type neutrino survival probability, Pee, in the electron recoil energy region from a few keV up to 200 keV for the first time, with relative precision of 5% and 4%, respectively, with 10 live years of data and a 30 tonne fiducial volume. An observation of pp and 7Be neutrinos would constrain the neutrino-inferred solar luminosity down to 0.2%. A combination of all flux measurements would distinguish between the high- (GS98) and low-metallicity (AGS09) solar models with 2.1-2.5 sigma significance, independent of external measurements from other experiments or a measurement of 8B neutrinos through coherent elastic neutrino-nucleus scattering in DARWIN. Finally, we demonstrate that with a depleted target DARWIN may be sensitive to the neutrino capture process of 131Xe.
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| 6. |
- Acharyya, A., et al.
(författare)
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Multiwavelength Observations of the Blazar PKS 0735+178 in Spatial and Temporal Coincidence with an Astrophysical Neutrino Candidate IceCube-211208A
- 2023
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Ingår i: Astrophysical Journal. - : Institute of Physics Publishing (IOPP). - 0004-637X .- 1538-4357. ; 954:1
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Tidskriftsartikel (refereegranskat)abstract
- We report on multiwavelength target-of-opportunity observations of the blazar PKS 0735+178, located 2 degrees .2 away from the best -fit position of the IceCube neutrino event IceCube-211208A detected on 2021 December 8. The source was in a high -flux state in the optical, ultraviolet, X-ray, and GeV ?-ray bands around the time of the neutrino event, exhibiting daily variability in the soft X-ray flux. The X-ray data from Swift-XRT and NuSTAR characterize the transition between the low-energy and high-energy components of the broadband spectral energy distribution (SED), and the ?-ray data from Fermi-LAT, VERITAS, and H.E.S.S. require a spectral cutoff near 100 GeV. Both the X-ray and ?-ray measurements provide strong constraints on the leptonic and hadronic models. We analytically explore a synchrotron self-Compton model, an external Compton model, and a lepto-hadronic model. Models that are entirely based on internal photon fields face serious difficulties in matching the observed SED. The existence of an external photon field in the source would instead explain the observed ?-ray spectral cutoff in both the leptonic and lepto-hadronic models and allow a proton jet power that marginally agrees with the Eddington limit in the lepto-hadronic model. We show a numerical lepto-hadronic model with external target photons that reproduces the observed SED and is reasonably consistent with the neutrino event despite requiring a high jet power.
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| 7. |
- Gordon, I.E., et al.
(författare)
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The HITRAN2020 molecular spectroscopic database
- 2022
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Ingår i: Journal of Quantitative Spectroscopy and Radiative Transfer. - : Elsevier. - 0022-4073 .- 1879-1352. ; 277
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Tidskriftsartikel (refereegranskat)abstract
- The HITRAN database is a compilation of molecular spectroscopic parameters. It was established in the early 1970s and is used by various computer codes to predict and simulate the transmission and emission of light in gaseous media (with an emphasis on terrestrial and planetary atmospheres). The HITRAN compilation is composed of five major components: the line-by-line spectroscopic parameters required for high-resolution radiative-transfer codes, experimental infrared absorption cross-sections (for molecules where it is not yet feasible for representation in a line-by-line form), collision-induced absorption data, aerosol indices of refraction, and general tables (including partition sums) that apply globally to the data. This paper describes the contents of the 2020 quadrennial edition of HITRAN. The HITRAN2020 edition takes advantage of recent experimental and theoretical data that were meticulously validated, in particular, against laboratory and atmospheric spectra. The new edition replaces the previous HITRAN edition of 2016 (including its updates during the intervening years). All five components of HITRAN have undergone major updates. In particular, the extent of the updates in the HITRAN2020 edition range from updating a few lines of specific molecules to complete replacements of the lists, and also the introduction of additional isotopologues and new (to HITRAN) molecules: SO, CH3F, GeH4, CS2, CH3I and NF3. Many new vibrational bands were added, extending the spectral coverage and completeness of the line lists. Also, the accuracy of the parameters for major atmospheric absorbers has been increased substantially, often featuring sub-percent uncertainties. Broadening parameters associated with the ambient pressure of water vapor were introduced to HITRAN for the first time and are now available for several molecules. The HITRAN2020 edition continues to take advantage of the relational structure and efficient interface available at www.hitran.org and the HITRAN Application Programming Interface (HAPI). The functionality of both tools has been extended for the new edition.
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| 8. |
- Hartley, Philippa, et al.
(författare)
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SKA Science Data Challenge 2: analysis and results
- 2023
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Ingår i: Monthly Notices of the Royal Astronomical Society. - 0035-8711 .- 1365-2966. ; 523:2, s. 1967-1993
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Tidskriftsartikel (refereegranskat)abstract
- The Square Kilometre Array Observatory (SKAO) will explore the radio sky to new depths in order to conduct transformational science. SKAO data products made available to astronomers will be correspondingly large and complex, requiring the application of advanced analysis techniques to extract key science findings. To this end, SKAO is conducting a series of Science Data Challenges, each designed to familiarize the scientific community with SKAO data and to drive the development of new analysis techniques. We present the results from Science Data Challenge 2 (SDC2), which invited participants to find and characterize 233 245 neutral hydrogen (H i) sources in a simulated data product representing a 2000 h SKA-Mid spectral line observation from redshifts 0.25-0.5. Through the generous support of eight international supercomputing facilities, participants were able to undertake the Challenge using dedicated computational resources. Alongside the main challenge, 'reproducibility awards' were made in recognition of those pipelines which demonstrated Open Science best practice. The Challenge saw over 100 participants develop a range of new and existing techniques, with results that highlight the strengths of multidisciplinary and collaborative effort. The winning strategy - which combined predictions from two independent machine learning techniques to yield a 20 per cent improvement in overall performance - underscores one of the main Challenge outcomes: that of method complementarity. It is likely that the combination of methods in a so-called ensemble approach will be key to exploiting very large astronomical data sets.
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| 9. |
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| 10. |
- Oikonomou, Vasileios, et al.
(författare)
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The Role of Interferon-γ in Autoimmune Polyendocrine Syndrome Type 1.
- 2024
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Ingår i: The New England journal of medicine. - 1533-4406. ; 390:20, s. 1873-1884
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Tidskriftsartikel (refereegranskat)abstract
- Autoimmune polyendocrine syndrome type 1 (APS-1) is a life-threatening, autosomal recessive syndrome caused by autoimmune regulator (AIRE) deficiency. In APS-1, self-reactive T cells escape thymic negative selection, infiltrate organs, and drive autoimmune injury. The effector mechanisms governing T-cell-mediated damage in APS-1 remain poorly understood.We examined whether APS-1 could be classified as a disease mediated by interferon-γ. We first assessed patients with APS-1 who were participating in a prospective natural history study and evaluated mRNA and protein expression in blood and tissues. We then examined the pathogenic role of interferon-γ using Aire-/-Ifng-/- mice and Aire-/- mice treated with the Janus kinase (JAK) inhibitor ruxolitinib. On the basis of our findings, we used ruxolitinib to treat five patients with APS-1 and assessed clinical, immunologic, histologic, transcriptional, and autoantibody responses.Patients with APS-1 had enhanced interferon-γ responses in blood and in all examined autoimmunity-affected tissues. Aire-/- mice had selectively increased interferon-γ production by T cells and enhanced interferon-γ, phosphorylated signal transducer and activator of transcription 1 (pSTAT1), and CXCL9 signals in multiple organs. Ifng ablation or ruxolitinib-induced JAK-STAT blockade in Aire-/- mice normalized interferon-γ responses and averted T-cell infiltration and damage in organs. Ruxolitinib treatment of five patients with APS-1 led to decreased levels of T-cell-derived interferon-γ, normalized interferon-γ and CXCL9 levels, and remission of alopecia, oral candidiasis, nail dystrophy, gastritis, enteritis, arthritis, Sjögren's-like syndrome, urticaria, and thyroiditis. No serious adverse effects from ruxolitinib were identified in these patients.Our findings indicate that APS-1, which is caused by AIRE deficiency, is characterized by excessive, multiorgan interferon-γ-mediated responses. JAK inhibition with ruxolitinib in five patients showed promising results. (Funded by the National Institute of Allergy and Infectious Diseases and others.).
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| 11. |
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| 12. |
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| 13. |
- Kleiner, Alexander, et al.
(författare)
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ARMO - Adaptive Road Map Optimization for Large Robot Teams
- 2011
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Ingår i: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). - : IEEE conference proceedings. ; , s. 3276-3282
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Konferensbidrag (refereegranskat)abstract
- Autonomous robot teams that simultaneously dispatch transportation tasks are playing more and more an important role in present logistic centers and manufacturing plants. In this paper we consider the problem of robot motion planning for large robot teams in the industrial domain. We present adaptive road map optimization (ARMO) that is capable of adapting the road map in real time whenever the environment has changed. Based on linear programming, ARMO computes an optimal road map according to current environmental constraints (including human whereabouts) and the current demand for transportation tasks from loading stations in the plant. For detecting dynamic changes, the environment is describe by a grid map augmented with a hidden Markov model (HMM). We show experimentally that ARMO outperforms decoupled planning in terms of computation time and time needed for task completion.
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| 14. |
- Kleiner, Alexander, et al.
(författare)
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RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany)
- 2005
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Ingår i: RoboCup 2005 (CDROM Proceedings), Team Description Paper, Rescue Robot League.
-
Konferensbidrag (refereegranskat)abstract
- This paper describes the approach of the RescueRobots Freiburg team. RescueRobots Freiburg is a team of students from the university of Freiburg, that originates from the former CS Freiburg team (RoboCupSoccer) and the ResQ Freiburg team (RoboCupRescue Simulation). Due to the high versatility of the RoboCupRescue competition we tackle the three arenas by a a twofold approach: On the one hand we want to introduce robust vehicles that can safely be teleoperated through rubble and building debris while constructing three-dimensional maps of the environment. On the other hand we want to introduce a team of autonomous robots that quickly explore a large terrain while building a two-dimensional map. This two solutions are particularly well-suited for the red and yellow arena, respectively. Our solution for the orange arena will finally be decided between these two, depending on the capabilities of both approaches at the venue. In this paper, we introduce some preliminary results that we achieved so far from map building, localization, and autonomous victim identification. Furthermore we introduce a custom made 3D Laser Range Finder (LRF) and a novel mechanism for the active distribution of RFID tags.
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| 15. |
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| 16. |
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| 17. |
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| 18. |
- Brunetti, D., et al.
(författare)
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Understanding JET-C quiescent phases with edge harmonic magnetohydrodynamic activity and comparison with behaviour under ITER-like wall conditioning
- 2022
-
Ingår i: Plasma Physics and Controlled Fusion. - : IOP Publishing. - 0741-3335 .- 1361-6587. ; 64:4
-
Tidskriftsartikel (refereegranskat)abstract
- An analysis of edge localised mode-free (quiescent) H-mode discharges exhibiting edge harmonic magnetoydrodynamic activity in the JET-carbon wall machine is presented. It is observed that the otherwise quiescent pulses with multiple-n harmonic oscillations are sustained until a threshold in pedestal electron density and collisionality is crossed. The macroscopic pedestal parameters associated with the quiescent phase are compared with those of a database of JET-ELMy discharges with both carbon and ITER-like wall (ILW). This comparison provides the identification of the existence regions in the relevant pedestal and global plasma parameters for edge harmonic oscillations (EHOs) in JET plasmas. Although the ELMy database scans pedestal collisionality and β values typical of ET-carbon quiescent operation, shaping and current are not simultaneously compatible with EHO existence. Nevertheless, ILW operation with JET-carbon quiescent-like parameters could in principle be achieved, and improved pedestal performance could be observed in more recent JET-ILW pulses.
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| 19. |
- Burgard, W., et al.
(författare)
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A Comparison of SLAM Algorithms Based on a Graph of Relations
- 2009
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Ingår i: <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>. - : IEEE conference proceedings. ; , s. 2089-2095
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Konferensbidrag (refereegranskat)abstract
- In this paper, we address the problem of creating an objective benchmark for comparing SLAM approaches. We propose a framework for analyzing the results of SLAM approaches based on a metric for measuring the error of the corrected trajectory. The metric uses only relative relations between poses and does not rely on a global reference frame. The idea is related to graph-based SLAM approaches, namely to consider the energy that is needed to deform the trajectory estimated by a SLAM approach into the ground truth trajectory. Our method enables us to compare SLAM approaches that use different estimation techniques or different sensor modalities since all computations are made based on the corrected trajectory of the robot. We provide sets of relative relations needed to compute our metric for an extensive set of datasets frequently used in the SLAM community. The relations have been obtained by manually matching laser-range observations to avoid the errors caused by matching algorithms. Our benchmark framework allows the user an easy analysis and objective comparisons between different SLAM approaches.
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| 20. |
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| 21. |
- Galin, M. A., et al.
(författare)
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Direct Visualization of Phase-Locking of Large Josephson Junction Arrays by Surface Electromagnetic Waves
- 2020
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Ingår i: Physical Review Applied. - 2331-7019. ; 14:2
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Tidskriftsartikel (refereegranskat)abstract
- Phase-locking of oscillators leads to super-radiant amplification of the emission power. This is particularly important for development of terahertz sources, which suffer from low emission efficiency. In this work we study large Josephson junction arrays containing several thousand Nb-based junctions. Using low-temperature scanning laser microscopy, we observe that at certain bias conditions two-dimensional standing-wave patterns are formed, manifesting themselves as global synchronization of the arrays. Analysis of standing waves indicates that they are formed by surface plasmon-type electromagnetic waves propagating at the electrode-substrate interface. Thus, we demonstrate that surface waves provide an effective mechanism for long-range coupling and phase-locking of large junction arrays.
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| 22. |
- Hofer, J., et al.
(författare)
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High- Q Magnetic Levitation and Control of Superconducting Microspheres at Millikelvin Temperatures
- 2023
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Ingår i: Physical Review Letters. - 1079-7114 .- 0031-9007. ; 131:4
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Tidskriftsartikel (refereegranskat)abstract
- We report the levitation of a superconducting lead-tin sphere with 100 μm diameter (corresponding to a mass of 5.6 μg) in a static magnetic trap formed by two coils in an anti-Helmholtz configuration, with adjustable resonance frequencies up to 240 Hz. The center-of-mass motion of the sphere is monitored magnetically using a dc superconducting quantum interference device as well as optically and exhibits quality factors of up to 2.6×107. We also demonstrate 3D magnetic feedback control of the motion of the sphere. The setup is housed in a dilution refrigerator operating at 15 mK. By implementing a cryogenic vibration isolation system, we can attenuate environmental vibrations at 200 Hz by approximately 7 orders of magnitude. The combination of low temperature, large mass, and high quality factor provides a promising platform for testing quantum physics in previously unexplored regimes with high mass and long coherence times.
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| 23. |
- Kleiner, A., et al.
(författare)
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Current and pressure gradient triggering and nonlinear saturation of low-n edge harmonic oscillations in tokamaks
- 2019
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Ingår i: Plasma Physics and Controlled Fusion. - : IOP PUBLISHING LTD. - 0741-3335 .- 1361-6587. ; 61:8
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Tidskriftsartikel (refereegranskat)abstract
- Non-axisymmetric free-boundary equilibrium computations are shown to represent nonlinearly saturated external kink modes and external kink-like sidebands coupled to pressure-driven infernal modes. In this study of edge harmonic oscillations associated with QH-mode plasmas, two different driving mechanisms for external kink type-modes are identified. It is found that standard current-driven external kinks are linearly unstable, and nonlinearly stable in a wide parameter range, especially where q(edge) less than or similar to m/n. But, where standard current-driven kinks are linearly stable coupling of pressure-driven infernal modes can cause instability, and their upper sideband drives edge corrugations that appear to have external kink features. Both types of modes are identified with the VMEC equilibrium code, and the spectra are compared favourably with those of linear numerical approaches and analytic methods. Pressure-driven external infernal modes are shown to robustly occur in sophisticated modelling where the separatrix effect on the q profile is accounted for.
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| 24. |
- Kleiner, Alexander, et al.
(författare)
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Decentralized SLAM for Pedestrians without direct Communication
- 2007
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Ingår i: In <em>Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>. - : IEEE conference proceedings. - 9781424409129 ; , s. 1461-1466
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Konferensbidrag (refereegranskat)abstract
- We consider the problem of Decentralized Simultaneous Localization And Mapping (DSLAM) for pedestrians in the context of Urban Search And Rescue (USAR). In this context, DSLAM is a challenging task. First, data exchange fails due to cut off communication links. Second, loop-closure is cumbersome due to the fact that fireman will intentionally try to avoid performing loops, when facing the reality of emergency response, e.g. while they are searching for victims. In this paper, we introduce a solution to this problem based on the non-selfish sharing of information between pedestrians for loop-closure. We introduce a novel DSLAM method which is based on data exchange and association via RFID technology, not requiring any radio communication. The approach has been evaluated within both outdoor and semi-indoor environments. The presented results show that sharing information between single pedestrians allows to optimize globally their individual paths, even if they are not able to communicate directly.
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| 25. |
- Kleiner, Alexander, et al.
(författare)
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Mapping Disaster Areas Jointly : RFID-Coordinated SLAM by Humans and Robots
- 2007
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Ingår i: <em>IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)</em>. - : IEEE. - 9781424415694 ; , s. 1-6
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Konferensbidrag (refereegranskat)abstract
- We consider the problem of jointly performing SLAM by humans and robots in Urban Search And Rescue (USAR) scenarios. In this context, SLAM is a challenging task. First, places are hardly re-observable by vision techniques since visibility might be affected by smoke and fire. Second, loop-closure is cumbersome due to the fact that firemen will intentionally try to avoid performing loops when facing the reality of emergency response, e.g. while they are searching for victims. Furthermore, there might be places that are only accessible to robots, making it necessary to integrate humans and robots into one team for mapping the area after a disaster. In this paper, we introduce a method for jointly correcting individual trajectories of humans and robots by utilizing RFID technology for data association. Hereby the poses of humans and robots are tracked by a PDR (Pedestrian Dead Reckoning), and slippage sensitive odometry, respectively. We conducted extensive experiments with a team of humans, and a human-robot team within a semi-outdoor environment. Results from these experiments show that the introduced method allows to improve single trajectories based on the joint graph, even if they do not contain any loop.
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| 26. |
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| 27. |
- Maier, D., et al.
(författare)
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Improved GPS Sensor Model for Mobile Robots in Urban Terrain
- 2010
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Ingår i: <em>IEEE Int. Conf. on Robotics and Automation (ICRA)</em>. - : IEEE. - 9781424450381 ; , s. 4385-4390
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Konferensbidrag (refereegranskat)abstract
- Autonomous robot navigation in outdoor scenarios gains increasing importance in various growing application areas. Whereas in non-urban domains such as deserts the problem of successful GPS-based navigation appears to be almost solved, navigation in urban domains particularly in the close vicinity of buildings is still a challenging problem. In such situations GPS accuracy significantly drops down due to multiple signal reflections with larger objects causing the so-called multipath error. In this paper we contribute a novel approach for incorporating multi- path errors into the conventional GPS sensor model by analyzing environmental structures from online generated point clouds. The approach has been validated by experimental results conducted with an all- terrain robot operating in scenarios requiring close- to-building navigation. Presented results show that positioning accuracy can significantly be improved within urban domains.
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| 28. |
- Marconi, L., et al.
(författare)
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The SHERPA project : Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments
- 2012
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Ingår i: Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR). - : IEEE. - 9781479901647 - 9781479901630 - 9781479901654 ; , s. 1-4
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Konferensbidrag (refereegranskat)abstract
- The goal of the paper is to present the foreseen research activity of the European project “SHERPA” whose activities will start officially on February 1th 2013. The goal of SHERPA is to develop a mixed ground and aerial robotic platform to support search and rescue activities in a real-world hostile environment, like the alpine scenario that is specifically targeted in the project. Looking into the technological platform and the alpine rescuing scenario, we plan to address a number of research topics about cognition and control. What makes the project potentially very rich from a scientific viewpoint is the heterogeneity and the capabilities to be owned by the different actors of the SHERPA system: the human rescuer is the “busy genius”, working in team with the ground vehicle, as the “intelligent donkey”, and with the aerial platforms, i.e. the “trained wasps” and “patrolling hawks”. Indeed, the research activity focuses on how the “busy genius” and the “SHERPA animals” interact and collaborate with each other, with their own features and capabilities, toward the achievement of a common goal.
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| 29. |
- Meyer-Delius, D., et al.
(författare)
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Using artificial landmarks to reduce the ambiguity in the environment of a mobile robot
- 2011
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Ingår i: IEEE Int. Conf. on Robotics and Automation (ICRA). ; , s. 5173-5178
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Konferensbidrag (refereegranskat)abstract
- Robust and reliable localization is a fundamental prerequisite for many applications of mobile robots. Although there exist many solutions to the localization problem, structurally symmetrical or featureless environments can prevent different locations from being distinguishable given the data obtained with the robot’s sensors. Such ambiguities typically make localization approaches more likely to fail. In this paper, we investigate how artificial landmarks can be utilized to reduce the ambiguity in the environment. We present a practical approach to compute a configuration of indistinguishable landmarks that decreases the overall ambiguity and thus increases the robustness of the localization process. We evaluate our approach in different environments based on real data and in simulation. Our results demonstrate that our approach improves the localization performance of the robot and outperforms other landmark selection approaches.
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| 30. |
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| 31. |
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| 32. |
- Sczelecki, S, et al.
(författare)
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Loss of Pgc-1α expression in aging mouse muscle potentiates glucose intolerance and systemic inflammation
- 2014
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Ingår i: American journal of physiology. Endocrinology and metabolism. - : American Physiological Society. - 1522-1555 .- 0193-1849. ; 306:2, s. E157-E167
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Tidskriftsartikel (refereegranskat)abstract
- Diabetes risk increases significantly with age and correlates with lower oxidative capacity in muscle. Decreased expression of peroxisome proliferator-activated receptor-γ coactivator-1α ( Pgc-1α) and target gene pathways involved in mitochondrial oxidative phosphorylation are associated with muscle insulin resistance, but a causative role has not been established. We sought to determine whether a decline in Pgc-1α and oxidative gene expression occurs during aging and potentiates the development of age-associated insulin resistance. Muscle-specific Pgc-1α knockout (MKO) mice and wild-type littermate controls were aged for 2 yr. Genetic signatures of skeletal muscle (microarray and mRNA expression) and metabolic profiles (glucose homeostasis, mitochondrial metabolism, body composition, lipids, and indirect calorimetry) of mice were compared at 3, 12, and 24 mo of age. Microarray and gene set enrichment analysis highlighted decreased function of the electron transport chain as characteristic of both aging muscle and loss of Pgc-1α expression. Despite significant reductions in oxidative gene expression and succinate dehydrogenase activity, young mice lacking Pgc-1α in muscle had lower fasting glucose and insulin. Consistent with loss of oxidative capacity during aging, Pgc-1α and Pgc-1β expression were reduced in aged wild-type mouse muscle. Interestingly, the combination of age and loss of muscle Pgc-1α expression impaired glucose tolerance and led to increased fat mass, insulin resistance, and inflammatory markers in white adipose and liver tissues. Therefore, loss of Pgc-1α expression and decreased mitochondrial oxidative capacity contribute to worsening glucose tolerance and chronic systemic inflammation associated with aging.
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| 33. |
- Sun, D., et al.
(författare)
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Decentralized Hash Tables For Mobile Robot Teams Solving Intra-Logistics Tasks
- 2010
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Ingår i: <em>9th Int. Joint Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2010)</em>. - : International Foundation for Autonomous Agents and. ; , s. 923-930
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Konferensbidrag (refereegranskat)abstract
- Although a remarkably high degree of automation has been reached in production and intra-logistics nowadays, human labor is still used for transportation using handcarts and forklifts. High labor cost and risk of injury are the undesirable consequences. Alternative approaches in automated warehouses are fixed installed conveyors installed either overhead or floor-based. The drawback of such solutions is the lack of flexibility, which is necessary when the production lines of the company change. Then, such an installation has to be re-built. In this paper, we propose a novel approach of decentralized teams of autonomous robots performing intra-logistics tasks using distributed algorithms. Centralized solutions suffer from limited scalability and have a single point of failure. The task is to transport material between stations keeping the communication network structure intact and most importantly, to facilitate a fair distribution of robots among loading stations. Our approach is motivated by strategies from peer-to-peer-networks and mobile ad-hoc networks. In particular we use an adapted version of distributed heterogeneous hash tables (DHHT) for distributing the tasks and localized communication. Experimental results presented in this paper show that our method reaches a fair distribution of robots over loading stations.
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| 34. |
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| 35. |
- van den Brandt, P, et al.
(författare)
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The contribution of epidemiology
- 2002
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Ingår i: Food and chemical toxicology : an international journal published for the British Industrial Biological Research Association. - : Elsevier BV. - 0278-6915. ; 40:2-3, s. 387-427
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Tidskriftsartikel (refereegranskat)
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| 36. |
- Västfjäll, D., et al.
(författare)
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A Swedish mood adjective scale derived from the affect circumplex
- 2002
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Ingår i: Scandinvian Journal of Psychology, 43, 19-31.
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Tidskriftsartikel (refereegranskat)abstract
- The aim of the study was to develop a new Swedish self-report measure of core affects (the Swedish Core Affect Scale or SCAS) that are basic elements of affective states and reactions. In Study 1 40 participants rated their current mood on 24 unipolar adjective scales. A revised set of 12 bipolar adjective scales was evaluated in Study 2 employing 96 participants who rated their current mood before and after a lecture. The same set of adjective scales was used in Study 3 where another 96 participants rated several induced moods. The results showed that the adjective scale ratings were possible to aggregate to reliable measures of the independent valence and activation dimensions proposed in the affect circumplex (Russell, 1980; Russell & Feldman Barrett, 1999), and that the aggregated measures were capable of discriminating mood differences within and between individuals
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| 37. |
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| 38. |
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| 39. |
- Ziparo, V. A., et al.
(författare)
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Cooperative Exploration for USAR Robots with Indirect Communication
- 2007
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Ingår i: <em>Proc. of 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV)</em>.
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Konferensbidrag (refereegranskat)abstract
- To coordinate a team of robots for exploration is a challenging problem, particularly in unstructured areas, as for example post-disaster scenarios where direct communication is severely constrained. Furthermore, conventional methods of SLAM, e.g. those performing data association based on visual features, are doomed to fail due to bad visibility caused by smoke and fire. We use indirect communication (based on RFIDs), to share knowledge and use a gradient-like local search to direct robots towards interesting areas. To share a common frame of reference among robots we use a feature based SLAM approach (where features are RFIDs). The approach has been evaluated on a 3D simulation based on USARSim.
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| 40. |
- Ziparo, V. A., et al.
(författare)
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RFID-Based Exploration for Large Robot Teams
- 2007
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Ingår i: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). - : IEEE. ; , s. 4606-4613
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Konferensbidrag (refereegranskat)abstract
- To coordinate a team of robots for exploration is a challenging problem, particularly in large areas as for example the devastated area after a disaster. This problem can generally be decomposed into task assignment and multi-robot path planning. In this paper, we address both problems jointly. This is possible because we reduce significantly the size of the search space by utilizing RFID tags as coordination points. The exploration approach consists of two parts: a stand-alone distributed local search and a global monitoring process which can be used to restart the local search in more convenient locations. Our results show that the local exploration works for large robot teams, particularly if there are limited computational resources. Experiments with the global approach showed that the number of conflicts can be reduced, and that the global coordination mechanism increases significantly the explored area.
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