Physical Sciences and Mathematics Commons^™

Probabilistic Road Map Sampling Strategies For Multi-Robot Motion Planning, Christopher M. Clark

Computer Science and Software Engineering

This paper presents a Probabilistic Road Map (PRM) motion planning algorithm to be queried within Dynamic Robot Networks—a multi-robot coordination platform for robots operating with limited sensing and inter-robot communication. First, the Dynamic Robot Networks (DRN) coordination platform is introduced that facilitates centralized robot coordination across ad hoc networks, allowing safe navigation in dynamic, unknown environments. As robots move about their environment, they dynamically form communication networks. Within these networks, robots can share local sensing information and coordinate the actions of all robots in the network. Second, a fast single-query Probabilistic Road Map (PRM) to be called within the DRN …

Intelligent Resource Discovery Using Ontology-Based Resource Profiles, J. Steven Hughes, Dan Crichton, Sean Kelly, Chris A. Mattmann, Jerry Crichton, Thuy Tran

Copyright, Fair Use, Scholarly Communication, etc.

Successful resource discovery across heterogeneous repositories is highly dependent on the semantic and syntactic homogeneity of the associated resource descriptions in each repository. Ideally, consistent resource descriptions are easily extracted from each repository, expressed using standard syntactic and semantic structures, and managed and accessed within a distributed, flexible, and scalable software framework. In practice however, seldom do all three of these elements exist. To help address this situation, the Object Oriented Data Technology (OODT) project at the Jet Propulsion Laboratory has developed an extensible, standards-based resource description scheme that provides the necessary description and management facilities for the discovery of …

Lake Mead National Recreation Area Vegetation Monitoring And Management: Quarterly Progress Report, Period Ending December 31, 2005, Margaret N. Rees

Vegetation Monitoring

Executive Summary

• Required reports on sticky buckwheat (Eriogonum viscidulum) and threecorner milkvetch (Astragalus geyeri var. triquetrus) to be submitted through appropriate protocols by December 30, 2005
• Summary report on several other rare plants to be submitted through appropriate protocols by December 30, 2005
• Invasive perennial pepperweed (also called tall whitetop; Lepidium latifolium) documented and treated by Weed Sentry within Black Canyon, Lake Mojave

Lake Mead National Recreation Area Sensitive Wildlife Species Monitoring And Analysis: Quarterly Progress Report, Period Ending December 31, 2005, Margaret N. Rees

Wildlife Monitoring

• Topsoil replacement monitored at Willow Beach Wastewater Rehabilitation Project
• Desert tortoise surveys and monitoring conducted for Northshore Road reconstruction projects, and desert tortoise training provided to 9 construction contractors.
• Field work associated with the project to remove desert tortoise radio transmitters from animals on Mormon Mesa completed.
• Weekly data processing for Desert Bighorn Sheep monitoring associated with the Hoover Dam Bypass Project continued.
• Fall field surveys for relict leopard frogs completed (11 sites surveyed); last of this year’s head-started animals released; RLFCT meeting held.
• Work started on a digital database (GIS) of Peregrine falcon observations.
• Monthly shorebird surveys conducted (22 …

The Analysis Of Core Competence For Chinese Oil Shipping Company, Binmeng. Mo

World Maritime University Dissertations

During the past decade, China’s crude oil import has risen sharply, which demands the immediately matching shipping capacity of the domestic oil shipping companies. Therefore, how to steer the Chinese oil shipping enterprises towards a promising development is a very big problem facing the Chinese entrepreneurs. This paper has tried to provide some practical suggestion to improve Chinese oil shipping companies’ core competence based on the analysis of Chinese Shipping Tanker Company, which is typical representative for this industry. After having studied the measuring methods of the core competence and the index system building principles, the author constructs a complete …

Use Of Hot Air Engine To Generate Electricity From Biogas: A Critique For Rural Development In Tanzania, L. L. N. Mkiramweni, P. Msaki, I. B. Mshoro

Tanzania Journal of Science

Rural electrification has high national priority because of several reasons. First, more than 90 per cent of the populations in Tanzania have no access to grid electricity and about 80% of this population lives in rural areas. Second, the poverty alleviation projects demand the incorporation of use of electricity in different economic projects. Third, a combination of high prices of fuel and environmental degradation and deforestation demand use of alternative renewable energy sources. The aim of this paper is to give a critical review and selected a suitable renewable energy by considering its ability to provide affordable, reliable and adequate …

Distribution Of Hourly Variability Index Of Sky Clearness, A. Madhlopa

Tanzania Journal of Science

Clouds affect the values of insolation for solar technology and other applications. To detect the presence of variability in the sky clearness, an hourly variability index (p3) is calculated. The present study examined the frequency distribution of this variable as a tool for assessing the utilizability of solar radiation at a site. Solar radiation data from Chileka weather station in Malawi was used to calculate p3 and mean monthly variability index (p3m) and determine the probability model for each month. It was found that p3m was highest in April (0.20) and lowest in September (0.10), with the beta probability model …

Cooperative Conservation: Increasing Capacity Through Community Partnerships -- Interagency Volunteer Program & Cooperative Conservation Program: Quarterly Progress Report, Period Ending December 31, 2005, Margaret N. Rees

Get Outdoors Nevada

• Database now contains 1,807 records, a 15% increase over the last quarter.
• Website activity increased, recording an average of 38,399 hits per month, with an average of 3,537 pages viewed per month.
• Inaugural interagency volunteer recognition event held October 28, 2005.
• Interagency training program (phase 1) scheduled for February 2006 (four sessions).
• Alternative Workforce Survey completed and delivered to National Park Service.

Take Pride In America In Southern Nevada: Quarterly Progress Report, Period Ending December 31, 2005, Margaret N. Rees

Anti-littering Programs

• Messaging campaign proposal approved by the federal Land Managers.
• Invitations sent to potential Community Steering Committee members.
• Project Manager Doug Joslin appointed to new county-wide Southern Nevada Recycling Advisory Committee.
• Four public service announcements produced by UNLV students.
• Contract with the Nevada Division of Forestry (NDF) in progress for prison crew site clean-ups.
• Plan for agency requests for additional dumpsters and/or roll-offs approved by team.

Afci Quarterly Input – Unlv October 1 Through December 31, 2005, Harry Reid Center For Environmental Studies. Nuclear Science And Technology Division

Transmutation Research Program Reports (TRP)

Quarterly report highlighting research projects, activities and objectives of the Transmutation Research Program at the Nuclear Science & Technology Division, Harry Reid Research Center.

The University of Nevada, Las Vegas supports the AFCI through research and development of technologies for economic and environmentally sound refinement of spent nuclear fuel. The UNLV program has four components: infrastructure, international collaboration, student-based research, and management and program support.

Phosphorus Sorption In Relation To Soil Grain Size And Geochemical Composition In The Simiyu And Kagera River Basins, Tanzania, R. A. Tamatamah

Tanzania Journal of Science

The phosphorus sorption characteristics of eight surface soil samples representative of the land use and landscape in the Simiyu and Kagera River basins were determined using the Langmuir equation. The Langmuir P adsorption maximum (Cmax) ranged from 109 to 802 mg kg-1, while Langmuir coefficient (K) ranged from 59 to 736 mg L-1. Cmax and were positively correlated to clay content, aluminium (Al), and iron (Fe) and negatively correlated to calcium (Ca). By using stepwise regression, the combination of Al, Fe, clay and Ca predicted more than 94% of the variation in the P sorption capacity of soils samples from …

The Influence Of Quantization Process On The Performance Of Global Entropic Thresholding Algorithms Using Electrical Capacitance Tomography Data, A. J. Mwambela

Tanzania Journal of Science

In measuring component fraction in multiphase flows using tomographic techniques, it is desirable to use a high speed tomography system capable of generating 100 tomograms per second. The electrical capacitance tomography system in this regard is considered to be the best among the available tomographic techniques. However, due to its inherent limitations the system generates distorted reconstructed tomograms necessitating the use of extra signal processing techniques such as thresholding to minimize these distortions. Whilst thresholding technique has been effective in minimizing distortions, the additional computation associated with the process limits the speed of tomogram generation desired from the system. Further, …

Petrography And Mineral Chemistry Of The Pelitic And Semi-Pelitic Gneisses Of The Merelani Tanzanite Mining Area, Northeastern Tanzania, E. P. Malisa

Tanzania Journal of Science

Sillimanite/kyanite + K-feldspar + quartz ± garnet + biotite ± Fe-Ti oxide-bearing rocks occur associated with calc-silicate rocks in the Merelani tanzanite mining area north-eastern Tanzania. The whole rock chemistry shows varying rock oxidation ratios, which are reflected in the mineralogical assemblages. Almandine garnet is oxidized to mixtures of hematite, quartz, and hydrous aluminosilicates in oxidized rocks and is absent in highly oxidized rocks. In the latter, ilmenite is oxidized into mixtures of rutile and hematite. Such relatively high temperature alteration/oxidation effects could have occurred with the influx of water. Absence of staurolite in these aluminium-rich rocks is indicative of …

Performance Of A Sisal Fibre Fixed-Bed Anaerobic Digester For Biogas Production From Sisal Pulp Waste, A. Mshandete, A. K. Kivaisi, M. S. T. Rubindamayugi, L. Björnsson, B. Mattiasson

Tanzania Journal of Science

A single stage anaerobic digester employing a sisal fibre waste fixed bed was studied for biogas production from sisal pulp waste. The fibre was colonized by microorganisms involved in biogas production. The sisal pulp waste to be digested was fed from the top and was sprinkled intermittently with recirculating leachate from the material. Organic loading rates of 0.1-10 kg volatile solids (VS) m-3d-1 could be applied and methane yields in the range of 0.13-0.48 m3 CH4 kg-1 VS added were obtained. The average methane content in the biogas produced from sisal pulp waste was 55%, and the biogas production rate …

Semiparametric Approaches For Joint Modeling Of Longitudinal And Survival Data With Time Varying Coefficients, Xiao Song, C.Y. Wang

UW Biostatistics Working Paper Series

We study joint modeling of survival and longitudinal data. There are two regression models of interest. The primary model is for survival outcomes, which are assumed to follow a time varying coefficient proportional hazards model. The second model is for longitudinal data, which are assumed to follow a random effects model. Based on the trajectory of a subject's longitudinal data, some covariates in the survival model are functions of the unobserved random effects. Estimated random effects are generally different from the unobserved random effects and hence this leads to covariate measurement error. To deal with covariate measurement error, we propose …

Almost Split Morphisms, Preprojective Algebras And Multiplication Maps Of Maximal Rank, Steven P. Diaz, Mark Kleiner

Mathematics - All Scholarship

With a grading previously introduced by the second-named author, the multiplication maps in the preprojective algebra satisfy a maximal rank property that is similar to the maximal rank property proven by Hochster and Laksov for the multiplication maps in the commutative polynomial ring. The result follows from a more general theorem about the maximal rank property of a minimal almost split morphism, which also yields a quadratic inequality for the dimensions of indecomposable modules involved.

The Mechanism Of Membrane Targeting Of Human Sphingosine Kinase 1, Robert V. Stahelin, Jeong H. Hwang, Jin-Hahn Kim, Zee-Yong Park, Korey R. Johnson, Lina M. Obeid, Wonhwa Cho

Faculty Publications & Research

Sphingosine 1-phosphate is a bioactive sphingolipid that regu- lates cell growth and suppresses programmed cell death. The bio- synthesis of sphingosine 1-phosphate is catalyzed by sphingosine kinase (SK) but the mechanism by which the subcellular localization and activity of SK is regulated in response to various stimuli is not fully understood. To elucidate the origin and structural determi- nant of the specific subcellular localization of SK, we performed biophysical and cell studies of human SK1 (hSK1) and selected mutants. In vitro measurements showed that hSK1 selectively bound phosphatidylserine over other anionic phospholipids and strongly preferred the plasma membrane-mimicking membrane to …

Cu2O(1 1 0) Formation On Co3O4(1 1 0) Induced By Copper Impurity Segregation, S. C. Petitto, Marjorie Langell

Marjorie A. Langell Publications

The surface crystal structure of the Co₃O₄(1 1 0) spinel was characterized by low energy electron diffraction (LEED), X-ray photoelectron spectroscopy (XPS), and Auger electron spectroscopy (AES). Well-defined LEED diffraction patterns showed an unreconstructed Co₃O₄(1 1 0) surface in Type A termination, and XPS and Auger indicated the surface to be stoichiometric with octahedral and tetrahedral cation sites occupied by 3+ and 2+ cations, respectively. The experimental lattice parameters of 8.22 Å ± 0.2 Å and 5.50 Å ± 0.2 Å in the (0 0 1) and (1¯ 1 0) directions, respectively, …

Finite-Dimensional Algebras With Smallest Resolutions Of Simple Modules, Shashidhar Jagadeeshan, Mark Kleiner

Mathematics - All Scholarship

Let lamda be an associative ring with identity and with the Jacobson radical r, let mod lamda be the category of finitely generated left lamda-modules, and let lamda^op be the opposite ring of lamda. All modules are left unital modules, and if X is a module then pd X is the projective dimension of X. If lamda is left artinian and M in mod labmda, we denote by P(M) a projective cover of M.

Wallpaper Groups, Cassondra Fett

Honors Capstones

Capstone submitted as a graduation requirement for the BSU Honors Program.

Nonparametric Control Chart For The Range, Arnold J. Stromberg

Statistics Faculty Patents

A method is provided for detecting or predicting an undesired deviation in variability of at least one parameter being monitored, wherein the variation in the parameter is incrementally recorded. The method comprises establishing the number of subsets of a dataset that have a range of the difference between any two datapoints within the dataset, and computing a control chart for the range based thereon. The method accurately detects changes in variability in real time. The true distribution of the data is reflected, and the desired result is achieved without requiring an inordinate number of computations.

High-Temperature Calcium Vapor Cell For Spectroscopy On The 4s2 1s0-4s4p 3p1 Intercombination Line, Christopher J. Erickson, Brian Neyenhuis, Dallin S. Durfee

Faculty Publications

We have demonstrated a high-temperature vapor cell for absorption spectroscopy on the Ca intercombination line. The cell uses a dual-chamber design to achieve the high temperatures necessary for an optically dense vapor while avoiding the necessity of high-temperature vacuum valves and glass-to-metal seals. We have observed over 50% absorption in a single pass through the cell. Although pressure broadening in the cell prevented us from performing saturated-absorption spectroscopy, the broadening resulted in higher signal-to-noise ratios by allowing us to probe the atoms with intensities much greater than the 0.2µW/cm2 saturation intensity of the unbroadened transition. The techniques presented in this …

Distribution Of Foraging Shearwaters Relative To Inner Front Of Se Bering Sea, J. Jahncke, K. O. Coyle, Stephan I. Zeeman, N. B. Kachel, G. L. Hunt Jr.

Marine Sciences Faculty Publications

We examined the hypothesis that short-tailed shearwaters Puffinus tenuirostris aggregate to forage at the inner front of the SE Bering Sea because of enhanced production there. We tested this hypothesis by comparing primary production, the distribution of euphausiids and the distribution of shearwaters relative to the front during late spring and late summer/early fall of 1997, 1998 and 1999. We found enhanced primary production at the front and offshore of the front during summer but not during spring. Primary production varied between seasons and years. Major differences were related to anomalous conditions in 1997 and 1998. The density of euphausiids …

Foreign Migration To The Cleveland-Akron-Lorain Metropolitan Area From 1995 To 2000, Mark Salling, Ellen Cyran

All Maxine Goodman Levin School of Urban Affairs Publications

This report is one of a series on migration to and from the region using the five percent Public Use Microdata Sample (PUMS) of the 2000 Census of Population and Housing and provides a description of foreign migrants moving to the Cleveland-Akron-Lorain (CAL) Consolidated Metropolitan Area (CMSA) from 1995 to 2000.* The report identifies the countries of origin of migrants and compares the demographic, socioeconomic, and housing characteristics of the foreign migrants to the CAL with other groups, including foreign migrants to Ohio and the nation, and, at times, to domestic migrants to and from the CAL.

Alleviating Linear Ecological Bias And Optimal Design With Subsample Data, Adam Glynn, Jon Wakefield, Mark Handcock, Thomas Richardson

UW Biostatistics Working Paper Series

In this paper, we illustrate that combining ecological data with subsample data in situations in which a linear model is appropriate provides three main benefits. First, by including the individual level subsample data, the biases associated with linear ecological inference can be eliminated. Second, by supplementing the subsample data with ecological data, the information about parameters will be increased. Third, we can use readily available ecological data to design optimal subsampling schemes, so as to further increase the information about parameters. We present an application of this methodology to the classic problem of estimating the effect of a college degree …

Bayesian Analysis Of Cell-Cycle Gene Expression Data, Chuan Zhou, Jon Wakefield, Linda Breeden

UW Biostatistics Working Paper Series

The study of the cell-cycle is important in order to aid in our understanding of the basic mechanisms of life, yet progress has been slow due to the complexity of the process and our lack of ability to study it at high resolution. Recent advances in microarray technology have enabled scientists to study the gene expression at the genome-scale with a manageable cost, and there has been an increasing effort to identify cell-cycle regulated genes. In this chapter, we discuss the analysis of cell-cycle gene expression data, focusing on a model-based Bayesian approaches. The majority of the models we describe …

West Nile Virus National Report On Dead Bird Surveillance, Canadian Cooperative Wildlife Health Centre, Patrick Zimmer

Canadian Cooperative Wildlife Health Centre: Newsletters and Publications

The following is a synthesis of data collected in the National WNV dead bird surveillance program in 2005. As such it reflects the activities of a range of jurisdictions and agencies, including Federal/Provincial/Territorial Health, Wildlife and Agriculture Departments and the Canadian Cooperative Wildlife Health Centre. All of the data used was compiled using the CCWHC database; minor discrepancies from other reports or websites are possible.

Learning Successful Strategies In Repeated General-Sum Games, Jacob W. Crandall

Theses and Dissertations

Many environments in which an agent can use reinforcement learning techniques to learn profitable strategies are affected by other learning agents. These situations can be modeled as general-sum games. When playing repeated general-sum games with other learning agents, the goal of a self-interested learning agent is to maximize its own payoffs over time. Traditional reinforcement learning algorithms learn myopic strategies in these games. As a result, they learn strategies that produce undesirable results in many games. In this dissertation, we develop and analyze algorithms that learn non-myopic strategies when playing many important infinitely repeated general-sum games. We show that, in …

Coordinate Systems And Bounded Isomorphisms, David R. Pitts, David R. Pitts

Department of Mathematics: Faculty Publications

For a Banach D-bimoduleMover an abelian unital C*-algebraD, we define E1(M) as the collection of norm-one eigenvectors for the dual action of D on the Banach space dual M#. Equip E1(M) with the weak*-topology. We develop general properties of E1(M). It is properly viewed as a coordinate system for M when M C, where C is a unital C*-algebra containing D as a regular MASA with the extension property; moreover, E1(C) coincides with Kumjian’s twist in the context of C*-diagonals. We identify the C*-envelope of a subalgebra A of a C*-diagonal when D A C. For triangular subalgebras, each containing …

The Dust Cloud Around The White Dwarf G29-38, William T. Reach, Ted Von Hippel, Et Al.

Publications

We present new observations of the white dwarf G29-38 with the camera (4.5 and 8 μm), photometer (24 μm), and spectrograph (5.5-14 μm) of the Spitzer Space Telescope. This star has an exceptionally large infrared excess, amounting to 3% of the bolometric luminosity. The spectral energy distribution (SED) has a continuum peak around 4.5 μm and a 9-11 μm emission feature 1.25 times brighter than the continuum. A mixture of amorphous olivine and a small amount of forsterite in an emitting region 1-5 R☉ from the star can reproduce the shape of the 9-11 μm feature. The SED …