Decentralized control of a group of mobile robots for deployment in sweep coverage

This paper addresses a problem of sweep coverage by deploying a network of autonomous mobile robots. We propose a decentralized control algorithm for the robots to accomplish the sweep coverage. The sweep coverage is achieved by coordinating the robots to move along a given path that is unknown to the vehicles a priori. The motion coordination algorithm is developed based on simple consensus algorithms. The effectiveness of the algorithm is demonstrated via numerical simulations. The proposed algorithm would have applications to military and civilian operations.     

Analysis of 3-line generalized Feistel networks with double SD-functions

Generalized Feistel networks (GFN) are broadly employed in the design of primitives for block ciphers, stream ciphers, and hash functions. Lately, endowing the functions of GFNs with the structure of nonlinear substitution followed by linear diffusion (substitution-diffusion, SD) has received a great deal of attention. In this contribution, we prove tight lower bounds on the number of differentially and linearly active S-boxes for 3-line GFNs with double SD-functions where two SD-structures are applied one after another. We also show 8-round impossible differentials for 3-line GFNs with bijective functions. Moreover, we demonstrate that the proportion of active S-boxes in all S-boxes for such GFNs is by up to 14% higher than that for 4-line GFNs with double SD-functions, when instantiated with MDS matrices. This indicates that, rather surprisingly, the 3-line GFNs can be more efficient in practice than those with 4 lines.     

Relationship between consumer’s preference and service attributes in mobile telecommunication service

The mobile telecommunication sector is increasing, thus becoming a key area for economic development in global and local markets. One of potential ways to promote competition among service providers is to introduce a mobile number portability (MNP) service. Consumer preferences are estimated using conjoint analysis. Results indicate that subscribers do not consider the MNP service an import attribute, while price and service quality are the most valuable attributes. The results of this study provide important information to implement the first service launch in mobile telecommunication and other similar information and communication technology (ICT) services.     

Unmanned Aerial Vehicle Security Using Recursive Parameter Estimation

The proliferation of Unmanned Aerial Vehicles (UAVs) brings about many new security concerns. A common concern with UAV security is for an intruder to take control of a UAV, which leads for a need for a real time anomaly detection system. This research resulted in a prototype UAV monitoring system that captures flight data, and then performs real time estimation and tracking of the airframe and controller parameters. The aforementioned is done by utilizing the Recursive Least Squares Method (RLSM). Using statistical validation and trend analysis, parameter estimates are critical for the detection of cyber attacks and incipient hardware failures that can invariably jeopardize mission success. The results demonstrate that achieving efficient anomaly detection during flight is possible through the application of statistical methods to profile system behavior. The anomaly detection system that was designed can be performed in real time while the UAV is in flight, constantly verifying its parameters.     

Efficient solution of structural default models with correlated jumps and mutual obligations

The structural default model of Lipton and Sepp [Credit value adjustment for credit default swaps via the structural default model, J. Credit Risk 5(2) (2009), pp. 123–146] is generalized for a set of banks with mutual interbank liabilities whose assets are driven by correlated Lévy processes with idiosyncratic and common components. The multi-dimensional problem is made tractable via a novel computational method, which generalizes the one-dimensional fractional partial differential equation method of Itkin [Efficient solution of backward jump-diffusion PIDEs with splitting and matrix exponentials, J. Comput. Financ. (2014), forthcoming. Available at http://arxiv.org/abs/1304.3159] to the two- and three-dimensional cases. This method is unconditionally stable and of the second order of approximation in space and time; in addition, for many popular Lévy models it has linear complexity in each dimension. Marginal and joint survival probabilities for two and three banks with mutual liabilities are computed. The effects of mutual liabilities are discussed, and numerical examples are given to illustrate these effects.     

Constraint solving for interpolation

Interpolation is an important component of recent methods for program verification. It provides a natural and effective means for computing the separation between the sets of ‘good’ and ‘bad’ states. The existing algorithms for interpolant generation are proof-based: They require explicit construction of proofs, from which interpolants can be computed. Construction of such proofs is a difficult task. We propose an algorithm for the generation of interpolants for the combined theory of linear arithmetic and uninterpreted function symbols that does not require a priori constructed proofs to derive interpolants. It uses a reduction of the problem to constraint solving in linear arithmetic, which allows application of existing highly optimized Linear Programming solvers in a black-box fashion. We provide experimental evidence of the practical applicability of our algorithm.     

Adaptive-resolution reinforcement learning with polynomial exploration in deterministic domains

We propose a model-based learning algorithm, the Adaptive-resolution Reinforcement Learning (ARL) algorithm, that aims to solve the online, continuous state space reinforcement learning problem in a deterministic domain. Our goal is to combine adaptive-resolution approximation schemes with efficient exploration in order to obtain polynomial learning rates. The proposed algorithm uses an adaptive approximation of the optimal value function using kernel-based averaging, going from coarse to fine kernel-based representation of the state space, which enables us to use finer resolution in the “important” areas of the state space, and coarser resolution elsewhere. We consider an online learning approach, in which we discover these important areas online, using an uncertainty intervals exploration technique. In addition, we introduce an incremental variant of the ARL (IARL), which is a more practical version of the original algorithm with reduced computational complexity at each stage. Polynomial learning rates in terms of mistake bound (in a PAC framework) are established for these algorithms, under appropriate continuity assumptions.     

DIRAC: A new version of computer algebra tools for studying the properties and behavior of hydrogen-like ions

During recent years, the Dirac package has proved to be an efficient tool for studying the structural properties and dynamic behavior of hydrogen-like ions. Originally designed as a set of Maple procedures, this package provides interactive access to the wave and Green's functions in the non-relativistic and relativistic frameworks and supports analytical evaluation of a large number of radial integrals that are required for the construction of transition amplitudes and interaction cross sections. We provide here a new version of the Dirac program which is developed within the framework of Mathematica (version 6.0). This new version aims to cater to a wider community of researchers that use the Mathematica platform and to take advantage of the generally faster processing times therein. Moreover, the addition of new procedures, a more convenient and detailed help system, as well as source code revisions to overcome identified shortcomings should ensure expanded use of the new Dirac program over its predecessor.

New version program summary

Program title: DIRACCatalogue identifier: ADUQ_v2_0Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADUQ_v2_0.htmlProgram obtainable from: CPC Program Library, Queen's University, Belfast, N. IrelandLicensing provisions: Standard CPC license, http://cpc.cs.qub.ac.uk/licence/licence.htmlNo. of lines in distributed program, including test data, etc.: 45 073No. of bytes in distributed program, including test data, etc.: 285 828Distribution format: tar.gzProgramming language: Mathematica 6.0 or higherComputer: All computers with a license for the computer algebra package Mathematica (version 6.0 or higher)Operating system: Mathematica is O/S independentClassification: 2.1Catalogue identifier of previous version: ADUQ_v1_0Journal reference of previous version: Comput. Phys. Comm. 165 (2005) 139Does the new version supersede the previous version?: YesNature of problem: Since the early days of quantum mechanics, the “hydrogen atom” has served as one of the key models for studying the structure and dynamics of various quantum systems. Its analytic solutions are frequently used in case studies in atomic and molecular physics, quantum optics, plasma physics, or even in the field of quantum information and computation. Fast and reliable access to functions and properties of the hydrogenic systems are frequently required, in both the non-relativistic and relativistic frameworks. Despite all the knowledge about one-electron ions, providing such an access is not a simple task, owing to the rather complicated mathematical structure of the Schrödinger and especially Dirac equations. Moreover, for analyzing experimental results as well as for performing advanced theoretical studies one often needs (apart from the detailed information on atomic wave- and Green's functions) to be able to calculate a number of integrals involving these functions. Although for many types of transition operators these integrals can be evaluated analytically in terms of special mathematical functions, such an evaluation is usually rather involved and prone to mistakes.Solution method: A set of Mathematica procedures is developed which provides both the non-relativistic and relativistic solutions of the “Hydrogen atom model”. It facilitates, moreover, the symbolic evaluation of integrals involved in the calculations of cross sections and transition amplitudes. These procedures are based on a large number of relations among special mathematical functions, information about their integral representations, recurrence formulae and series expansions. Based on this knowledge, the DIRAC tools provide a fast and reliable algebraic (and if necessary, numeric) manipulation of functions and properties of one-electron systems, thus helping to obtain further insight into the behavior of quantum physical systems.Reasons for new version: The original version of the DIRAC program was developed as a toolbox of Maple procedures and was submitted to the CPC library in 2004 (cf. Ref. [1]). Since then DIRAC has found its niche in advanced theoretical studies carried out in realm of heavy ion physics. With the help of this program detailed analysis has been performed, in particular, for the various excitation and ionization processes occurring in relativistic ion-atom collisions [2], the polarization of the characteristic X-ray radiation following radiative electron capture [3], the correlation properties of the two-photon emission from few-electron heavy ions [4], the spin entanglement phenomena in atomic photoionization [5] and even for exploring the vibrational excitations of the heavy nuclei [6]. Although these studies have conclusively proven the potential of the program, they have also illuminated routes for its further enhancement. Apart from certain source code revisions, demand has grown for a new version of DIRAC compatible with the Mathematica platform. The version presented here includes a wider ranging and more user friendly interactive help system, a number of new procedures and reprogramming for greater computational efficiency.Summary of revisions: The most important new capabilities of the DIRAC program since the previous version are:

1.

The utilization of the Mathematica (version 6.0) platform.

2.

The addition of a number of new procedures. Since the complete list of the new (and updated) procedures can be found in the interactive help library of the program, we mention here only the most important ones:

○

DiracGlobal[] - Displays a list of the current global settings which specify the framework, nuclear charge and the units which are to be used by the DIRAC program.

○

DiracRadialOrbitalMomentum[] - Returns a non-relativistic radial orbital in momentum space for both, the bound and free electron states.

○

DiracSlaterRadial[] - Evaluates the radial Slater integral both, with the non-relativistic and relativistic wavefunctions. In the previous version of the program this procedure was restricted to the non-relativistic framework only.

○

DiracGreensIntegralRadial[] - Evaluates the two-dimensional radial integrals with the wave- and Green's functions both in non-relativistic and relativistic frameworks.

○

DiracAngularMatrixElement[] - Calculates the angular matrix elements for various irreducible tensor operators.

3.

The elimination of some redundant procedures. In particular, the previous version supported evaluation of the spherical Bessel functions, Wigner 3j symbols, Clebsch-Gordan coefficients and spherical harmonics functions. These tools are now superseded by in-built procedures of Mathematica.

4.

The development of a full featured interactive help system which follows the style of the Mathematica Help Pages.

5.

Extensive revision of the source code in order to correct a number of bugs and inconsistencies that have been identified during use of the previous version of Dirac.

The DIRAC package is distributed as a compressed tar file from which the DIRAC root directory can be (re-)generated. The root directory contains the source code and help libraries, a “Readme” file, Dirac_Installation_Instructions, as well as the notebook DemonstrationNotebook.nb that includes a number of test cases to illustrate the use of the program. These test cases, which concern the theoretical analysis of wavefunctions and the fine-structure of hydrogen-like ions, has already been discussed in detail in Ref. [1] and are provided here in order to underline the continuity between the previous (Maple) and new (Mathematica) versions of the DIRAC program.Unusual features: Even though all basic features of the previous Maple version have been retained in as close to the original form as possible, some small syntax changes became necessary in the new version of DIRAC in order to follow Mathematica standards. First of all, these changes concern naming conventions for DIRAC's procedures. As was discussed in Ref. [1], previously rather long names were employed in which each word was separated by an underscore. For example, when running the Maple version of the program one had to call the procedure Dirac_Slater_radial() in order to evaluate the Slater integral. Such a naming convention however, cannot be used in the Mathematica framework where the underscore character is reserved to represent Blank, a built-in symbol. In the new version of DIRAC we therefore follow the Mathematica convention of delimiting each word in a procedure's name by capitalization. Evaluation of the Slater determinant can be accomplished now simply by entering DiracSlaterRadial[]. Besides procedure names, a new convention is introduced to represent fundamental physical constants. In this version of DIRAC the group of (preset) global variables has changed to resemble their conventional symbols, specifically α, a₀, ec, me, c and ?, being the fine structure constant, Bohr radius, electron charge, electron mass, speed of light and the Planck constant respectively. If the numerical evaluator N is wrapped around any of these constants, their numerical values are returned.Running time: Although the program replies promptly upon most requests, the running time also depends on the particular task. For example, computation of (radial) matrix elements involving components of relativistic wavefunctions might require a few seconds of a runtime. A number of test calculations performed regarding this and other tasks clearly indicate that the new version of Dirac requires up to 90% less evaluation time compared to its predecessor.References:

[1]

A. Surzhykov, P. Koval, S. Fritzsche, Comput. Phys. Comm. 165 (2005) 139.

[2]

H. Ogawa, et al., Phys. Rev. A 75 (2007) 1.

[3]

A.V. Maiorova, et al., J. Phys. B: At. Mol. Opt. Phys. 42 (2009) 125003.

[4]

L. Borowska, A. Surzhykov, Th. Stöhlker, S. Fritzsche, Phys. Rev. A 74 (2006) 062516.

[5]

T. Radtke, S. Fritzsche, A. Surzhykov, Phys. Rev. A 74 (2006) 032709.

[6]

A. Pálffy, Z. Harman, A. Surzhykov, U.D. Jentschura, Phys. Rev. A 75 (2007) 012712.

     

Improved Stability and Photodetector Performance of CsPbI3 Perovskite Quantum Dots by Ligand Exchange with Aminoethanethiol

A surface engineering strategy aimed at improving the stability of CsPbI₃ perovskite quantum dots (QDs) both in solution and as films is demonstrated, by performing partial ligand exchange with a short chain ligand, 2‐aminoethanethiol (AET), in place of the original long chain ligands, oleic acid (OA) and oleylamine (OAm), used in synthesis. This results in the formation of a compact ligand barrier around the particles, which prevents penetration of water molecules and thus degradation of the films and, in addition, at the same time improves carrier mobility. Moreover, the AET ligand can passivate surface traps of the QDs, leading to an enhanced photoluminescence (PL) efficiency. As a result, AET‐CsPbI₃ QDs maintain their optical performance both in solution and as films, retaining more than 95% of the initial PL intensity in water after 1 h, and under ultraviolet irradiation for 2 h. Photodetectors based on the AET‐CsPbI₃ QD films exhibit remarkable performance, such as high photoresponsivity (105 mA W^?1) and detectivity (5 × 10¹³ Jones at 450 nm and 3 × 10¹³ Jones at 700 nm) without an external bias. The photodetectors also show excellent stability, retaining more than 95% of the initial responsivity in ambient air for 40 h without any encapsulation.     

Copper Thiophosphate (Cu3PS4) as Electrode for Sodium‐Ion Batteries with Ether Electrolyte

Lithium and sodium thiophosphates (and related compounds) have recently attracted attention because of their potential use as solid electrolytes in solid‐state batteries. These compounds, however, exhibit only limited stability in practice as they react with the electrodes. The decomposition products partially remain redox active hence leading to excess capacity. The redox activity of thiophosphates is explicitly used to act as electrode for sodium‐ion batteries. Copper thiophosphate (Cu₃PS₄) is used as a model system. The storage behavior between 0.01 and 2.5 V versus Na⁺/Na is studied in half cells using different electrolytes with 1 m NaPF₆ in diglyme showing the best result. Cu₃PS₄ shows highly reversible charge storage with capacities of about 580 mAh g^?1 for more than 200 cycles @120 mA g^?1 and about 450 mAh g^?1 for 1400 cycles @1 A g^?1. The redox behavior is studied by operando X‐ray diffraction and X‐ray photoelectron spectroscopy. During initial sodiation, Cu₃PS₄ undergoes a conversion reaction including the formation of Cu and Na₂S. During cycling, the redox activity seems dominated by sulfur. Interestingly, the capacity of Cu₃PS₄ for lithium storage is smaller, leading to about 170 mAh g^?1 after 200 cycles. The results demonstrate that thiophosphates can lead to reversible charge storage over several hundred cycles without any notable capacity decay.