An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

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Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

In this paper, we study sampling from a posterior derived from a neural network. We propose a new probabilistic model consisting of adding noise at every pre- and post-activation in the network, arguing that the resulting posterior can be sampled using an ...

Higher-order asymptotics provide accurate approximations for use in parametric statistical modelling. In this thesis, we investigate using higher-order approximations in two-specific settings, with a particular emphasis on the tangent exponential model. ...

Bioaerosols are emitted from various sources into the indoor environment and can positively and negatively impact human health. Humans are the major source of bioaerosol emissions indoors, specifically for bacteria. However, efficient sampling to guarantee ...

We present the first detection of the baryon acoustic oscillations (BAOs) signal obtained using unblinded data collected during the initial 2 months of operations of the Stage-IV ground-based Dark Energy Spectroscopic Instrument (DESI). From a selected sam ...

Magnetic resonance spectroscopy is a powerful, non-invasive, quantitative imaging technique that allows for the measurement of brain metabolites that has demonstrated utility in diagnosing and characterizing a broad range of neurological diseases. Its impa ...

We present the measurements of the small-scale clustering for the emission-line galaxy (ELG) sample from the extended Baryon Oscillation Spectroscopic Surv e y (eBOSS) in the Sloan Digital Sk y Surv e y IV (SDSS-IV). We use conditional abundance matching m ...

To understand how daylight gives shape and life to architectural spaces, whether existing or imagined, requires quantifying its dynamism and energy. Maintaining these details presents a challenge to simulation and analysis methods that flatten data into di ...

As the data volume grows, reducing the query execution times remains an elusive goal. While approximate query processing (AQP) techniques present a principled method to trade off accuracy for faster queries in analytics, the sample creation is often consid ...

Data-driven and model-driven methodologies can be regarded as competitive fields since they tackle similar problems such as prediction. However, these two fields can learn from each other to improve themselves. Indeed, data-driven methodologies have been d ...

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Optical metasurfaces rely on subwavelength scale nanostructures, which puts significant constraints on nanofabrication accuracies. These constraints are becoming increasingly important, as metasurfaces are maturing toward real applications that require the ...

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Intelligence involves processing sensory experiences into representations useful for prediction. Understanding sensory experiences and building these contextual representations without prior knowledge of sensor models and environment is a challenging unsup ...

Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...

Enhanced sampling techniques have become an essential tool in computational chemistry and physics, where they are applied to sample activated processes that occur on a time scale that is inaccessible to conventional simulations. Despite their popularity, i ...

One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...

Simulation is an informative tool to plan the design and renovation of engineering systems, but its use requires accurate inputs from the users. Inputs such as the unknown future operating conditions might be expected in a system’s lifetime, e.g., the futu ...

Measuring the thermoelectric transport properties of a material is a prerequisite to determining its usefulness for application in waste heat recovery or cooling and the basis for devising improvement strategies. While well-established characterization met ...

An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

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