Browsing by Issue Date, starting with "2017-08-23"
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- Interoperability in Heterogeneous Team of Search and Rescue RobotsPublication . Marques, Mário Monteiro; Lobo, Victor J. A. S.Search and rescue missions are complex operations. A disaster scenario is generally unstructured, time-varying and unpredictable. This poses several challenges for the successful deployment of unmanned technology. The variety of operational scenarios and Tasks lead to the need for multipe robots of different types, domains and sizes. A priori planning of the optimal set of assets to be depoyed and the definition of their mission objectives are generally not feasible as information only becomes available during mission. The ICARUS project responds to this challenge by developing a heterogeneous team composed by different and complementary robos, dynamically cooperating as an interoperable team. This chapter describes our approach to multi-robot interoperability, understood as the ability of multiple robots to operate together, in synergy, enabling multiple teams to share data, intelligence and resources, which is the ultimate objective of ICARUS project. It also includes the analysis of the relevant standardization initiatives in multi-robot multi-domain systems, our implementation of an interoperability framework and several examples of multi-robot cooperation of the ICARUS robots in realistic search and rescue missions.
- Study of Jet Quenching with $Z+\text{jet}$ Correlations in Pb-Pb and $pp$ Collisions at ${\sqrt{s}}_{NN}=5.02\text{ }\text{ }\mathrm{TeV}$Publication . CMS collaboration (2240 authors); Nayak, Aruna; Bargassa, Pedrame; Beirão Da Cruz E Silva, Cristóvão; Calpas, Betty; Di Francesco, Agostino; Faccioli, Pietro; Ferreira Parracho, Pedro Guilherme; Gallinaro, Michele; Hollar, Jonathan; Leonardo, Nuno; Lloret Iglesias, Lara; Rodrigues Antunes, Joao; Seixas, Joao; Toldaiev, Oleksii; Vadruccio, Daniele; Varela, Joao; Vischia, Pietro; David Tinoco Mendes, Andre; Silva, Pedro; Musella, Pasquale; Pela, JoaoThe production of jets in association with Z bosons, reconstructed via the μ+μ- and e+e- decay channels, is studied in pp and, for the first time, in Pb-Pb collisions. Both data samples were collected by the CMS experiment at the LHC, at a nucleon-nucleon center-of-mass energy of 5.02 TeV. The Pb-Pb collisions were analyzed in the 0%–30% centrality range. The back-to-back azimuthal alignment was studied in both pp and Pb-Pb collisions for Z bosons with transverse momentum pTZ>60 GeV/c and a recoiling jet with pTjet>30 GeV/c. The pT imbalance xjZ=pTjet/pTZ, as well as the average number of jet partners per Z, RjZ, was studied in intervals of pTZ. The RjZ is found to be smaller in Pb-Pb than in pp collisions, which suggests that in Pb-Pb collisions a larger fraction of partons associated with the Z bosons fall below the 30 GeV/c pTjet threshold because they lose energy.