Manipulability of leader–follower networks with the rigid-link approximation

This paper introduces the notion of manipulability to mobile, multi-agent networks as a tool to analyze the instantaneous effectiveness of injecting control inputs at certain, so-called leader nodes in the network. Effectiveness is interpreted to characterize how the movements of the leader nodes translate into responses among the remaining follower nodes. This notion of effectiveness is a function of the interaction topologies, the agent configurations, and the particular choice of inputs used to influence the network. In fact, classic manipulability is an index used in robotics to analyze the singularity and efficiency of configurations of robot-arm manipulators. To define similar notions for leader–follower networks, we use a rigid-link approximation of the follower dynamics and, under this assumption, we prove that the instantaneous follower velocities can be uniquely determined from that of the leaders’, which allows us to define a meaningful and computable manipulability index for the leader–follower networks. This paper examines the property of the proposed index in simulation and with real mobile robots, and demonstrates how the index can be used to find effective interaction topologies.     

Polymerization of liquid propylene with a fourth‐generation Ziegler–Natta catalyst: Influence of temperature,hydrogen, monomer concentration,and prepolymerization method on powder morphology

Liquid propylene was polymerized in a 5‐L autoclave batch reactor using a commercially available TiCl₄/MgCl₂/Al(ethyl)₃/DCPDMS Ziegler–Natta catalyst, with a phthalate ester as internal electron donor. The powders from these polymerizations were characterized using laser diffraction particle size distribution (PSD) analysis, scanning electron microscopy (SEM), and bulk density measurements. These characteristics were analyzed as a function of the process conditions, including hydrogen and monomer concentration, polymerization temperature, and the prepolymerization method. It was shown that polymerization temperature influences the powder morphology to a large extent. At low temperatures, high‐density particles were obtained, showing regular shaped particle surfaces and low porosities. With increasing temperature, the morphology gradually was transferred into a more open structure, with irregular surfaces and poor replication of the shape of the catalyst particle. When using a prepolymerization step at a relatively low temperature, the morphology obtained was determined by this prepolymerization step and was independent from conditions in main polymerization. The morphology obtained was the same as that observed after a full polymerization at temperature. Even when using a short polymerization at an increasing temperature, the morphology was strongly influenced by the initial conditions. The effect of variation in hydrogen concentration supported the conclusion that the initial polymerization rate determines the powder morphology. In the absence of hydrogen, high bulk densities, and regularly shaped particles were obtained, even at high temperatures. With increasing hydrogen concentration, the reaction rates increased rapidly, and with that changed the morphology. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 87: 1421–1435, 2003     

Influence of the type of reducing agent (H2, CO,C3H6 and C3H8) on the reduction of stored NO X in a Pt/BaO/Al2O3 model catalyst

In this investigation, a comparative study for a NO _X storage catalytic system was performed focusing on the parameters that affect the reduction by using different reductants (H₂, CO, C₃H₆ and C₃H₈) and different temperatures (350, 250 and 150 °C), for a Pt/BaO/Al₂O₃ catalyst. Transient experiments show that H₂ and CO are highly efficient reductants compared to C₃H₆ which is somewhat less efficient. H₂ shows a significant reduction effect at relatively low temperature (150 °C) but with a low storage capacity. We find that C₃H₈ does not show any NO _X reduction ability for NO _X stored in Pt/BaO/Al₂O₃ at any of the temperatures. The formation of ammonia and nitrous oxide is also discussed.

     

Quantitative analysis of small angle neutron scattering data from montmorillonite dispersions

A new model is presented which can describe quantitatively the small angle neutron scattering from montmorillonite-type clay dispersions and polymer-clay nanocomposites. The model is shown to be able to describe well the data from a series of dilute montmorillonite in water dispersions in which the deuterium content of the water phase is varied. The fits combined with information from other techniques suggest strongly that H-D exchange occurs in the montmorillonite-water dispersions. Deviations from Q⁻² behaviour often observed experimentally for clay dispersions are convincingly explained by the presence of a small proportion of tactoids.     

Identification of valence shifts in Au during the water-gas shift reaction

In situ X-ray absorption spectroscopy (XAS) has been performed to investigate the active site on Au-based catalysts in the water-gas shift (WGS) reaction. The surface area and hence the WGS activity is higher for AuTiO₂ catalysts supported on carbon nanofibres (CNF) than TiO₂. The WGS reaction rate depends on the Au coordination number with an apparent maximum close to eight which corresponds to a particle size of approximately 2.5–3.0 nm. A likely cause for the changes in the electronic structure of Au is the adsorption of CO on the surface, which also creates a small positive charge in the Au atoms. The catalytic activity significantly improves when titania is present compared to Au deposited directly on CNF.     

Sulfur deactivation and regeneration of Pt/BaO/Al2O3 and Pt/SrO/Al2O3 NO x storage catalysts

Transient experiments were performed to study sulfur deactivation and regeneration of Pt/BaO/Al₂O₃ and Pt/SrO/Al₂O₃ NO _x storage catalysts. It was found that the strontium-based catalysts are more easily regenerated than the barium-based catalysts and that a higher fraction of the NO _x storage sites are regenerated when H₂ is used in combination with CO₂ compared to H₂ only.     

Sequencing of multi‑robot behaviors using reinforcement learning

Given a collection of parameterized multi-robot controllers associated with individual behaviors designed for particular tasks, this paper considers the problem of how to sequence and instantiate the behaviors for the purpose of completing a more complex, overarching mission. In addition, uncertainties about the environment or even the mission specifications may require the robots to learn, in a cooperative manner, how best to sequence the behaviors. In this paper, we approach this problem by using reinforcement learning to approximate the solution to the computationally intractable sequencing problem, combined with an online gradient descent approach to selecting the individual behavior parameters, while the transitions among behaviors are triggered automatically when the behaviors have reached a desired performance level relative to a task performance cost. To illustrate the effectiveness of the proposed method, it is implemented on a team of differential-drive robots for solving two different missions, namely, convoy protection and object manipulation.     

Effect of artificial aging on intergranular corrosion of extruded AlMgSi alloy with small Cu content

The effect of artificial aging parameters on the corrosion performance of air cooled AlMgSi(Cu) model alloy extrusions was investigated. Accelerated corrosion test revealed that the extrusions were highly susceptible to intergranular corrosion (IGC) in the naturally aged condition. However, IGC susceptibility was reduced, and finally eliminated, by artificial aging. Overaging introduced slight pitting susceptibility. EDS X-ray mapping in FE-TEM revealed Mg₂Si and Q-phase (Al₄Cu₂Mg₈Si₇) grain boundary precipitates and a continuous Cu-enriched grain boundary film. IGC susceptibility was related to the Cu-enriched grain boundary film. Increased IGC resistance was caused by coarsening of the grain boundary film by aging. Pitting susceptibility by over aging evolved due to coarsening of the Q-phase particles in the grain bodies.     

A Multicast-Enabled Delivery Framework for QoE Assurance of Over-The-Top Services in Multimedia Access Networks

Over-The-Top (OTT) video services are becoming more and more important in today’s broadband access networks. While original OTT services only offered short duration medium quality videos, more recently, premium content such as high definition full feature movies and live video are offered as well. For operators, who see the potential in providing Quality of Experience (QoE) assurance for an increased revenue, this introduces important new network management challenges. Traditional network management paradigms are often not suited for ensuring QoE guarantees as the provider does not have any control on the content’s origin. In this article, we focus on the management of an OTT-based video service. We present a loosely coupled architecture that can be seamlessly integrated into an existing OTT-based video delivery architecture. The framework has the goal of resolving the network bottleneck that might occur from high peaks in the requests for OTT video services. The proposed approach groups the existing Hypertext Transfer Protocol (HTTP) based video connections to be multicasted over an access network’s bottleneck and then splits them again to reconstruct the original HTTP connections. A prototype of this architecture is presented, which includes the caching of videos and incorporates retransmission schemes to ensure robust transmission. Furthermore, an autonomic algorithm is presented that allows to intelligently select which OTT videos need to be multicasted by making a remote assessment of the cache state to predict the future availability of content. The approach was evaluated through both simulation and large scale emulation and shows a significant gain in scalability of the prototype compared to a traditional video delivery architecture.