Learning perceptually grounded word meanings from unaligned parallel data

In order for robots to effectively understand natural language commands, they must be able to acquire meaning representations that can be mapped to perceptual features in the external world. Previous approaches to learning these grounded meaning representations require detailed annotations at training time. In this paper, we present an approach to grounded language acquisition which is capable of jointly learning a policy for following natural language commands such as “Pick up the tire pallet,” as well as a mapping between specific phrases in the language and aspects of the external world; for example the mapping between the words “the tire pallet” and a specific object in the environment. Our approach assumes a parametric form for the policy that the robot uses to choose actions in response to a natural language command that factors based on the structure of the language. We use a gradient method to optimize model parameters. Our evaluation demonstrates the effectiveness of the model on a corpus of commands given to a robotic forklift by untrained users.     

Security concepts for the dynamics of autonomous vehicle networks

The secure operation of autonomous vehicle networks in the presence of adversarial observation is examined, in the context of a canonical double-integrator-network (DIN) model. Specifically, we study the ability of a sentient adversary to estimate the full network’s state, from noisy local measurements of vehicle motions. Algebraic, spectral, and graphical characterizations are provided, which indicate the critical role of the inter-vehicle communication topology and control scheme in achieving security.     

Comparative effects of cobalt carboxylates on the thermo‐oxidative degradation of LDPE films

This article reports the effect of three cobalt carboxylates—cobalt stearate (CoSt₃), cobalt palmitate (CoPal₃), and cobalt laurate (CoLau₃)—on the thermo‐oxidative degradation of low‐density polyethylene (LDPE) films prepared by sheeting process. The carboxylates were blended with LDPE in the concentration range of 0.05–0.2% (w/w). The degradation was monitored by techniques such as FTIR spectroscopy, change in the mechanical properties (tensile strength and elongation at break), viscometry, surface electron microscopy, melt flow index measurements, and apparent density measurements. Studies indicate that films containing these additives are highly susceptible to thermo‐oxidative degradation. Oxygen containing functionalities such as carbonyl and vinyl species are generated on the surface of polyethylene because of thermo‐oxidation, as indicated by FTIR studies. This oxidative process is accelerated in the presence of cobalt carboxylates. The degradation of LDPE was found to increase proportionally with concentration as well as with increasing chain length of the cobalt carboxylate, and follow the order CoSt₃ > CoPal₃ > CoLau₃. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 103: 3758–3765, 2007     

An Improved Procedure for Determining the Work of Adhesion for Polymer-Solid Contact

Force-balance experiments in conjunction with the Johnson-Kendall-Roberts (JKR) theory have been used to determine the work of adhesion between solid systems. It has been shown that deficiencies in understanding the deformation behavior can lead to erroneous results. A modified procedure for determining the work of adhesion by force-balance experiments and JKR theory using normal displacement behavior has been introduced to address these deficiencies. This procedure involves improved experiental and data analysis protocols and has been applied to give more precise work of adhesion values for PDMS poly(dimethylsiloxane)-PDMS, PDMS-F(fluorinated silicon) and PDMS-Si (silicon) systems. The work of adhesion determinations are consistently less than those estimated by contact angle measurements.     

Pair-copula based mixture models and their application in clustering

Finite mixtures are often used to perform model based clustering of multivariate data sets. In real life applications, such data may exhibit complex nonlinear form of dependence among the variables. Also, the individual variables (margins) may follow different families of distributions. Most of the existing mixture models are unable to accommodate these two aspects of the data. This paper presents a finite mixture model that involves a pair-copula based construction of a multivariate distribution. Such a model de-couples the margins and the dependence structures. Hence, the margins can be modeled using different families. Again, many possible dependence structures can also be studied using different copulas. The resulting mixture model (called DVMM) is then capable of capturing a broad family of distributions including non-Gaussian models. Here we study DVMM in the context of clustering of multivariate data. We design an expectation maximization procedure for estimating the mixture parameters. We perform extensive experiments on the basis of a number of well-known data sets. A detailed evaluation of the clustering quality obtained by DVMM in comparison to other mixture models is presented. The experimental results show that the performance of DVMM is quite satisfactory.     

Study of Tire Particle Mixing in a Moving and Stirred Bed Vacuum Pyrolysis Reactor

The paper studies the motion of scrap tire shreds in a moving and stirred bed vacuum pyrolysis reactor. The reactor configuration is a novel concept. The pattern and the residence time distribution (RTD) of the particle motion in the reactor were investigated using tracers, for different feed rates and blade speeds. It was shown that the particle motion in the reactor is plug flow nature with intermediate dispersion (σ² = 0.02—0.055). The mean residence time is in the range of 7—23 min, depending on the speed of the blades and the feed rate. The ratio of mean particle speed and the speed of blades v_m/v_b varied between 0.03 and 0.07.     

Regeneration of zinc particles for zinc–air fuel cells in a spouted-bed electrode

Fuel cells wherein zinc particles form a negative electrode and a gas-diffusion electrode (air electrode) is the positive electrode, are under development. Such cells are dependent on the regeneration of the zinc particles (and electrolyte). This paper describes experiments on electrolytic cells equipped with spouted bed cathodes for use in this application. Experiments have been carried out on laboratory scale cells to determine the operability of cells for growing 'seed particles in the range from 0.4 to 1 mm to measure cell voltage and current efficiency (and thereby energy consumption rate), and to identify a suitable material that could be used as a diaphragm (separating the spouted bed from the oxygen evolving anode). A larger cell, capable of producing up to 10 kg Zn per day, was designed and built. The larger cell was run successfully fifteen times and showed cell voltages and energy consumption rates comparable with those of smaller cells.     

A study of PtRuO2 catalysts thermally formed on titanium mesh for methanol oxidation

Platinum-based catalysts, for the electro-oxidation of methanol, have been made by thermal decomposition of chloride precursors onto titanium mesh. The catalysed electrodes were successfully operated in acidic methanol electrolytes. Electrochemical characterisation has been carried out using cyclic voltammetry, electrochemical impedance spectroscopy and galvanostatic polarisations. A complete analysis of the electrochemical results showed that the preliminary performance of the catalysed titanium mesh was comparable to that achieved with carbon-supported PtRu catalysts. The catalysts formed on titanium mesh by thermal decomposition also exhibited dimensional stability. Catalysed titanium mesh therefore appears to be a promising alternative to carbon-supported catalysts for certain fuel cell applications.     

Hydrolytic aging of polypropylene studied by X‐ray photoelectron spectroscopy

X‐ray photoelectron spectroscopy (XPS) was used to study the hydrolytic aging of polypropylene according to the pHs of degrading buffer solutions and the time of aging. The study was concentrated over periods of 3, 6, and 9 months for values of pH close to the real environments of use of the material (pH of 6, 7, and 8). The polypropylene underwent an oxidation of its polymeric matrix, independently of the range of pH values, by the production of C? OH, C?O, and O?C? O groups. These chemical functions were observed in high resolution XPS spectra around C1s and O1s peaks. Beginning with these results and from mechanisms of (photochemical, thermal, and others) aging proposed in the literature, it was then possible to propose mechanisms of hydrolytic ageing of polypropylene. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 92: 3830–3838, 2004     

Anisotropy in mechanical and dynamic properties of composites based on carbon fiber filled thermoplastic elastomeric blends of natural rubber and high density polyethylene

The effects of short carbon fibers on static and dynamic properties of thermoplastic elastomeric blends of natural rubber (NR) and high density polyethylene (HDPE) have been studied. Both mechanical and dynamic properties are dependent on fiber concentration. The fiber aspect ratio ranges from 20 to 30. Adhesion between fiber and matrix is evident from the SEM photomicrographs of the failed composites and from variation of relative damping properties. Fiber orientation occurring during processing causes anisotropy in the physical properties. In composites with longitudinally oriented fibers, tensile failure occurs by both fiber pullout and breakage, while in composites with transversely oriented fibers, matrix failure dominates. The incorporation of fibers into the matrix lowers the tan δ_max value, but no change in glass transition temperature is observed.