Contact-State Segmentation Using Particle Filters for Programming by Human Demonstration in Compliant-Motion Tasks

This paper presents a contribution to programming by human demonstration, in the context of compliant-motion task specification for sensor-controlled robot systems that physically interact with the environment. One wants to learn about the geometric parameters of the task and segment the total motion executed by the human into subtasks for the robot, that can each be executed with simple compliant-motion task specifications. The motion of the human demonstration tool is sensed with a 3-D camera, and the interaction with the environment is sensed with a force sensor in the human demonstration tool. Both measurements are uncertain, and do not give direct information about the geometric parameters of the contacting surfaces, or about the contact formations (CFs) encountered during the human demonstration. The paper uses a Bayesian sequential Monte Carlo method (also known as a particle filter) to do the simultaneous estimation of the CF (discrete information) and the geometric parameters (continuous information). The simultaneous CF segmentation and the geometric parameter estimation are helped by the availability of a contact state graph of all possible CFs. The presented approach applies to all compliant-motion tasks involving polyhedral objects with a known geometry, where the uncertain geometric parameters are the poses of the objects. This work improves the state of the art by scaling the contact estimation to all possible contacts, by presenting a prediction step based on the topological information of a contact state graph, and by presenting efficient algorithms that allow the estimation to operate in real time. In real-world experiments, it is shown that the approach is able to discriminate in real time between some 250 different CFs in the graph     

Alkylcarbenium Ion Concentrations in Zeolite Pores During Octane Hydrocracking on Pt/H-USY Zeolite

Hydroconversion of octane over platinum loaded acid zeolites was simulated using a single-event microkinetic model. Significantly different values for the alkene standard protonation enthalpies, i.e., ?59.2 and –94 kJ mol^?1 for the charging of secondary and tertiary carbon atoms respectively, were obtained. This difference is in favor of a carbocationic nature of the reactive intermediates on the acid sites rather than surface alkoxides. The concentration of alkylcarbenium ions on a Pt/H-USY catalyst resulting from protonation of alkenes in n-octane hydrocracking was calculated. It was strongly dependent on pressure and temperature. At a reaction temperature of 506 K, a total pressure of 0.45 MPa and H₂/HC molar ratio of 13.13, the concentration of alkylcarbenium ions corresponds to 15% of the total acid site concentration. At higher total pressures this percentage is lower and can be assumed to be negligible. The presence of a finite alkylcarbenium ion concentration in the zeolite pores results in a reduction of the free space available for physisorption of alkanes. Refined kinetic models are obtained when including this effect. Depending on the nature of the zeolite, alkylcarbenium ion concentrations can be significantly different owing to differences in alkane physisorption and alkene protonation. Literature data were rationalized using the refined kinetic model.     

Integrated instrumental chain for magnetic pulse measurement in strong static field environment

This paper describes an integrated analogue instrumental chain dedicated to measuring magnetic pulses with an amplitude of a few tens or hundreds of microteslas, superimposed to a strong static magnetic field, i.e. 1.5 T. The system features a silicon Hall sensor with nested-chopping-like biasing circuitry, DC Hall voltage compensation, amplifying and multistage filtering. Low-noise performances are achieved by applying 100 kHz spinning current to the Hall device and chopping at 200 kHz to the signal conditioning blocs downstream. The microsystem achieves 20 μT resolution over a 1.6 kHz bandwidth extending from 5 Hz to 1.6 kHz under 1.5 T static field.     

Detection and Localization of Delaminations in Thin Carbon Fiber Reinforced Composites with the Ultrasonic Polar Scan

In this paper, the hybrid compliance-stiffness matrix method for simulating wave propagation in (delaminated) multilayered media with viscoelastic anisotropy has been confronted with high-quality amplitude and phase experiments on delaminated composites, obtained using the ultrasonic polar scan setup (UPS) in transmission by considering harmonic as well as pulsed ultrasound. Results are presented for multiple thin carbon/epoxy laminates with an artificial edge delamination induced by a foil insert, showing a good agreement between experimental recording and numerical modeling. The obtained results further reveal the feasibility of the harmonic UPS to detect and even locate the depth-position of multiple delaminations in fiber reinforced composites. Considering that the harmonic UPS method does not rely on the detection of different echoes like the classical C-scan, but rather expounds the conditions for efficient stimulation of guided waves in the solid, the method is found to be highly suited for inspecting thin composite materials for the presence of delaminations.     

Sources of Inter-Firm Heterogeneity in Accessing Knowledge-Creation Benefits Within Technology Clusters

We build on recent literature to highlight the distinction between knowledge-diffusion and knowledge-creation benefits of technology clustering and argue that firms located in technology clusters will have differential access to the latter. To explain the antecedents of such differential access, we first argue that clustering gives rise to three knowledge-creation benefits: easier identification of potential knowledge partners with complementary knowledge, easier initiation of knowledge partnerships and increased effectiveness of knowledge partnerships. Subsequently, we develop a conceptual model and propositions that focus on a cluster firm's awareness of knowledge assets inside the cluster, attractiveness as a knowledge partner and ability to benefit from knowledge partnerships to explain differential access by firms to these three knowledge-creation benefits that clustering provides. This study highlights the theoretical significance of distinguishing externality-type benefits of technology clustering from benefits that firms need to actively pursue, and discusses implications for firms' location decisions.     

Ultrastrong Anchoring Yet Barrier‐Free Adsorption of Composite Microgels at Liquid Interfaces

Microgel particles display an interesting duality with properties attributed typically both to polymeric and colloidal systems. When adsorbed at a liquid‐liquid interface, this duality becomes particularly apparent as the various phenomena at play are governed by different aspects of these soft and responsive particles. The introduction of a solid, fluorescently labeled, polystyrene core into the microgels allows direct and accurate visualization without the necessity of potential perturbing sample preparation techniques. By combining in‐situ imaging and tensiometry, we determine that composite microgels at a wide variety of oil‐water interfaces anchor strongly, with adsorption energies of approximately 10⁶ k_BT, typical for particle adsorption, yet accumulate at the interface spontaneously without any energy barrier, which is more typical for polymers. The high adsorption energies allow the particle to spontaneously form very dense crystalline packings at the liquid interface in which the microgels are significantly compressed with respect to their swollen state in bulk solutions. Finally, we demonstrate the unique nature of these particles by producing highly stable and monodisperse microgel‐stabilized droplets using microfluidics.     

Technological learning in bioenergy systems

The main goal of this article is to determine whether cost reductions in different bioenergy systems can be quantified using the experience curve approach, and how specific issues (arising from the complexity of biomass energy systems) can be addressed. This is pursued by case studies on biofuelled combined heat and power (CHP) plants in Sweden, global development of fluidized bed boilers and Danish biogas plants. As secondary goal, the aim is to identify learning mechanisms behind technology development and cost reduction for the biomass energy systems investigated. The case studies reveal large difficulties to devise empirical experience curves for investment costs of biomass-fuelled power plants. To some extent, this is due to lack of (detailed) data. The main reason, however, are varying plant costs due to differences in scale, fuel type, plant layout, region etc. For fluidized bed boiler plants built on a global level, progress ratios (PRs) for the price of entire plants lies approximately between 90–93% (which is typical for large plant-like technologies). The costs for the boiler section alone was found to decline much faster. The experience curve approach delivers better results, when the production costs of the final energy carrier are analyzed. Electricity from biofuelled CHP-plants yields PRs of 91–92%, i.e. an 8–9% reduction of electricity production costs with each cumulative doubling of electricity production. The experience curve for biogas production displays a PR of 85% from 1984 to the beginning of 1990, and then levels to approximately 100% until 2002. For technologies developed on a local level (e.g. biogas plants), learning-by-using and learning-by-interacting are important learning mechanism, while for CHP plants utilizing fluidized bed boilers, upscaling is probably one of the main mechanisms behind cost reductions.     

Close-range blast loading on empty recyclable metal beverage cans for use in sacrificial cladding structure

This article deals with the experimental and numerical blast study on a single empty recyclable metal beverage can. The idea is to make a macro-foam (sacrificial cladding structure) out of these cans to protect the main load bearing members of civil engineering structures from the air blast load. Close-range free air blast tests have been conducted to understand the crushing behaviour and the energy absorption of a single empty beverage can in detail. To conduct such an air blast test a special small-scale test set-up was designed and manufactured. The effect of skin plate surface area and its nature on the blast parameters is studied. Furthermore, the effect of inertia of the skin plate on the crushing performance of the beverage can is evaluated. Tests have been conducted with different plates (made of aluminium and sandwich composite materials) with different masses which represent the skin plate of the proposed sacrificial structure. The measured blast parameters from the experimental tests were compared with ConWep predicted data. Furthermore, the influence of the finite surface area of the skin plate on the clearing of the reflected pressure waves was also studied. The deformation behaviour and the corresponding energy absorption of empty beverage cans were captured. During the experimental blast tests it was observed that a part of the total reflected impulse (∼30%) was lost before it transfers to the non-sacrificial structure. Hence, in order to investigate this phenomenon Eulerian-Lagrangian coupled analyses were conducted using Hydrocodes. The results from these analyses showed that the diffraction and ground reflected pressure wave caused the loss in impulse. The results from the numerical studies have been compared and validated with the experimental results.     

Generic Asymptotic Expansions

We give an expansion algorithm for germs of exp-log functions at infinity which is correct modulo Schanuels conjecture. We also show how the algorithm can be made generic. More precisely, we reduce the expansion algorithm for exp-log functions depending on parameters to the problem of deciding whether a given system of exp-log equations and inequalities in several variables admits a solution.