Robot learning through task identification

The operation of an autonomous mobile robot in a semi-structured environment is a complex, usually non-linear and partly unpredictable process. Lacking a theory of robot–environment interaction that allows the design of robot control code based on theoretical analysis, roboticists still have to resort to trial-and-error methods in mobile robotics.The RobotMODIC project aims to develop a theoretical understanding of a robot’s interaction with its environment, and uses system identification techniques to identify the system robot–task–environment. In this paper, we present two practical examples of the RobotMODIC process: mobile robot self-localisation and mobile robot training to achieve door traversal.In both examples, a transparent mathematical function is obtained that maps inputs–sensory perception in both cases–to output — location and steering velocity respectively. Analysis of the obtained models reveals further information about the way in which a task is achieved, the relevance of individual sensors, possible ways of obtaining more parsimonious models, etc.     

Applications of data analysis techniques for oil production prediction

This paper describes two data analysis techniques adopted in a Decision Support System (DSS) that aids users in predicting oil production of an infill well. The system generates predictions in the form of a possible range of cumulative production and length of production life of an infill well. The system also shows the worst and best case scenarios based on different production curves so that the expert can examine the plots of predicted production rates for each existing well and decide which model gives the best fit. The production curve of each individual well was mathematically modeled so that production values beyond the historical data can be produced. Decline curve estimation and neural network approaches were adopted for data analysis in the system. The system was tested with data from two groups of wells from two different fields in Saskatchewan, Canada. Observations on the suitable duration that the historical data set should cover and a comparison among different curve estimation and neural network models are presented.     

Fractional alpha stable network traffic model and its application in QoS routing

It is not a simple and trivial work to set up an appropriate network traffic model. A fractional Alpha model is proposed in this paper and two proofs based on flow and session level, respectively, are given. Based on this model, the lower bound for the residual of the queueing distribution is deduced. Comparing the residual distribution function (RDF) based on our model with it based on other models, we find our formula matches the real RDF better. Based on this formula, we can predict the need for forwarding performance. Then a novel QoS routing algorithm based on this prediction is proposed. Last we demonstrate a simple example to denote how our algorithm can effectively improve the utility of bandwidth and amount of traffic and guarantee QoS.     

Templated titania films with meso- and macroporosities

Porous TiO₂ films with both mesoporosity and macroporosity were fabricated by a templated sol–gel method for applications, such as dye-sensitized solar cells (DSC), photocatalysis and catalysis. With the incorporation of differently sized pores, the resultant structures exhibit high surface areas and possess interpenetrating aligned pore channels, which are believed to be beneficial for applications where diffusion of reactants to interior surface can be rate limiting. Both liquid and solid TiO₂ precursors can be applied for large area coating in this process. Almost crack-free films were produced by templated coating of pre-synthesized TiO₂ nanoparticles. The measured specific surface area and porosity of synthesized films were in the range of 33–137 m²/g and 61–80%, respectively, depending on the size of the selected template.     

Redox flow cells for energy conversion

Energy storage technologies provide an alternative solution to the problem of balancing power generation and power consumption. Redox flow cells are designed to convert and store electrical energy into chemical energy and release it in a controlled fashion when required. Many redox couples and cell designs have being evaluated. In this paper, redox flow systems are compared in the light of characteristics such as open circuit potential, power density, energy efficiency and charge-discharge behaviour. The key advantages and disadvantages of redox flow cells are considered while areas for further research are highlighted.     

Repair evaluation of concrete cracks using surface and through-transmission wave measurements

Surface opening cracks are common defects in large civil structures like bridges. They allow penetration of water or other agents that result in loss of durability earlier than expected. Their repair can be conducted by the injection of epoxy material that seals the crack sides keeping out any aggressive substances in addition to the recovery of strength. In order to evaluate crack parameters before impregnation as well as to determine the final repair effectiveness, a combination of Rayleigh and longitudinal waves is applied. Rayleigh waves demonstrate the filling condition of the material into the shallow layer near the surface while tomography using longitudinal waves through the thickness yields information about the area inside the structure. Wave propagation dispersion features are exploited by the proposed tomography at different frequencies, demonstrating that higher frequencies lead to more accurate characterization.     

Towards a platform for wide-area overlay network deployment and management

This paper presents an experimental set of self-organising mechanisms to support application-level service overlays across the internet. These mechanisms include a base node discovery service and protocol that is resilient to node and network failure, which in turn is a basis for the construction of service-specific overlays. We have also developed a generic service overlay structured according to IP network latencies which uses the GNP virtual coordinate system. We discuss our results and experiences of implementing our platform using an active service infrastructure deployed on PlanetLab. While we have been successful in meeting many of our aims, we have identified some practical shortcomings with regard to latency estimation accuracy, and scalability of some of our mechanisms to internet size. The paper describes lessons learned from experimental development and deployment.     

The Cold Chain,one link in Canada’s food safety initiatives

The Cold Chain has always played an important role in food safety within the global market. The Canadian government has recognized it has an important role in the food continuum. In partnership with industry, national voluntary enhanced food safety systems, based on Codex Alimentarius (HACCP) principles, are being developed within Canada. These efforts will contribute towards food safety and will build confidence in foodstuffs grown, prepared and sold at all levels of trade and abroad.     

On the behaviour of hygroscopic wheels: Part I – channel modelling

In this paper a detailed mathematical formulation is developed for the numerical modelling of the behaviour of a channel of a hygroscopic compact matrix. A comparison between the detailed version and a simplified one is performed considering a two-dimensional airflow between desiccant parallel plates. The distinct heat and mass transfer phenomena are strongly coupled, and some properties of the airflow and of the desiccant medium exhibit important changes during the sorption processes. Both physical models take into account the gas side and solid side resistances to heat and mass transfer. The wall domain is treated similarly in both models, by taking into account the simultaneous heat and mass transfer together with the water adsorption/desorption process. Two phases co-exist in equilibrium inside the desiccant porous medium, the equilibrium being characterized by sorption isotherms without hysteresis. The detailed model is based on the solution of the differential equations for the conservation of mass, energy and momentum, assuming that no momentum transport exists in the porous wall domain. In the simplified model, the airflow is treated as a bulk flow, the interaction with the wall being evaluated by using appropriated convective coefficients.Both models are compared in the simulation of a parallel plate channel during an adsorption process. The results show a good agreement for channel lengths greater than 0.1 m. In part II of the paper, the simplified model is adapted to the simulation of the three-dimensional problem in the channel of a hygroscopic rotor, and it is used to perform parametric studies.     

Network analysis and characterization of vulnerability in flood control infrastructure for system-level risk reduction

The number of catastrophic events such as extreme rainfalls and hurricanes has been growing. These events pose a major threat to the life safety and economic prosperity of urban regions. Flood control networks play a pivotal role in mitigating the risk associated with the stormwater generated by extreme rainfalls and hurricanes. The objective of this study is to propose a framework to examine the vulnerability in flood control infrastructure networks. This framework applies graph theory concepts and tools to define a vulnerability index for flood control network components (e.g., channels and rivers). The topological attributes of flood control networks are used to determine the vulnerability index based on structural attributes of flood control networks. First, a flood control network is modeled as a directed graph and storage facilities are incorporated into the network. Second, co-location exposure, upstream channel susceptibility, and discharge redundancy are characterized as important vulnerability attributes of a channel in flood control network. Then, these three characteristics are formulized based on the topological attributes of the network and characteristics of channels. The vulnerability index is then determined based on the three vulnerability characteristics. The proposed vulnerability index can be used to evaluate the impact of different risk reduction policies on flood control network vulnerability and determine the optimal mitigation strategies aiming at flood risk reduction, such as widening vulnerable channels, placement of storage facilities in the network or increasing the redundancy of the network. The framework is implemented on two watersheds in Harris County (Texas, USA) and the results' implications for decision-making in infrastructure management and hazard mitigation planning are discussed. The results highlight the capability of the proposed graph-based framework to inform flood risk reduction through evaluation of the vulnerability of infrastructure networks.