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.     

A new type of precursor for fibers in the system Si–C

Ceramic fibers with compositions in the system Si–C have a great potential for high-temperature applications. In recent years, our efforts have been dedicated to the development of polymers consisting of polysilanes suitable to spin fibers and build up matrices for CMC as well. The polysilanes are synthesized via disproportionation of the so-called disilane fraction [Richter, R., Roewer, G., Böhme, U., Busch, K., Babonneau, F., Martin, H.-P. et al., Appl. Organomet. Chem., 1997, 11, 71 (and references cited therein)]. A further thermal treatment yields materials which are soluble in organic solvents, and these solutions can be dry-spun to give fibers which are subsequently pyrolyzed. Solubility and high ceramic yield make this precursor a promising candidate for matrix infiltrations, too. The chemistry and the adjustment of viscosity and solubility to the requirements of the fiber processing as well as the conversion of the dried fibers to pure SiC fibers by thermal treatment will be reported.     

11B and 15N solid state NMR investigation of a boron nitride preceramic polymer prepared by ammonolysis of borazine

A poly(aminoborazine), precursor for hexagonal boron nitride (h-BN) obtained by reaction of borazine B₃N₃H₆ with ammonia, and its pyrolysis derivatives have been extensively characterised by ¹⁵N and ¹¹B MAS NMR. The various B and N sites have been identified according to their first neighbouring atoms, as well as to the second ones in the case of ¹⁵N, and have also been quantified. This study demonstrates that a suitable choice of NMR techniques together with the use of isotopic enrichment can lead to a large improvement in spectral resolution, which allows a better understanding of such complex BN preceramic polymer structures and permits to follow the polymer-to-ceramic transformation.     

Preparation of CeO2-ZrO2 mixed oxide with high surface area and high thermal stability

Ceria-zirconia solid particles have been recognized as a key material of the automotive exhaust catalysts since they can release and uptake oxygen owing to the rapid reversible oxidation states of cerium between Ce³⁺ and Ce⁴⁺. Several methods have recently been described to prepare the CeO₂-ZrO₂ solid particles used in the catalysts. In this paper, a new coprecipitation method is used to prepare the CeO₂-ZrO₂ solid particles. The Ce-Zr alcogel is dried and calcined in flowing N₂ not in flowing air under atmospheric pressure. The results show that the ceria-zirconia sample calcined at 650 °C has high surface area over 90 m²g⁻¹, which drops to 40 m²g⁻¹ following treatment at 900°C.     

Deformation behaviour of iron-doped alumina

Compressive creep tests in air were carried out on 1 cat.% Fe-doped alumina at a temperature T=1400 °C. Iron doping affected the plastic deformation by different ways in relation with Fe²⁺ cations population. Fe²⁺ cations sped up the deformation rates. FeAl₂O₄ spinel precipitates were identified and they were found (i) to interact with alumina grain boundaries (ii) to limit the grain growth within a range of strain. The Fe²⁺ cations underwent oxidation and this resulted in the dissolution of the some precipitates and in the decrease of deformation rates. It was suggested that deformation sped up this evolution through mass transport and that time was not a dominating parameter.     

Water reuse in a shrimp processing line: Safety considerations using a HACCP approach

The large consumption of water involved in food manufacturing is prompting food processors to optimise the use. Treating and reusing or recycling water within the food plant results in substantial reduction of water use and wastewater production and discharge. If implemented, water reuse should be integrated into existing HACCP programs, and HACCP plans specifically addressed to the actual reuse should be elaborated. This paper evaluates the microbiological safety issues associated with water recycling during the production of shrimps (Pandalus borealis) in brine, and it indicates how the hazards may be effectively controlled using a HACCP approach. Following these procedures, process water recovered from peeling during shrimp processing and treated by means of reverse osmosis could be recycled within the same food unit operation.     

Magnetic Field Analysis of Disk Coreless Permanent Magnet Synchronous Motor Based on Thickness Variation Halbach Array

Being a new permanent magnets(PMs) arrangement, the Halbach array could approve the magnetic flux density effectively, through weakening the magnetic flux density in one side of the PMs array, meanwhile strengthening the magnetic flux density in the other side. In the disk coreless PM synchronous motor (PMSM), the magnetic flux density is required to be sine wave and the peak value should be as high as possible. The paper deals with the application of the 90° Halbach array in the disk coreless PMSM, adopting NdFeB PMs. For the thickness of PMs influences the magnetic flux density in the air gap, the thickness variation technology is adopted. Through altering the adjacent PMs thickness, nine different PMs thickness combination is analyzed by FEM methods. And the conclusion is that when the thickness of tangential magnetization PMs is great than that of the radial magnetization PMs, the magnetic flux density wave is closer to sine wave than when the thickness of the tangential magnetization PMs is smaller than that of the radial magnetization PMs. Furthermore, when the thickness of the tangential magnetization PMs is great than that of the radial magnetization PMs, keeping the thickness of the tangential magnetization PMs being 0.006 m and the thickness of the radial magnetization PMs variation from 0.0048 m to 0.006 m, the magnetic flux density in the air gap will become closer to sine wave gradually, and then it becomes nonsinusoidal again. And when the thickness of radial magnetization PMs is 0.0054 m and 0.0055 m, the waves of magnetic flux density in the air gap are better than others.