A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Intelligent Service Robotics - Walking robots are considered as a promising solution for locomotion across irregular or rough terrain. While wheeled or tracked robots require flat surface like...     

Comparative characterization of particle emissions from asbestos and non-asbestos cement roof slates

The first aim of this study was to characterise total and size-fractionated particulate matter (PM) aerosol, including fibres, released from the processing operations of cement roofing slates. The second aim was to compare particle emissions from asbestos-cement and non-asbestos cement sheets, with respect to total and size-fractionated particulate matter as well as fibres emissions. Asbestos and cellulose-based cement sheets were compared during slate treatment processes, namely crushing, rubbing, rasping and scrubbing. Generated PM and fibres were classified by a variety of methods (PM_2.5 and PM₁₀ cyclones, aerodynamic particle spectrometer and optical particle counter). A substantial variation in the mass of generated particles has been noticed, both within each PM fraction and between different treatment processes. The PM₁₀/PM_total concentration ratio ranged from 70 to 98% and PM_2.5/PM_total ratio equalled to ∼20%. The new generation non-asbestos sheets produced three times higher PM emissions than asbestos-cement sheets during crushing operation. Particle size distribution of number concentrations was mostly bimodal (two modes at 0.5 and 2.5 μm). With respect to fibres, the release of cellulose fibres from non-asbestos slates was from 1.8 to 13 times lower in comparison with asbestos fibres. At the same time, cellulose fibre length was 1.4–1.6 times lower. Hence, new generation non-asbestos roofing slates were proved to be less hazardous from the point of view of fibre release, but more hazardous with respect to total particle release.     

Quantitative analysis of the effects of ultrasound from an odor sprayer on moth flight behavior

A piezoelectric sprayer was recently developed for precision release of odor stimuli in olfactory research. The device replaces conventional dispensers used to release semiochemicals in studies of moth flight toward odor sources. However, the device generates high-frequency sounds in the range that some moths can hear. Ultrasound from the standard set-up sprayer had a considerable impact on flight behavior of the silver Y moth, Autographa gamma, tested in a flight tunnel. It was affected at all behavioral stages when the dispenser was driven at 120 kHz. Only 5% of the moths reached the source when exposed to 120-kHz sound from the dispenser compared to 65% in the control group without sound. The proportion taking flight was also reduced. Hearing threshold curves obtained electrophysiologically revealed that moths were sensitive to the frequency range at which the sprayer was operated and that sound intensity from the sprayer was up to 40 dB above the moths' electrophysiological hearing threshold. The audiogram for A. gamma was similar to audiograms obtained for other noctuids. Hearing sensitivity was highest at around 15 kHz, where the threshold was 35 dB SPL (sound pressure level). The threshold increased with frequency up to 94 dB SPL at 160 kHz. We improved the sprayer to operate at 300 kHz, which is beyond the hearing ability of most insects with ears. At this high frequency, the moths' sensitivity to ultrasound is reduced considerably, and we did not observe any effect on flight behavior compared to a control group without sound. Accordingly, this new piezoelectric sprayer can be used with ultrasound-sensitive insects and insensitive insects alike.     

Effects of energy retrofits on Indoor Air Quality in multifamily buildings

We assessed 45 multifamily buildings (240 apartments) from Finland and 20 (96 apartments) from Lithuania, out of which 37 buildings in Finland and 15 buildings in Lithuania underwent energy retrofits. Building characteristics, retrofit activities, and energy consumption data were collected, and Indoor Air Quality (IAQ) parameters, including carbon monoxide (CO), nitrogen dioxide (NO₂), formaldehyde (CH₂O), selected volatile organic compounds (benzene, toluene, ethylbenzene, and xylenes (BTEX), radon, and microbial content in settled dust were measured before and after the retrofits. After the retrofits, heating energy consumption decreased by an average of 24% and 49% in Finnish and Lithuanian buildings, respectively. After the retrofits of Finnish buildings, there was a significant increase in BTEX concentrations (estimated mean increase of 2.5 µg/m³), whereas significant reductions were seen in fungal (0.6‐log reduction in cells/m²/d) and bacterial (0.6‐log reduction in gram‐positive and 0.9‐log reduction in gram‐negative bacterial cells/m²/d) concentrations. In Lithuanian buildings, radon concentrations were significantly increased (estimated mean increase of 13.8 Bq/m³) after the retrofits. Mechanical ventilation was associated with significantly lower CH₂O concentrations in Finnish buildings. The results and recommendations presented in this paper can inform building retrofit studies and other programs and policies aimed to improve indoor environment and health.     

Thin Film Deposition Using Spray Pyrolysis

Spray pyrolysis has been applied to deposit a wide variety of thin films. These films were used in various devices such as solar cells, sensors, and solid oxide fuel cells. It is observed that often the properties of deposited thin films depend on the preparation conditions. An extensive review of the effects of spray parameters on film quality is given to demonstrate the importance of the process of optimization. The substrate surface temperature is the most critical parameter as it influences film roughness, cracking, crystallinity, etc. Processes involved in the spray pyrolysis technique are discussed in this review as well.     

Zirconia coatings deposited by electrostatic spray deposition. Influence of the process parameters

The influence of electrostatic spray deposition (ESD) process parameters such as the substrate temperature, the precursor solution flow rate and the nozzle-to-substrate distance on the morphology of YSZ thin coatings was studied. Each parameter was studied separately and the correlation between them was found in order to optimise the experimental conditions where dense, continuous zirconia coatings can be successfully deposited.     

Influence of Short-Chain Carboxylic Acids on the Mechanical Properties and Structure of Coagulated Alumina Suspensions

Three different short-chained carboxylic acids, formic, acetic, and propionic acid, were compared as additives to increase the green strength of wet particle networks produced with the direct coagulation casting process, which allows the internal coagulation of a suspension. Small acid additions do not alter the favorable low viscosity of the stabilized slurry, and yet increase the compressive strength of wet coagulated bodies. The strengthening effect increases with increasing chain length of the carboxylic acid. The maximum effect was observed upon addition of propionic acid (0.3 wt% to alumina), which resulted in a sixfold increase in compressive strength of wet coagulated bodies compared with that without propionic acid.