Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

Pollen morphological investigations of family Cactaceae and its taxonomic implication by light microscopy and scanning electron microscopy

The family Cactaceae is the diversified group of angiosperm plants whose pollen statistics has been used for taxonomic identification. In this article, we present the pollen morphology of eight species belong to seven taxonomically complex genera of Cactaceae including Astrophytum, Cylindropuntia, Echinocereus, Echinopsis, Mammillaria, Opuntia, and Thelocactus using light and scanning electron microscopy. The pollen grains were acetolyzed, measured, described, and electron photomicrographs were taken. Cactaceae can be characterized by presenting different palynomorphological features including pollen type, sculpturing, polar and equatorial diameter, aperture orientation, exine thickness, P/E ratio, and echini features. Four types of pollen shapes, that is, prolate spheroidal (three species), subprolate (two species), prolate (two species), and oblate spheroidal in Echinocereus reichenbachii were observed. The polar and equatorial diameter observed maximum in O. ficus indica 116.95 and 112.27 μm while minimum in M. compressa 38.42 and 21.05 μm. Pollen of two types, tricolpate in members of subfamily Cactioideae and pantoporate in the Opuntioideae were examined. The fertility percentage has been observed maximum in Opuntia macrocentra (83.84%) and minimum in Opuntia ficus‐indica (57.89%). Exine sculpturing showing great variations such as granulate, reticulate, granulate perforate and micro‐echinate foveolate ornamentation was examined only in Echinopsis eyriesii. A key to species, based on pollen micromorphological attributes, has been constructed for correct identification of complex cactus species.     

Optimized Intelligent Auto-Regressive Neural Network Model (ARNN) for Prediction of Non-Linear Exogenous Signals

Wireless Personal Communications - The paper presents a prediction of non-linear exogenous signal by optimized intelligent auto-regressive neural network model (ARNN). A signal comprises of two...     

Resource Leveling in Line‐of‐Balance Scheduling

Resource leveling involves minimizing resource fluctuations without changing the completion time of a project. A smooth distribution of resources minimizes logistical problems and results in cost savings. Line‐of‐balance (LOB) is a resource‐based scheduling system that is used in projects that exhibit repetitive characteristics, performs resource allocation as a matter of course, but does not deal with resource leveling. In the past, researchers experienced declines in productivity whenever they leveled resources in different linear scheduling models by adjusting activities’ production rates. The objective of this research is to develop a genetic algorithm‐based resource leveling model for LOB schedules that does not impact productivity negatively. This model is based on the “natural rhythm” principle, according to which a crew of optimum size will be able to complete an activity in the most productive way. The “natural rhythm” principle allows shifting the start time of an activity at different units by adjusting the number of crews without changing the duration of the activity in any one unit and without violating the precedence relationships between activities. An LOB schedule is established for a pipeline project and is used to illustrate the proposed resource leveling model. It was observed that the model provides a smoother resource utilization histogram. Performing resource leveling in LOB scheduling without sacrificing productivity is the major contribution of the proposed model.     

Facile Synthesis of Ferrocene-Based Polyamides and Their Organic Analogues Terpolyamides: Influence of Aliphatic and Aromatic Sequences on Physico-Chemical Characteristics

Efforts have been devoted to synthesize and characterize processable polymers with desired properties. Herein, four different series of aromatic and aliphatic terpolyamides were prepared via solution phase polycondensation of 4,4′-oxydianiline and hexamethylenediamine (HMDA) with various diacids chlorides (isophthalyol dichloride, terepthalyol dichloride, 1, 1′-ferrocene dicarboxylic acid chloride and trans-azobenzene-4, 4′-dicarbonyl chloride). The structural, morphological and physico-chemical nature of as prepared polymers was explored by Fourier-transform infrared spectroscopy, scanning electron microscopy, thermal analysis (TGA and DSC), and wide-angle x-ray diffraction. Moreover, an aliphatic diamine was incorporated in varying concentration as a flexible methylene spacer and the effect of its concentration on the properties of polyamides was also studied. Changes in various physico-chemical properties such as solubility, inherent viscosity, surface morphology and flame retarding behaviour were investigated. Marked difference in morphology and solubility was observed with the change in the ratio of segments in the chain. Inherent viscosities of polymers ranged from 1.8052–1.6274 dl/g indicating reasonably moderate molecular weights. Interestingly, ferrocene based aromatic polymers were more thermally stable (T_g 260 °C, T_i 310 °C, T_h 525 °C, T_f 720 °C, for PF₀), and also found to exhibit best flame retarding behavior (limiting oxygen index value for PF₀is LOI 33.15%).

     

Second generation bioethanol (SGB) production potential in Turkey

Energy demand is increasing by the years. Population's needs and technological investments bring the new approach about generating energy. It is considered that fossil fuels will not be able to respond to all energy requirements after approximately 150 years. Turkey imports nearly all of its petroleum and so this causes major economic problems. Turkey, as a major cereal producer, has a huge potential to grow energy crops and other cellulosic biomaterials and can obtain plant's residues, which are suitable to produce second generation bioethanol (SGB). With domestic production, bioethanol can reduce the dependence of petroleum for Turkey, and greenhouse gas emissions can be decreased. Taking into account Turkey's situation in fuel–oil consumption, costliness of gasoline and environmentally hazardous specification of fossil fuels, bioethanol gains more importance and increases in value. Especially, SGB production is rising. Foodstuffs are valuable, and producing ethanol from directly those materials can cause a crisis in Turkey because lignocellulosic bioethanol is becoming prominent. In this regard, bioethanol production in Turkey becomes a major alternative to petroleum and may be a key to new and clean energy source. Copyright © 2013 John Wiley & Sons, Ltd.     

Preparation and characterization of strong cation exchange terpolymer resin as effective adsorbent for removal of disperse dyes

In this study, (hydroxypropylmethacrylate-co-ethyleneglycol dimethacrylate-co-glycidylmetharylate) terpolymer resin functionalized with sulfonic acid groups was prepared and used as cation exchange resin for removal of two different disperse dyes (i.e., Direct Red R [DR-R] and Disperse Violet 28 [DV-28]) from aqueous solution. The properties of the adsorbent were determined using Fourier transform infrared, dynamic light scattering, scanning electron microscopy, and Brunauer, Emmett, and Teller methods. The maximum adsorption capacity of the resin for the DR-R and DV-28 was found to be 86.1 and 179.6 mg/g, respectively. Desorption study was realized to evaluate the reusability of the resin and the percent desorption from the resin for DR-R and DV-28 dyes was found to be approximately 89.4% and 91.7%, respectively. The experimental data were evaluated using different kinetics and isotherm models. These results show that the experimental data could be designated with the second-order kinetic model and both Langmuir and Temkin isotherm models. Finally, the presented resin was able to remove large amounts of organic pollutants in a short process time with a low amount of adsorbent. Thus, it was shown that the prepared resin has high potential for use as an effective and sustainable adsorbent for the treatment of industrial wastewater. POLYM. ENG. SCI., 60:192–201, 2020. © 2019 Society of Plastics Engineers