Sampling‐based hierarchical motion planning for a reconfigurable wheel‐on‐leg planetary analogue exploration rover

Reconfigurable mobile planetary rovers are versatile platforms that may safely traverse cluttered environments by morphing their physical geometry. Planning paths for these adaptive robots is challenging due to their many degrees of freedom, and the need to consider potentially continuous platform reconfiguration along the length of the path. We propose a novel hierarchical structure for asymptotically optimal (AO) sampling‐based planners and specifically apply it to the state‐of‐the‐art Fast Marching Tree (FMT*) AO planner. Our algorithm assumes a decomposition of the full configuration space into multiple subspaces, and begins by rapidly finding a set of paths through one such subspace. This set of solutions is used to generate a biased sampling distribution, which is then explored to find a solution in the full configuration space. This technique provides a novel way to incorporate prior knowledge of subspaces to efficiently bias search within existing AO sampling‐based planners. Importantly, probabilistic completeness and asymptotic optimality are preserved. Experimental results in simulation are provided that benchmark the algorithm against state‐of‐the‐art sampling‐based planners without the hierarchical variation. Additional experimental results performed with a physical wheel‐on‐leg platform demonstrate application to planetary rover mobility and showcase how constraints such as actuator failures and sensor pointing may be easily incorporated into the planning problem. In minimizing an energy objective that combines an approximation of the mechanical work required for platform locomotion with that required for reconfiguration, the planner produces intuitive behaviors where the robot dynamically adjusts its footprint, varies its height, and clambers over obstacles using legged locomotion. These results illustrate the generality of the planner in exploiting the platform's mechanical ability to fluidly transition between various physical geometric configurations, and wheeled/legged locomotion modes, without the need for predefined configurations.     

Optimized unequal error protection of embedded video bitstream using adaptive-hierarchical QAM

In this paper, a reliable video communication system using adaptive Hierarchical QAM (HQAM) is designed to provide optimized unequal error protection (UEP) to embedded video bitstreams. Based on the relative importance of bits, video bitstream is partitioned into two priorities, namely High Priority (HP) and Low Priority (LP) substreams. Then, the optimal value of modulation (or hierarchical) parameter (α) of HQAM, which controls the relative error protection of these substreams, is selected from a pre-designed look-up table. The proposed system adapts itself by adapting the optimal α according to the varying channel condition, without changing the modulation level. This is in contrast to conventional WiMAX and LTE systems, in which dynamic switching among multiple modulations is used to adapt the varying channel conditions. This paper proposes HQAM with adaptive α as an alternative to the multiple modulation schemes. Moreover, for fixed average transmission power, receiver demodulates symbols without the knowledge of α. In order to further improve the video quality and to reduce the effects of erroneously received LP bits, the proposed system uses another level of adaptation, in which received LP bits are adaptively considered or discarded, before decoding the video, depending on the channel conditions (or optimized α). Simulation results show that proposed system can achieve significant improvement in the video quality compared to QAM based EEP scheme and non-adaptive HQAM.     

Cold Spray Deposition of Freestanding Inconel Samples and Comparative Analysis with Selective Laser Melting

Cold spray offers the possibility of obtaining almost zero-porosity buildups with no theoretical limit to the thickness. Moreover, cold spray can eliminate particle melting, evaporation, crystallization, grain growth, unwanted oxidation, undesirable phases and thermally induced tensile residual stresses. Such characteristics can boost its potential to be used as an additive manufacturing technique. Indeed, deposition via cold spray is recently finding its path toward fabrication of freeform components since it can address the common challenges of powder-bed additive manufacturing techniques including major size constraints, deposition rate limitations and high process temperature. Herein, we prepared nickel-based superalloy Inconel 718 samples with cold spray technique and compared them with similar samples fabricated by selective laser melting method. The samples fabricated using both methods were characterized in terms of mechanical strength, microstructural and porosity characteristics, Vickers microhardness and residual stresses distribution. Different heat treatment cycles were applied to the cold-sprayed samples in order to enhance their mechanical characteristics. The obtained data confirm that cold spray technique can be used as a complementary additive manufacturing method for fabrication of high-quality freestanding components where higher deposition rate, larger final size and lower fabrication temperatures are desired.     

On the interaction of normal and shear stresses in multiaxial fatigue damage

One of the important issues in assessing multiaxial fatigue damage is interactions between different components of stress such as normal and shear stresses. The present study investigated this interaction effect on the fatigue behavior of materials with shear failure mode when subjected to multiaxial loading conditions. A method is introduced to model this interaction based on the idea that two types of influence are caused by the normal stress acting on the critical plane orientation. These two types of influence are affecting roughness induced closure, as well as fluctuating normal stress which affects the growth of small cracks in mode II. Shear‐based critical plane damage models which use normal stress as a secondary input, such as FS damage model, could then use the summation of these terms. In order to investigate the effect of the method, constant amplitude load paths with different levels of interaction between the normal and shear stresses, as well as variable amplitude tests with histories both taken from service loading conditions and generated using random numbers were designed for an experimental program. The proposed method was observed to result in improved fatigue life estimations where significant interactions between normal and shear stresses exist.     

Parameter Estimation Under Failure-Censored Constant-Stress Life Testing Model: A Bayesian Approach

Abstract

This article compares likelihood and Bayesian estimations for partially accelerated constant-stress life test model under type II censoring assuming Pareto distribution of the second kind. Both maximum likelihood and Bayesian estimators of the model parameters are derived. The posterior means and posterior variances are obtained under the squared error loss function using Lindley's approximation procedure. The advantages of this proposed procedure are shown. Monte Carlo simulations are conducted under different samples sizes and different parameter values to assess and compare the proposed methods of estimation. A noninformative prior on the model parameters is used to make the comparison more meaningful. It has been observed that Lindley's method usually provides posterior variances and mean squared errors smaller than those of the maximum likelihood estimators. That is, Lindley's method produces improved estimates, which is an advantage of this method.     

Nonsmooth model for dynamic simulation of phase changes

Dynamic modeling of processes involving phase changes can be challenging due to changes in the model equations caused by appearance and disappearance of equilibrium phases. Dynamic simulation of these processes requires the ability to detect the change in the number of phases and adapt the model to the new phase regime on the fly. In this work, an easy‐to‐use nonsmooth model for dynamic simulation of processes with vapor‐liquid equilibrium is presented. The presented model does not introduce any auxiliary variables or equations, nor does it require solution of an optimization problem to determine the new phase regime during the dynamic simulation. It can therefore be used for comprehensive simulation of, e.g., distillation columns, where the number of phases present can change during startup and shutdown. The nonsmooth model is illustrated through examples of an evaporator and a distillation column. © 2016 American Institute of Chemical Engineers AIChE J, 62: 3334–3351, 2016     

Phthalocyanine‐Based 2D Conjugated Metal‐Organic Framework Nanosheets for High‐Performance Micro‐Supercapacitors

2D conjugated metal‐organic frameworks (2D c‐MOFs) are emerging as a novel class of conductive redox‐active materials for electrochemical energy storage. However, developing 2D c‐MOFs as flexible thin‐film electrodes have been largely limited, due to the lack of capability of solution‐processing and integration into nanodevices arising from the rigid powder samples by solvothermal synthesis. Here, the synthesis of phthalocyanine‐based 2D c‐MOF (Ni₂[CuPc(NH)₈]) nanosheets through ball milling mechanical exfoliation method are reported. The nanosheets feature with average lateral size of ≈160 nm and mean thickness of ≈7 nm (≈10 layers), and exhibit high crystallinity and chemical stability as well as a p‐type semiconducting behavior with mobility of ≈1.5 cm² V^?1 s^?1 at room temperature. Benefiting from the ultrathin feature, the nanosheets allow high utilization of active sites and facile solution‐processability. Thus, micro‐supercapacitor (MSC) devices are fabricated mixing Ni₂[CuPc(NH)₈] nanosheets with exfoliated graphene, which display outstanding cycling stability and a high areal capacitance up to 18.9 mF cm^?2; the performance surpasses most of the reported conducting polymers‐based and 2D materials‐based MSCs.     

The plastic-crystalline phase of succinonitrile as a universal matrix for solid-state ionic conductors

Solid ionic conductors are actively sought for their potential application in electrochemical devices, particularly lithium batteries. We have found high ionic conductivity for a large variety of salts dissolved in the highly polar medium based on the plastic-crystal form of succinonitrile (N[triple bond]C[bond]CH(2)[bond]CH(2)[bond]C[triple bond]N). Its high diffusivity, plasticity and solvating power allowed the preparation of a large number of materials with high ionic conductivity, reaching values of 3 mS cm(-1) at 25 degrees C (two orders of magnitude above polymers). Their ease of preparation and processing allowed us to study the influence of the solute on ionic conduction within this medium. Comparisons revealed a dichotomy between plastic crystals and conventional polymer media. The usefulness of these new, easily processed electrolytes was asserted in electrochemical tests with lithium intercalation electrodes.