Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP

We will in this paper address the problem of offline path planning for Unmanned Aerial Vehicles (UAVs). Our goal is to find paths that meet mission objectives, are safe with respect to collision and grounding, fuel efficient and satisfy criteria for communication. Due to the many nonconvex constraints of the problem, Mixed Integer Linear Programming (MILP) will be used in finding the path. Approximate communication constraints and terrain avoidance constraints are used in the MILP formulation. To achieve more accurate prediction of the ability to communicate, the path is then analyzed in the radio propagation toolbox SPLAT!, and if the UAVs are not able to communicate according to design criteria for bandwidth, constraints are modified in the optimization problem in an iterative manner. The approach is exemplified with the following setup: The path of two UAVs are planned so they can serve as relay nodes between a target without line of sight to the base station.     

Multiple model bank selection based on nonlinearity measure and H-gap metric

This paper provides a systematic method for model bank selection in multi-linear model analysis for nonlinear systems by presenting a new algorithm which incorporates a nonlinearity measure and a modified gap based metric. This algorithm is developed for off-line use, but can be implemented for on-line usage. Initially, the nonlinearity measure analysis based on the higher order statistic (HOS) and the linear cross correlation methods are used for decomposing the total operating space into several regions with linear models. The resulting linear models are then used to construct the primary model bank. In order to avoid unnecessary linear local models in the primary model bank, a gap based metric is introduced and applied in order to merge similar linear local models. In order to illustrate the usefulness of the proposed algorithm, two simulation examples are presented: a pH neutralization plant and a continuous stirred tank reactor (CSTR).     

Breaking Symmetries and Constraints: Transitions from 2D to 3D in Passive Walkers

The inherent dynamics of bipedal, passive mechanisms are studiedto investigate the relation between motions constrained to two-dimensional (2D)planes and those free to move in a three-dimensional (3D) environment. Inparticular, we develop numerical and analytical techniques usingdynamical-systems methodology to address the persistence and stabilitychanges of periodic, gait-like motions due to the relaxation ofconfiguration constraints and the breaking of problem symmetries. Theresults indicate the limitations of a 2D analysis to predictthe dynamics in the 3D environment. For example, it is shownhow the loss of constraints may introduce characteristically non-2Dinstability mechanisms, and how small symmetry-breaking terms may result inthe termination of solution branches.     

Experimental setup for camera-based measurements of electrically and optically stimulated luminescence of silicon solar cells and wafers

We report in detail on the luminescence imaging setup developed within the last years in our laboratory. In this setup, the luminescence emission of silicon solar cells or silicon wafers is analyzed quantitatively. Charge carriers are excited electrically (electroluminescence) using a power supply for carrier injection or optically (photoluminescence) using a laser as illumination source. The luminescence emission arising from the radiative recombination of the stimulated charge carriers is measured spatially resolved using a camera. We give details of the various components including cameras, optical filters for electro- and photo-luminescence, the semiconductor laser and the four-quadrant power supply. We compare a silicon charged-coupled device (CCD) camera with a back-illuminated silicon CCD camera comprising an electron multiplier gain and a complementary metal oxide semiconductor indium gallium arsenide camera. For the detection of the luminescence emission of silicon we analyze the dominant noise sources along with the signal-to-noise ratio of all three cameras at different operation conditions.     

Osteoblast cell response to surface-modified carbon nanotubes

In order to investigate the interaction of cells with modified multi-walled carbon nanotubes (MWCNTs) for their potential biomedical applications, the MWCNTs were chemically modified with carboxylic acid groups (–COOH), polyvinyl alcohol (PVA) polymer and biomimetic apatite on their surfaces. Additionally, human osteoblast MG-63 cells were cultured in the presence of the surface-modified MWCNTs. The metabolic activities of osteoblastic cells, cell proliferation properties, as well as cell morphology were studied. The surface modification of MWCNTs with biomimetic apatite exhibited a significant increase in the cell viability of osteoblasts, up to 67.23%. In the proliferation phases, there were many more cells in the biomimetic apatite-modified MWCNT samples than in the MWCNTs–COOH. There were no obvious changes in cell morphology in osteoblastic MG-63 cells cultured in the presence of these chemically-modified MWCNTs. The surface modification of MWCNTs with apatite achieves an effective enhancement of their biocompatibility.     

Stabilization of pluronic gels in the presence of different polysaccharides

Several different polysaccharides have been added to pluronic F127 (poloxamer 407) gels to test their ability to stabilize the gels against dissolution in aqueous media over time. The studied polysaccharides include κ‐carrageenan, chitosan, hyaluronic acid, pectin, alginate, hydroxyethylcellulose, and ethyl(hydroxyethyl)cellulose. Although all the considered polysaccharides slowed down the dissolution time of the pluronic gels, unmodified polysaccharides only had a modest stabilization effect. However, hydrophobic modification of polysaccharides with a sufficiently long hydrocarbon chain (C₁₆) was found to partly prevent the gels from dissolving for more than 6 months. Shorter hydrocarbon chains did not have the same effect, even at high degrees of hydrophobicity. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2014 , 131, 40465.     

Investigation on PEM water electrolysis cell design and components for a HyCon solar hydrogen generator

Hydrogen as a secondary energy carrier promises a large potential as a long term storage for fluctuating renewable energies. In this sense a highly efficient solar hydrogen generation is of great interest especially in southern countries having high solar irradiation. The patented Hydrogen Concentrator (HyCon) concept yields high efficiencies combining multi-junction solar cells with proton exchange (PEM) membrane water electrolysis. In this work, a special PEM electrolysis cell for the HyCon concept was developed and investigated. It is shown that the purpose-made PEM cell shows a high performance using a titanium hybrid fiber sinter function both as a porous transport layer and flow field. The electrolysis cell shows a high performance with 1.83 V at 1 A/cm² and 24 °C working under natural convection with a commercially available catalyst coated membrane. A theoretical examination predicts a total efficiency for the HyCon module from sunlight to hydrogen of approximately 19.5% according to the higher heating value.     

A neurophysiologically‐based analysis of lightness and brightness perception

Psychophysical, achromatic luminance threshold, and scaling data have been analyzed and found to follow from nonlinear, hyperbolic responses of retinal cones. For short (0.1 s) stimulus duration, a stable state of visual adaptation could explain the threshold response, but for longer durations a change of adaptation had to be considered. This resulted in a contrast sensitivity that increased when the stimulus duration increased and became constant for higher test field luminances. Threshold and scaling data can thus be traced back to cone‐specific responses over a much larger range of stimulus intensity than has been anticipated earlier. The experimental results, including those for lightness and brightness scaling, have been compared with the CIELAB and the CIEDE2000 color formulas. The idea of combining cone responses with adaptive changes to describe luminance responses resulted in a common cone‐based response formula for describing both luminance thresholds and scaling data. Adaptive changes explain the reason why both Weber–Fechner and Stevens’ laws are valid. © 2015 Wiley Periodicals, Inc. Col Res Appl, 41, 339–351, 2016