Robot Teams for Intervention in Confined and Structured Environments

Safety, security, and rescue robotics can be extremely useful in emergency scenarios such as mining accidents or tunnel collapses where robot teams can be used to carry out cooperative exploration, intervention, or logistic missions. Deploying a multirobot team in such confined environments poses multiple challenges that involve task planning, motion planning, localization and mapping, safe navigation, coordination, and communications among all the robots. To complete their mission, robots have to be able to move in the environment with full autonomy while at the same time maintaining communication among themselves and with their human operators to accomplish team collaboration. Guaranteeing connectivity enables robots to explicitly exchange information needed in the execution of collaborative tasks and allows operators to monitor and teleoperate the robots and receive information about the environment. In this work, we present a system that integrates several research aspects to achieve a real exploration exercise in a tunnel using a robot team. These aspects are as follows: deployment planning, semantic feature recognition, multirobot navigation, localization, map building, and real‐time communications. Two experimental scenarios have been used for the assessment of the system. The first is the Spanish Santa Marta mine, a large mazelike environment selected for its complexity for all the tasks involved. The second is the Spanish‐French Somport tunnel, an old railway between Spain and France through the Central Pyrenees, used to carry out the real‐world experiments. The latter is a simpler scenario, but it serves to highlight the real communication issues.     

Real-time blind audio source separation: performance assessment on an advanced digital signal processor

Many on-line blind audio source separation (BASS) algorithms have been presented so far to the scientific community, but only a few of them have been evaluated in terms of their real-time performance. In this paper we consider a well-established BASS method (oriented to voices separation) evaluating its performance in terms of separation quality allowed by a real-time embedded computing implementation, also considering novel and state-of-the-art improvements to the it. To this aim, the algorithm has been implemented and ported for real-time execution onto an advanced low-power digital signal processor targeted for complex-domain applications. The optimized embedded implementation is able to perform up to five iterations of the gradient for any input frame of data, achieving good separation levels (up to 11.8 dB of signal to interference ratio on custom recording in real environments). The proposed solution doubles the performance of a C-optimized version running on a traditional PC processor, achieving a better separation result with lower power requirements.     

THE INVERSE FLUIDIZATION AIRLIFT BIOREACTOR, PART I: HYDRODYNAMIC STUDIES

The inverse fiuidization airlift bioreactor offers a simple solution to the problem of handling shear sensitive cultures and/or systems requiring biofilm growth control. This unit combines in a single vessel the hydrodynamic behavior of concentric tube airlift aerators or contactors and liquid-solid fluidized beds. The effects of the diameter of the concentric tubes, liquid level, bed properties and gas flow rate on gas holdup, bed expansion and liquid circulation velocity were investigated in this study. The Zuber and Findlay relation (1965) gives satisfactory results for gas holdup. The inverse bed expansion can be predicted by the Richardson and Zaki correlation (1953). The liquid circulation velocity can be calculated using a mechanical energy balance     

Evolutionary fuzzy clustering of relational data

This paper is concerned with the computational efficiency of fuzzy clustering algorithms when the data set to be clustered is described by a proximity matrix only (relational data) and the number of clusters must be automatically estimated from such data. A fuzzy variant of an evolutionary algorithm for relational clustering is derived and compared against two systematic (pseudo-exhaustive) approaches that can also be used to automatically estimate the number of fuzzy clusters in relational data. An extensive collection of experiments involving 18 artificial and two real data sets is reported and analyzed.     

Automated robotic platforms in design and development of formulations

Product design for formulations is an active and challenging area of research. The new challenges of a fast-paced market, products of increasing complexity, and practical translation of sustainability paradigms require to re-examine the existing theoretical frameworks to include the advantages deriving from the new reality of digitalization of business and research. In this work, we review the existing approaches, clearly stating the role of automation and machine-learning-guided optimization in the broader framework. Moving from this, we review the state of the art of automated hardware and software for formulated product design, and identify the open challenges for future research. Perspectives are given on the emerging fields of automated discovery, scale-up, and multistage optimization, and a unitary picture of the existing connections is provided, in the general context of a completely digital R&D workflow.     

The Morphology Control of BaTiO3 Particles Synthesized in Water and a Water/Ethanol Solvent

The experimental conditions for the growth of shape‐controlled BaTiO₃ particles in NaOH and Ba(NO₃)₂ aqueous and water/ethanol solutions using various TiO₂‐containing precursors were studied at 80°C–100°C. The different chemistries and physical characteristics of the precursors resulted in different BaTiO₃ formation rates and morphologies_. Nanocrystalline anatase led to irregularly shaped BaTiO₃ particles, whereas star‐like, single‐crystalline BaTiO₃ particles grew from aerogel TiO₂ and sodium titanate (NT) belts in alkaline aqueous solutions. With the addition of ethanol, the star‐like BaTiO₃ particles changed to square‐like, the size of which decreased with an increase in the ethanol content. The electron microscopy observations supported a dissolution–precipitation mechanism as the primary reaction mechanism for the formation of BaTiO₃ nanocrystals, which further aggregated into single‐crystalline star‐ or square‐like particles by oriented attachment. The modification in the water solution with ethanol is believed to influence both the nucleation and aggregation process and consequently influence the particle shape and size.     

Dielectric Properties of the Fluorite-like Bi2O3–Nb2O5 Solid Solution and the Tetragonal Bi3NbO7

Our analysis of the microwave dielectric properties of the δ-Bi₂O₃–Nb₂O₅ solid solution (δ-BN_ss) showed a continuous increase in permittivity and dielectric losses with an increasing concentration of Nb₂O₅. The only discontinuity was found for the temperature coefficient of resonant frequency, which is negative throughout the entire homogeneity range but reaches a minimum value for the sample with 20 mol% Nb₂O₅. At the same composition there is a discontinuity in the grain size of the δ-BN_ss ceramics. For the sample containing 25 mol% Nb₂O₅ two structural modifications were observed. A single-phase tetragonal Bi₃NbO₇, in the literature referred to as a Type-III phase, is formed in a very narrow temperature range from 850° to 880°C. A synthesis performed below or above this temperature range resulted in the formation of the end member of the δ-BN_ss homogeneity range. Compared with the δ-BN_ss the Bi₃NbO₇ ceramics exhibit lower microwave dielectric losses, an increased conductivity, and a positive temperature coefficient of resonant frequency.     

Tuning and Switching Enantioselectivity of Asymmetric Carboligation in an Enzyme through Mutational Analysis of a Single Hot Spot

Enantioselective bond making and breaking is a hallmark of enzyme action, yet switching the enantioselectivity of the reaction is a difficult undertaking, and typically requires extensive screening of mutant libraries and multiple mutations. Here, we demonstrate that mutational diversification of a single catalytic hot spot in the enzyme pyruvate decarboxylase gives access to both enantiomers of acyloins acetoin and phenylacetylcarbinol, important pharmaceutical precursors, in the case of acetoin even starting from the unselective wild‐type protein. Protein crystallography was used to rationalize these findings and to propose a mechanistic model of how enantioselectivity is controlled. In a broader context, our studies highlight the efficiency of mechanism‐inspired and structure‐guided rational protein design for enhancing and switching enantioselectivity of enzymatic reactions, by systematically exploring the biocatalytic potential of a single hot spot.     

Glass-Free KxBa1−xGa2−xGe2+xO8 Ceramics for Low-Temperature Cofired Ceramics Technology: Synthesis, Phase Transitions, Sintering, and Microwave Dielectric Properties

K _x Ba_{1− x} Ga_{2− x} Ge_{2+ x} O₈ (0.6≤ x ≤1) polycrystalline ceramics are potential materials for glass-free low-temperature cofired ceramics (LTCC) substrates. We have made a comprehensive study of the kinetics of the monoclinic-to-monoclinic P 2₁/ a ⇔ C 2/ m phase transition. The low-temperature-stable P 2₁/ a phase with a high Q × f value was synthesized using a subsolidus method and was well sintered at the LTCC temperature with a H₃BO₃ additive. A good combination of low sintering temperature (910°–920°C), high Q × f values (96 700–104 500 GHz), low permittivities (5.6–6.0), and a small temperature coefficient of resonant frequency (∼−20 ppm/°C) was obtained for ceramics with x =0.67 and 0.9 and with 0.1 wt% of H₃BO₃.