Spatially constrained coordinated navigation for a multi-robot system

In this paper we present a method for navigating a multi-robot system through an environment while additionally maintaining a predefined set of constraints. Examples for constraints are the requirement to maintain a direct line-of-sight between robots or to ensure that the multi-robot system maintains communication. Our approach is based on graph structures that model movements and constraints separately, in order to cover different kind of robots and a large class of possible constraints. Additionally, the separation of movement and constraint graph allows us to use known graph algorithms like Steiner tree heuristics or the multi-point relay algorithm to solve the problem of finding a target configuration for the robots. To connect the movements of the robots with the given constraints, we introduce separated connection graphs which allow assembling valid navigation plans fast. This paper presents some theoretical insight into the problem of coordinated navigation for multi-robot systems with spatial constraints as well as a practical solution. Experiments in simulation and with real robots show the feasibility of the approach.     

Evaluation of MR-induced hot spots for different temporal SAR modes using a time-dependent finite difference method with explicit temperature gradient treatment

An investigation of magnetic resonance (MR)-induced hot spots in a high-resolution human model is performed, motivated by safety aspects for the use of MR tomographs. The human model is placed in an MR whole body resonator that is driven in a quadrature excitation mode. The MR-induced hot spots are studied by varying the following: (1) the temporal specific absorption rate (SAR) mode ("steady imaging", "intermittent imaging"), (2) the simulation procedure (related to given power levels or to limiting temperatures), and (3) different thermal tissue properties including temperature-independent and temperature-dependent perfusion models. Both electromagnetic and thermodynamic simulations have been performed. For the electromagnetic modeling, a commercial finite-integration theory (FIT) code is applied. For the thermodynamic modeling, a time-domain finite-difference (FD) scheme is formulated that uses an explicit treatment of temperature gradient components. This allows a flux-vector-based implementation of heat transfer boundary conditions on cubical faces. It is shown that this FD scheme significantly reduces the staircase errors at thermal boundaries that are locally sloped or curved with respect to the cubical grid elements.     

Insights into the Adhesive Mechanisms of Tree Frogs using Artificial Mimics

Elastic, microstructured surfaces (hydrophobic and hydrophilic) mimicking the surface structure of tree‐frog toe‐pads are fabricated. Their adhesion and friction behaviour in the presence of a liquid layer is evaluated and compared to flat controls. Tree‐frog‐like patterns are beneficial for wet adhesion only if the liquid does not wet the surface. The situation is different in friction, where the surface structure lead to significantly higher friction forces only if the liquid does wet the surface. Taking into account that tree‐frog attachment pads are hydrophilic and that their secretion wets all kind of surfaces, our results indicate that the surface structure in tree‐frog toe‐pads has been developed for climbing, when shear (friction) forces are involved. These results evidence the benefits and limitations of the surface design (microstructure and hydrophilicity) for adhesion and friction under wet conditions.     

Environmental monitoring aware routing: making environmental sensor networks more robust

Wireless Sensor Networks (WSNs) have a broad application range in the area of monitoring and surveillance tasks. Among these tasks, disaster detection or prevention in environmental scenarios is one typical application for WSN. Disasters may for example be forest fires, volcano outbreaks or flood disasters. Here, the monitored events have the potential to destroy the sensor devices themselves. This has implications for the network lifetime, performance and robustness. While a fairly large body of work addressing routing in WSNs exists, little attention has been paid to the aspect of node failures caused by the sensed phenomena themselves. This paper presents a proactive routing method that is aware of the node’s destruction threat and adapts the routes accordingly, before node failure results in broken routes, delay and power consuming route re-discovery. The performance of the presented routing scheme is evaluated and compared to OLSR based routing in the same scenario.     

Polymer/bioactive glass nanocomposites for biomedical applications: A review

Nanoscale bioactive glasses have been gaining attention due to their reported superior osteoconductivity when compared to conventional (micron-sized) bioactive glass materials. The combination of bioactive glass nanoparticles or nanofibers with polymeric systems enables the production of nanocomposites with potential to be used in a series of orthopedic applications, including scaffolds for tissue engineering and regenerative medicine. This review presents the state of art of the preparation of nanoscale bioactive glasses and corresponding composites with biocompatible polymers. The recent developments in the preparation methods of nano-sized bioactive glasses are reviewed, covering sol–gel routes, microemulsion techniques, gas phase synthesis method (flame spray synthesis), laser spinning, and electro-spinning. Then, examples of the preparation and properties of nanocomposites based on such inorganic bionanomaterials are presented, obtained using various polymer matrices, including polyesters such as poly(hydroxybutyrate), poly(lactic acid) and poly(caprolactone), and natural-based polymers such as polysaccharides (starch, chitin, chitosan) or proteins (silk fibroin, collagen). The physico-chemical, mechanical, and biological advantages of incorporating nanoscale bioactive glasses in such biodegradable nanocomposites are discussed and the possibilities to expand the use of these materials in other nanotechnology concepts aimed to be used in different biomedical applications are also highlighted.     

Dynamic Collapse Mechanisms in Metal Foam Expansion

The study provides insight into decomposition of titanium hydride as foaming agent for powder metallurgically produced aluminum foams. Decomposition is characterized using thermal and kinetic analysis, allowing prediction of decomposition reactions. Such predictions are made for various time–temperature cycles, which are experimentally evaluated in parallel foaming experiments. A new explanation of foam collapse is derived from the results, which interprets hints at a maximum gas release rate, limiting maximum expansion, in terms of the existence of a maximum cell wall stretching rate and expanding foam can sustain. Thus a dynamic collapse criterion is added to existing static ones.     

The effect of physical aging on the embrittlement of steam-sterilized polycarbonate

Polycarbonate is known to suffer from dramatic reductions in ductility upon exposure to hot, humid environments, such as during steam sterilization. Two phenomena have been proposed to be the main causes of this embrittlement: hydrolysis and microcavity formation. The present study focuses on a third phenomenon, whose contribution to the embrittlement has until now been considered insignificant: (physical) aging. By studying the influence of steam sterilization on the tensile deformation behavior of polycarbonate, it is shown that aging actually is one of the dominant factors in the embrittlement.     

Campylobacter contamination in broiler carcasses and correlation with slaughterhouses operational hygiene inspection

This study investigates factors associated with Campylobacter contamination of broiler carcasses, using survey data collected from nine Belgian slaughterhouses in 2008 in accordance with a European Union baseline study. Campylobacter were detected in 51.9% (202/389) (95% confidence interval, 46.8%-56.9%) of broiler carcasses. Campylobacter concentration was <10 CFU/g in 49.6% of carcasses, while 20.6% were contaminated with ≥1000 CFU/g. The mean Campylobacter concentration, as calculated by maximum likelihood estimation for left-censored data, was 1.8 log₁₀ CFU/g, with a standard deviation of 1.9 log₁₀ CFU/g. There was statistically significant variation among slaughterhouses in prevalence and concentrations of Campylobacter in their sampled carcasses. Campylobacter prevalence (but not concentrations) was positively associated with increase in broilers age. Both Campylobacter prevalence and concentration were significantly higher in carcasses sampled during June and September (but not in July and August) than carcasses sampled in January. We also investigated the correlation (Spearman’s rank correlation test) between the scores of official control inspections and Campylobacter prevalence for eight out of the nine slaughterhouses. The control inspections were routinely performed by the Belgian Federal Agency for the Safety of the Food Chain, and the concluded inspection scores were used as a general numerical indicator for the status of operational hygiene and quality of management in the slaughterhouses. Ranking of slaughterhouses based on their inspection scores was statistically correlated (Spearman’s correlation coefficient = 0.857) with their ranking based on prevalence of Campylobacter. In the present study we demonstrate how the outcomes from a routine baseline survey could be coupled with other readily available data from national control authorities in order to enable a better insight over Campylobacter contamination status in broiler slaughterhouses. Findings from this work call for subsequent in-depth investigations on technical and hygiene management factors that could impact Campylobacter contamination across broiler slaughterhouses.     

Neptunium(V) coprecipitation with calcite

Coprecipitation experiments of Np(V) and U(VI) with calcite were performed in mixed-flow reactors under steady state conditions at room temperature for up to 400 h at precipitation rates of 1.0 x 10(-8) to 6.8 x 10(-8) mol/(m2 s). The saturation index with respect to calcite varied between 0.04 and 0.95. Initial Np(V) or U(VI) concentrations were 1 micromol/L, 0.01 mol/L NaCl was used as background electrolyte, and pH ranged from 7.8 to 12.8. Partition coefficients for Np(V) were in the range of 0.5-10.3, compared to 0.02 for U(VI). Np L(III) and U L(III) EXAFS were used to characterize the local structural environment of the incorporated actinides. In the case of U(VI), the structural environment is not unambiguously characterized. Our data suggest that Np(V) ions occupy calcium lattice sites. The two axial oxygen atoms of the linear neptunyl moiety substitute two calcite carbonate groups in the first coordination sphere. Thus, four carbonate groups coordinate the neptunyl-ion in a monodentate fashion with four equatorial oxygen atoms (Oeq) at 2.4 A and associated carbon atoms (C) at 3.2 A. The interatomic distances indicate slight structural relaxation of the carbonate groups from their ideal sites. A similar structural model has been reported for U(VI) incorporated into natural calcite.