Thermodynamics of ionic-association in aqueous solutions of Ca and Mg organic salts using ion-selective electrode technique—II. benzoate, o-toloate, o-chlorobenzoate and salycylate

The stoichiometric association constants, K, the thermodynamic association constant, K_A, and the other thermodynamic parameters such as ΔS°, ΔH° and ΔG° for the association between each of the Ca and Mg ions with benzoate, o-toloate, o-chlorobenzoate and salycylate have been determined at 25°C, 35°C and 45°C in aqueous media. Ion-selective electrode technique has been used in the measurements of Ca and Mg ion activitiesThe trend of association behavior of both Ca and Mg aromatic salts could not be explained on the basis of pK_a of the mother organic acids but could be explained based on the trend of Hammet function σ of these salts themselves relative to the corresponding benzoate salt.     

Quality assessment of 3D synthesized images based on structural and textural distortion

Depth image based rendering (DIBR) is a popular technique for rendering virtual 3D views in stereoscopic and autostereoscopic displays. The quality of DIBR-synthesized images may decrease due to various factors, e.g., imprecise depth maps, poor rendering techniques, inaccurate camera parameters. The quality of synthesized images is important as it directly affects the overall user experience. Therefore, the need arises for designing algorithms to estimate the quality of the DIBR-synthesized images. The existing 2D image quality assessment metrics are found to be insufficient for 3D view quality estimation because the 3D views not only contain color information but also make use of disparity to achieve the real depth sensation. In this paper, we present a new algorithm for evaluating the quality of DIBR generated images in the absence of the original references. The human visual system is sensitive to structural information; any deg radation in structure or edges affects the visual quality of the image and is easily noticeable for humans. In the proposed metric, we estimate the quality of the synthesized view by capturing the structural and textural distortion in the warped view. The structural and textural information from the input and the synthesized images is estimated and used to calculate the image quality. The performance of the proposed quality metric is evaluated on the IRCCyN IVC DIBR images dataset. Experimental evaluations show that the proposed metric outperforms the existing 2D and 3D image quality metrics by achieving a high correlation with the subjective ratings.

     

Temperature and processing effects on lithium ion conductivity of solution-deposited lithium zirconium phosphate (LiZr2P3O12) thin films

Lithium zirconium phosphate (LiZr₂P₃O₁₂) thin films have been prepared on platinized silicon substrates via a chemical solution deposition approach with processing temperatures between 700°C and 775°C. Films that were subject to a single high-temperature anneal were found to crystallize at temperatures above 725°C. Crystallization was observed in films annealed after each deposited layer at 700°C and above. In both cases, grain size was found to increase with annealing temperature. Ion conductivity was found to increase with annealing temperature in singly annealed films. In per-layer annealed films ion conductivity was found to initially increase then decrease with increasing annealing temperature. A maximum ion conductivity of 1.6 × 10⁻⁶ S/cm was observed for the singly annealed 775°C condition, while a maximum ion conductivity of 5.8 × 10⁻⁷ S/cm was observed for the 725°C per-layer annealed condition. These results are consistent with an increasing influence of cross-plane, internal interface resistance and vapor phase carrier loss in the per-layer annealed samples. This work demonstrates that post-deposition processing methods can strongly affect the ion conducting properties of LiZr₂P₃O₁₂ thin films.     

Development of Si3Na/Al composite by pressureless melt infiltration

Pressureless infiltration process to synthesize Si3N4/Al composite was investigated. Al-2%Mg alloy was infiltrated into Si3N4 and Si3N4 containing 10% Al2O3 preforms in the atmosphere of nitrogen. It is possible to infiltrate Al-2%Mg alloy in Si3N4 and Si3N4 containing 10% Al2O3 preforms. The growth of the dense composite of useful thickness was facilitated by the presence of magnesium powder at the interface and by flowing nitrogen. During infiltration Si3N4 reacted with aluminium to form Si and AIN, the growth of composite was found to proceed in two ways, depending on the Al2O3 content in the initial preform. Firstly, preform without Al2O3 content gives rise to AIN, Al3.27Si0.47 and Al type phases after infiltration. Secondly, perform with 10% Al2O3 content gives rise to AIN-Al2O3 solid solution phase （AION）, MgAl2O4, Al and Si type phases. AlON phase was only present in composite, containing 10% Al2O3 in the Si3N4 preforms before infiltration.     

Behavior of residual carbon in Sm(Co, Fe, Cu, Zr)z permanent magnets

When sintered Sm(Co, Fe, Cu, Zr)_z permanent magnets are prepared by metal injection molding, some organic binders are added in alloy powder, which leads to much residual carbon in the magnets. The residual carbon decreases magnetic properties and destroys the microstructure of the magnets. In this paper, the behavior of carbon in Sm(Co, Fe, Cu, Zr)_z permanent magnets has been studied. The results indicate that Sm(Co, Fe, Cu, Zr)_z magnets can keep excellent magnetic properties when the carbon content is below 0.1 wt.%: Br ≥ 10 kGs, H_cj ≥ 22 kOe, BH_max ≥ 25 MGOe. When the carbon content is above 0.1 wt.%, Br, H_cj and BH_max decrease with increasing carbon content evidently. Carbon consumes Zr content and forms ZrC, which reduces the volume fraction of the lamella and Sm(Co, Cu)₅ phases. Thus, the cell size increases and the cellular microstructure deteriorates. When the carbon content reaches 0.43 wt.%, there is not enough Sm(Co, Cu)₅ phase to form a uniform cellular microstructure. Br, H_cj and BH_max are approximate to zero. Since carbon has little influence on the content of Sm₂(Co, Fe)₁₇ phase, Ms can keep a high value (≥100 emu/g). ZrC has high melting point (3420 °C) and acts as dispersion particle in the magnets, which prevents the grains of SEM structure growing and reduces the liquid content of green compacts during sintering. Therefore, the density of the magnets decreases.     

Dependable Low‐altitude Obstacle Avoidance for Robotic Helicopters Operating in Rural Areas

This paper presents a system enabling robotic helicopters to fly safely without user interaction at low altitude over unknown terrain with static obstacles. The system includes a novel reactive behavior‐based method that guides rotorcraft reliably to specified locations in sparsely occupied environments. System dependability is, among other things, achieved by utilizing proven system components in a component‐based design and incorporating safety margins and safety modes. Obstacle and terrain detection is based on a vertically mounted off‐the‐shelf two‐dimensional LIDAR system. We introduce two flight modes, pirouette descent and waggle cruise, which extend the field of view of the sensor by yawing the aircraft. The two flight modes ensure that all obstacles above a minimum size are detected in the direction of travel. The proposed system is designed for robotic helicopters with velocity and yaw control inputs and a navigation system that provides position, velocity, and attitude information. It is cost effective and can be easily implemented on a variety of helicopters of different sizes. We provide sufficient detail to facilitate the implementation on single‐rotor helicopters with a rotor diameter of approximately 1.8 m. The system was extensively flight‐tested in different real‐world scenarios in Queensland, Australia. The tests included flights beyond visual range without a backup pilot. Experimental results show that it is feasible to perform dependable autonomous flight using simple but effective methods. © 2013 Wiley Periodicals, Inc.     

An Improved Hybrid Indoor Positioning Algorithm via QPSO and MLP Signal Weighting

Accurate location or positioning of people and self-driven devices in large indoor environments has become an important necessity The application of increasingly automated self-operating moving transportation units, in large indoor spaces demands a precise knowledge of their positions. Technologies like WiFi and Bluetooth, despite their low-cost and availability, are sensitive to signal noise and fading effects. For these reasons, a hybrid approach, which uses two different signal sources, has proven to be more resilient and accurate for the positioning determination in indoor environments. Hence, this paper proposes an improved hybrid technique to implement a fingerprinting based indoor positioning, using Received Signal Strength information from available Wireless Local Area Network access points, together with the Wireless Sensor Networks technology. Six signals were recorded on a regular grid of anchor points, covering the research space. An optimization was performed by relative signal weighting, to minimize the average positioning error over the research space. The optimization process was conducted using a standard Quantum Particle Swarm Optimization, while the position error estimate for all given sets of weighted signals was performed using a Multilayer Perceptron (MLP) neural network. Compared to our previous research works, the MLP architecture was improved to three hidden layers and its learning parameters were finely tuned. These experimental results led to the 20% reduction of the positioning error when a suitable set of signal weights was calculated in the optimization process. Our final achieved value of 0.725 m of the location incertitude shows a sensible improvement compared to our previous results.     

Group decision making process for supplier selection with VIKOR under fuzzy environment

During recent years, how to determine suitable suppliers in the supply chain has become a key strategic consideration. However, the nature of supplier selection is a complex multi-criteria problem including both quantitative and qualitative factors which may be in conflict and may also be uncertain. The VIKOR method was developed to solve multiple criteria decision making (MCDM) problems with conflicting and non-commensurable (different units) criteria, assuming that compromising is acceptable for conflict resolution, the decision maker wants a solution that is the closest to the ideal, and the alternatives are evaluated according to all established criteria. In this paper, linguistic values are used to assess the ratings and weights for these factors. These linguistic ratings can be expressed in trapezoidal or triangular fuzzy numbers. Then, a hierarchy MCDM model based on fuzzy sets theory and VIKOR method is proposed to deal with the supplier selection problems in the supply chain system. A numerical example is proposed to illustrate an application of the proposed model.     

Guidance and nonlinear control system for autonomous flight of minirotorcraft unmanned aerial vehicles

Small unmanned aerial vehicles (UAVs) are becoming popular among researchers and vital platforms for several autonomous mission systems. In this paper, we present the design and development of a miniature autonomous rotorcraft weighing less than 700 g and capable of waypoint navigation, trajectory tracking, visual navigation, precise hovering, and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini‐ and microrotorcraft, an embedded and inexpensive autopilot was developed. To compensate for the weaknesses of the low‐cost equipment, we put our efforts into designing a reliable model‐based nonlinear controller that uses an inner‐loop outer‐loop control scheme. The developed flight controller considers the system's nonlinearities, guarantees the stability of the closed‐loop system, and results in a practical controller that is easy to implement and to tune. In addition to controller design and stability analysis, the paper provides information about the overall control architecture and the UAV system integration, including guidance laws, navigation algorithms, control system implementation, and autopilot hardware. The guidance, navigation, and control (GN&C) algorithms were implemented on a miniature quadrotor UAV that has undergone an extensive program of flight tests, resulting in various flight behaviors under autonomous control from takeoff to landing. Experimental results that demonstrate the operation of the GN&C algorithms and the capabilities of our autonomous micro air vehicle are presented. © 2009 Wiley Periodicals, Inc.