Visiting pebbles on rectangular grids: coordinating multiple robots in mobile fulfilment systems

Intelligent Service Robotics - Multi-robot path finding and coordination is one of the key performance-affecting subsystems of the overall robotic order fulfilment process for use in warehouse...     

Isothermal section at 1673 K of the Mo–Ru–Si diagram and crystallographic structures of ternary phases

Efforts to improve the high temperature behavior of MoSi₂ in oxidizing environments led to the investigation of the Mo–Ru–Si phase diagram. The isothermal section at 1673 K was determined by X-ray diffraction, optical and scanning electron microscopies and EPMA. Five new silicides were identified and their crystallographic structure was characterized using conventional and synchrotron X-ray as well as neutron powder diffraction. Mo₁₅Ru₃₅Si₅₀, denoted α-phase, is of FeSi-type structure, space group P2₁3, a=4.7535 (5) Å, D_x=7.90 g. cm⁻³, Bragg R=7.13. Mo₆₀Ru₃₀Si₁₀ is the ordered extension of the Mo₇₀Ru₃₀ σ-phase with space group P4₂/mnm, a=9.45940(8) Å, c=4.94273(5) Å, D_x=6.14 g. cm⁻³, Bragg R=5.75.     

High Figure of Merit (FOM) of Bragg Modes in Au‐Coated Nanodisk Arrays for Plasmonic Sensing

Gold‐coated nanodisk arrays of nearly micron periodicity are reported that have high figure of merit (FOM) and sensitivity necessary for plasmonic refractometric sensing, with the added benefit of suitability for surface‐enhanced Raman scattering (SERS), large‐scale microfabrication using standard photolithographic techniques and a simple instrumental setup. Gold nanodisk arrays are covered with a gold layer to excite the Bragg modes (BM), which are the propagative surface plasmons localized by the diffraction from the disk array. This generates surface‐guided modes, localized as standing waves, leading to highly confined fields confirmed by a mapping of the SERS intensity and numerical simulations with 3D finite element method. The optimal gold‐coated nanodisk arrays are applied for refractometric sensing in transmission spectroscopy with better performance than nanohole arrays and they are integrated to a 96‐well plate reader for detection of IgY proteins in the nanometer range in PBS. The potential for sensing in biofluids is assessed with IgG detection in 1:1 diluted urine. The structure exhibits a high FOM of up to 46, exceeding the FOM of structures supporting surface plasmon polaritons and comparable to more complex nanostructures, demonstrating that subwavelength features are not necessary for high‐performance plasmonic sensing.     

Selective reduction of GluR2 protein in adult hippocampal CA3 neurons following status epilepticus but prior to cell loss

Kainic acid (KA) induces status epilepticus and delayed neurodegeneration of CA3 hippocampal neurons. Downregulation of glutamate receptor 2 (GluR2) subunit mRNA [the alpha-amino-3-hydroxy-5-methyl-4-isoxazole-propionic acid (AMPA) subunit that limits Ca2+ permeability] is thought to a play role in this neurodegeneration, possibly by increased formation of Ca2+ permeable AMPA receptors. The present study examined early hippocampal decreases in GluR2 mRNA and protein following kainate-induced status epilepticus and correlated expression changes with the appearance of dead or dying cells by several histological procedures. At 12 h, in situ hybridization followed by emulsion dipping showed nonuniform decreases in GluR2 mRNA hybridization grains overlying morphologically healthy-appearing CA3 neurons. GluR1 and N-methyl-D-aspartate receptor mRNAs were unchanged. At 12-16 h, when little argyrophilia or cells with some features of apoptosis were detected by silver impregnation or electron microscopy, single immunohistochemistry with GluR2 and GluR2/3 subunit-specific antibodies demonstrated a pattern of decreased GluR2 receptor protein within CA3 neurons that appeared to predict a pattern of damage, similar to the mRNA observations. Double immunolabeling showed that GluR2 immunofluorescence was depleted and that GluR1 immunofluorescence was sustained in clusters of the same CA3 neurons. Quantitation of Western blots showed increased GluR1:GluR2 ratios in CA3 but not in CA1 or dentate gyrus subfields. Findings indicate that the GluR1:GluR2 protein ratio is increased in a population of CA3 neurons prior to significant cell loss. Data are consistent with the "GluR2 hypothesis" that reduced expression of GluR2 subunits will increase formation of AMPA receptors permeable to Ca2+ and predict vulnerability to a particular subset of pyramidal neurons following status epilepticus.     

Classification of stable configurations of plane mirrors

We have studied the stability of systems of plane mirrors by using a new way to describe ray transformations caused by such systems. All stable systems comprising as many as three mirrors are described and classified. Besides the well-known corner cube, infinitely many stable retroreflecting and direction-preserving three-mirror systems have been found.     

Thin and thick YBCO films grown by MOCVD processes. Study of the angular magnetic field dependence of current transport properties

Thin and thick YBCO Films have been grown by Aerosol Assisted as well as by thermal MOCVD. The Aerosol Assisted MOCVD technique allows the growth of YBCO films from a single liquid source at deposition rates of up to 10m/h.Transport measurements (I-V) on etched microbridges using a single pulse technique have been performed. The angular magnetic field dependence J_c() of the critical current density from T_c down to 50 K has been measured. Transport properties are reported and discussed with respect to the microstructural features as determined by X-ray diffraction and electron microscopy.     

Localization of shapes using statistical models and stochastic optimization

In this paper, we present a new model for deformations of shapes. A pseudo-likelihood is based on the statistical distribution of the gradient vector field of the gray level. The prior distribution is based on the Probabilistic Principal Component Analysis (PPCA). We also propose a new model based on mixtures of PPCA that is useful in the case of greater variability in the shape. A criterion of global or local object specificity based on a preliminary color segmentation of the image, is included into the model. The localization of a shape in an image is then viewed as minimizing the corresponding Gibbs field. We use the Exploration/Selection (E/S) stochastic algorithm in order to find the optimal deformation. This yields a new unsupervised statistical method for localization of shapes. In order to estimate the statistical parameters for the gradient vector field of the gray level, we use an Iterative Conditional Estimation (ICE) procedure. The color segmentation of the image can be computed with an Exploration/Selection/Estimation (ESE) procedure.     

The influence of spin on second sound in superfluid3He-4He mixtures

The second-sound velocity of a superfluid mixture increases when a static and homogeneous magnetic field is applied. In particular, for dilute mixtures (molar ³ He concentration <0.1) and low temperatures, (0.1<T<0.6 K) the relative velocity increase is independent of concentration and is given by u ₂/u ₂5×10^–16 B _e ² T ^–2. It should be easily observed wheneverB _e T ^–1is larger than 10 ⁵ G K^–1 and can lead to a novel measurement of the magnetic susceptibility.