Learning perceptually grounded word meanings from unaligned parallel data

In order for robots to effectively understand natural language commands, they must be able to acquire meaning representations that can be mapped to perceptual features in the external world. Previous approaches to learning these grounded meaning representations require detailed annotations at training time. In this paper, we present an approach to grounded language acquisition which is capable of jointly learning a policy for following natural language commands such as “Pick up the tire pallet,” as well as a mapping between specific phrases in the language and aspects of the external world; for example the mapping between the words “the tire pallet” and a specific object in the environment. Our approach assumes a parametric form for the policy that the robot uses to choose actions in response to a natural language command that factors based on the structure of the language. We use a gradient method to optimize model parameters. Our evaluation demonstrates the effectiveness of the model on a corpus of commands given to a robotic forklift by untrained users.     

Enhanced Fracture Toughness in Layered Microcomposites of Ce-ZrO2 and Al2O3

Laminar composites, containing layers of Ce-ZrO₂ and either Al₂O₃ or a mixture of Al₂O₃ and Ce-ZrO₂, have been fabricated using a colloidal method that allowed formation of layers with thicknesses as small as 10 μm. Strong interactions between these layers and the martensitic transformation zones surrounding cracks and indentations have been observed. In both cases, the transformation zones spread along the region adjacent to the layer, resulting in an increased fracture toughness. The enhanced fracture toughness was observed for cracks growing parallel to the layers as well as for those that were oriented normal to the layers.     

Evaluation of hydraulic excavator Human–Machine Interface concepts using NASA TLX

This study evaluated newly proposed Human–Machine Interface (HMI) design concepts for improving the ergonomics of hydraulic excavators. The design concepts were based on an augmented interaction technique which involved the use of heads-up display (HUD) and coordinated control as HMI elements. Two alternative HMI designs were elaborated in order to separately evaluate the ergonomic impacts of the head-up display and the coordinated control by comparing them to the standard HMI design. The effectiveness of these three HMI designs in terms of the reduction of the operators' mental and physical workload were assessed by conducting experiments utilizing human subjects, ages 23–35 years. The National Aeronautics and Space Administration's Task Load Index (NASA TLX) method was used for collecting subjective workload scores based on a weighted average of ratings of six factors: Mental Demand, Physical Demand, Temporal Demand, Own Performance, Effort, and Frustration Level. The results showed that the type of HMI design affects different aspects of the operator's workload. Indeed, it showed how the proposed augmented interaction is an effective solution for reducing the ergonomic gaps in terms of mental workload, and to a lesser extent the physical workload, subjected by the standard HMI design.     

On the preparation and properties of CuZSM-5 catalysts for NO decomposition

Equilibrium exchange isotherms were determined for the exchange of Cu²⁺ with NaZSM-5 at varying Cu(Ac)₂ concentrations in solutions of constant volume and zeolite weight. At low Cu²⁺ levels the solid scavenged all the copper ions. When copper could be detected in the equilibrated solutions, overexchange was observed. The extent of overexchange was higher at pH 6 than at pH 4. These results were analyzed in relation to catalytic activity.On leave from the Central Institute for Chemistry, Hungarian Academy of Sciences, H1525 Budapest, Hungary.     

New telechelic polymers and sequential copolymers by polyfunctional initiator-transfer agents (inifers)

Summary Novel oxycarbonyl isocyanate telechelic polyisobutylenes have been prepared by conversion of hydroxylterminated polyisobutylenes with N-chlorocarbonyl isocyanate. This reaction is free from side-reactions and provides highly reactive isocyanate-terminated polyisobutylene prepolymers. Conversion of these prepolymers with glycol, urea, pentaerythritol, and polyethylene glycol led to linear chain extension, crosslinking, and multiblock copolymer formation, respectively.     

Silphinene Sesquiterpenes as Model Insect Antifeedants

Silphinene sesquiterpenes are established chrysomelid antifeedants. In this work, nine silphinene analogs, 11-acetoxy-5-angeloyloxysilphinen-3-one (1), 11-acetoxy-5-tigloyloxysilphinen-3-one (2), 11-acetoxy-5-iso- butyryloxysilphinen-3-one (3), 11-hydroxy-5-angeloyloxysilphinen-3-one (4), 11,5-dihydroxysilphinen-3-one (5), 11,5-diacetoxysilphinen-3-one (6), 5,11-diisobutyryloxysilphinen-3-one (7), silphinen-3,5,11-trione (8), and O-methyl-5-epicantabrenolic acid methyl ester (10), and a presilphiperfolane sesquiterpene (9) were tested against several divergent insect species, including the lepidopteran Spodoptera littoralis, the chrysomelid Leptinotarsa decemlineata, and five aphid species, and their antifeedant effects were compared with those of picrotoxinin, a GABA-antagonist, and thymol, an allosteric modulator for insect GABA receptors. All insects tested responded to at least one silphinene analog and/or GABA antagonist. Compound 3 and thymol were effective antifeedants against all species tested except S. littoralis, with varying potencies according to their feeding ecologies. The toxicity of these compounds was species-dependent and did not correlate with their antifeedant effect.     

Living carbocationic polymerization

Summary The living synthesis of ,-di-tert.-chloropolyisobutylene ( ^t -Cl-telechelic PIB) has been accomplished by the use of the sterically hindered bifunctional initiator 1,3-di-(2-methoxy-2-propyl)-5-tert.-butylbenzene (tBu-m-DiCuOMe) in conjunction with BC1₃ coinitiator in CH₃Cl or CH₂Cl₂ diluents at –30°C and –10°C. The living nature of the polymerizations was demonstrated by linear ¯M_n versus W_PIB (g of PIB formed) plots starting at the origin and horizontal N (number of PIB moles) versus W_PIB plots. The molecular weight distributions are narrow (¯M_W/¯M_n < 2.0) and tend to decrease with increasing molecular weights. Number average end functionalities have been quantitated and found to be ¯F_n = 2.0±0.1.     

On-line studies and computer simulation of the melt spinning of nylon-66 filaments

A mathematical model was developed to describe the high-speed melt-spinning behavior crystallizable polymers. This model included the effects of acceleration, gravity, and air friction on the kinematics of the process; temperature and molecular orientation on the crystallization kinetics of the polymer; and temperature, molecular weight, and crystallinity on the elongational viscosity of the material. Experimental on-line diameter, birefringence, and temperature profiles were obtained for a 12,000 Mn nylon-66 at 2.5 g/min spun at take-up speeds ranging from 2800 to 6600 m/min. These profiles were qualitatively and reasonably quantitatively in agreement with the predicted profiles. They indicated that orientation induced crystallization occurs at spinning speeds greater than 4000 m/min. The experimental diameter and birefringence profiles were compared to those predicted by the model using Avrami indices of 3, 2, and 1. There was a small increase in the crystalline index at the lower speeds with decreasing index. The effect of the strain hardening was more significant at the higher speeds, this being shown by decreasing the exponent in the relationship for the crystallinity on the elongational viscosity. The model developed in this study indicates that high spinning speeds provide the high stress environment that increases the molecular orientation within the fiber. It is this higher molecular orientation that is the driving force for rapid crystallization on the spinline. This rapid crystallization causes a strain hardening, preventing any further drawdown in the fiber diameter and an abrupt rise in the birefringence. This behavior closely corresponds to the observed spinline profiles.     

The influence of resin characteristics on the high speed melt spinning of isotactic polypropylene. II. On-line studies of diameter,birefringence, and temperature profiles

An investigation was carried out of the high speed melt spinning of three polypropylene resins with melt flow indices of 12, 35, and 300. On-line measurements were made of diameter, birefringence, and temperature as a function of distance from the spinneret for a range of spinning conditions for each polymer. A plateau (decrease of cooling rate) in the temperature profile was associated with the occurrence of crystallization in the spinline. The position of this plateau correlated with a rapid rise in the birefringence profile and a rapid decrease in the rate of drawdown in the diameter profile. The temperature and birefringence profiles were used to determine the temperature and position on the spinline at which the onset of crystallization occurred. It was found that the position and temperature of crystallization onset varied considerably with changes in take-up velocity, extrusion temperature, and resin melt index (weight average molecular weight). The crystallization onset occurred nearer the spinneret and at higher temperatures with (1) an increase of take-up velocity, (2) a decrease of extrusion temperature, or (3) a decrease of resin melt flow index. An analysis was carried out to estimate the rate of stress development with distance along the spinline; the results were also used to estimate the stress at the onset of crystallization for each spinning condition. It was concluded that the observed behavior could be attributed to the role of spinline stress in producing molecular orientation and consequent increase of crystallization rate.