An observer-based approach for the projection onto a 2d-curve under movement

Standard path control laws of autonomous vehicles use the shortest distance between the vehicle’s position and the path as a control error. In order to determine this distance, the projection point onto the path needs to be determined continuously. This requires fast algorithms that feature high numerical reliability in the field of vehicle application.This paper presents two different observer-based approaches for the projection problem. The identity observer reconstructs all states of interest for path control. The second one, a reduced observer, only possesses the curve parameter as a state and calculates the other values by algebraic formulas. Both algorithms consider the continuous movement of the vehicle, the run of the curve, and work without any approximation of the curve. Furthermore, they are applicable for arbitrary parameterized smooth curves, guarantee the required numerical stability, have short calculating time, and show good statistical properties. The performance is shown in several simulations as well as under real conditions.     

The joint movement of pebbles in solving the ($$N^2-1$$)-puzzle suboptimally and its applications in rule-based cooperative path-finding

The present paper deals with the problem of solving the (\(n^2 - 1\))-puzzle and cooperative path-finding (CPF) problems sub-optimally by rule-based algorithms. To solve the puzzle, we need to rearrange \(n^2 - 1\) pebbles in the \(n \times n\)-sized square grid using one vacant position to achieve the goal configuration. An improvement to the existing polynomial-time algorithm is proposed and experimentally analyzed. The improved algorithm represents an attempt to move pebbles in a more efficient way compared to the original algorithm by grouping them into so-called snakes and moving them together as part of a snake formation. An experimental evaluation has shown that the snakeenhanced algorithm produces solutions which are 8–9 % shorter than the solutions generated by the original algorithm. Snake-like movement has also been integrated into the rule-based algorithms used in solving CPF problems sub-optimally, which is a closely related task. The task in CPF consists in moving a group of abstract robots on an undirected graph to specific vertices. The robots can move to unoccupied neighboring vertices; no more than one robot can be placed in each vertex. The (\(n^2 - 1\))-puzzle is a special case of CPF where the underlying graph is a 4-connected grid and only one vertex is vacant. Two major rule-based algorithms for solving CPF problems were included in our study—BIBOX and PUSH-and-SWAP (PUSH-and-ROTATE). The use of snakes in the BIBOX algorithm led to consistent efficiency gains of around 30 % for the (\(n^2 - 1\))-puzzle and up to 50 % in for CPF problems on biconnected graphs with various ear decompositions and multiple vacant vertices. For the PUSH-and-SWAP algorithm, the efficiency gain achieved from the use of snakes was around 5–8 %. However, the efficiency gain was unstable and hardly predictable for PUSH-and-SWAP.     

Polarized light imaging of white matter architecture

Polarized light imaging (PLI) is a method to image fiber orientation in gross histological brain sections based on the birefringent properties of the myelin sheaths. The method uses the transmission of polarized light to quantitatively estimate the fiber orientation and inclination angles at every point of the imaged section. Multiple sections can be assembled into a 3D volume, from which the 3D extent of fiber tracts can be extracted. This article describes the physical principles of PLI and describes two major applications of the method: the imaging of white matter orientation of the rat brain and the generation of fiber orientation maps of the human brain in white and gray matter. The strengths and weaknesses of the method are set out.     

Ergonomics for the workers in Sweden

This article is in three sections. The first describes a number of radical new Swedish laws dealing with the working environment and ergonomics. The second section gives a method of problem identification which has been developed within Ergolab. Finally, a discussion is given of how better working conditions can be developed in close co-operation with the workers.     

Lithium Intercalation Compound Dramatically Influences the Electrochemical Properties of Exfoliated MoS2

MoS₂ and other transition metal dichalcogenides (TMDs) have recently gained a renewed interest due to the interesting electronic, catalytic, and mechanical properties which they possess when down‐sized to single or few layer sheets. Exfoliation of the bulk multilayer structure can be achieved by a preliminary chemical Li intercalation followed by the exfoliation due to the reaction of Li with water. Organolithium compounds are generally adopted for the Li intercalation with n‐butyllithium (n‐Bu‐Li) being the most common. Here, the use of three different organolithium compounds are investigated and compared, i.e., methyllithium (Me‐Li), n‐butyllithium (n‐Bu‐Li) and tert‐butyllithium (t‐Bu‐Li), used for the exfoliation of bulk MoS₂. Scanning transmission electron microscopy (STEM), Raman spectroscopy, X‐ray photoelectron spectroscopy (XPS), and cyclic voltammetry (CV) are adopted for a comprehensive characterization of all materials under investigation. In addition, catalytic properties towards the hydrogen evolution reaction (HER) and capacitive properties are also tested. Different organolithium compounds exhibit different extent of Li intercalation resulting in different degrees of exfoliation. The inherent electrochemical behavior of MoS₂ consisting of significant anodic and cathodic peaks as well as its capacitive behavior and catalytic properties towards hydrogen evolution reaction are strongly connected to the exfoliation compound used. This research significantly contributes to the development of large‐scale synthesis of electrocatalytic MoS₂‐based materials.