Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper.     

Chemoattraction between fry of Arctic char [Salvelinus alpinus (L.)] studied in a Y-maze fluviarium

Attraction of fry of Arctic char [Salvelinus alpinus (L.)] to water conditioned by conspecifics of the same age was studied in a Y-maze fluviarium. Two types of experiments were run. In up-swimming tests (1), starting from the common leg of the Y-maze, a single fish was given the choice of entering one of the two upstream arms. In gradient tests (2), the momentary positions of a single char were time-lapse photographed in a test yard of this common shank. Strong attraction to conditioned water was observed in both types of tests.     

Upgrading of gas oils: the HDS kinetics of dibenzothiophene and its derivatives in real gas oil

The hydrodesulphurization (HDS) of dibenzothiophene (DBT), 4-methyl dibenzothiophene (4 M-DBT), 4,6-dimethyl dibenzothiophene (4,6 DM-DBT) and 4,6-diethyl dibenzothiophene (4,6 DE-DBT) as real gas oil components on NiMo/Al₂O₃ catalyst was investigated. On the basis of the first order rate constants of HDS of the individual sulphur compounds reactivities of the investigated compounds decreased in the order DBT ≫ 4 M-DBT > 4,6 DE-DBT ≈ 4,6 DM-DBT. Apparent activation energies of HDS of above sulphur compounds increased from 80.0 to 120.5 kJ/mol.     

FT-IR spectroscopic study of hydrogen bonding in PA6/clay nanocomposites

Fourier transform infrared spectroscopy was used to investigate PA6/clay nanocomposites (PA6CN) with various cooling histories from the melt, including rapid cooling (water-quenched), middle-rate cooling (air-cooling) and slow cooling (mold-cooling). In contrast to pure PA6 dominated by the α-phase, the addition of clay silicate layers favor the formation of the γ-crystalline phase in PA6CN.We focus on the reason why silicate layers favor the formation of γ-phase in PA6. Vaia et al. suggested that the addition of clay layers forces the amide groups of PA6 out of the plane formed by the chains. This results in conformational changes of the chains, which limits the formation of H-bonded sheets so that the γ-phase is favored. If this assumption is correct, PA6CN is expected to show some differences as compared with PA6 with respect to hydrogen bonding.The silicate layers were indeed found to weaken the hydrogen bonding both in the α- and γ-phases. This was also confirmed by X-ray diffraction studies. The γ-phase is most likely concentrated in regions close to the silicate layers, whereas the α-phase is favored in the bulk matrix.     

Effect of γ-irradiation on strength of concrete for nuclear-safety structures

Concrete applied for construction of nuclear power plant (NPP) Temelín (Czech Republic) has been exposed to γ-irradiation up to dose 6×10⁵ Gy. Depending on the level of irradiation, changes in strength, porous structure and phase composition of the concrete have been studied. It is found that irradiation lowers both the strength of concrete (about 10%) and volume (resp. surface) of porous space. On the other hand, γ-irradiation increases the ratio of calcite, CaCO₃, in the concrete. Observed effects are discussed with respect to safety of NPPs.     

Scalable Realistic Rendering with Many‐Light Methods

Recent years have seen increasing attention and significant progress in many‐light rendering, a class of methods for efficient computation of global illumination. The many‐light formulation offers a unified mathematical framework for the problem reducing the full lighting transport simulation to the calculation of the direct illumination from many virtual light sources. These methods are unrivaled in their scalability: they are able to produce plausible images in a fraction of a second but also converge to the full solution over time. In this state‐of‐the‐art report, we give an easy‐to‐follow, introductory tutorial of the many‐light theory; provide a comprehensive, unified survey of the topic with a comparison of the main algorithms; discuss limitations regarding materials and light transport phenomena and present a vision to motivate and guide future research. We will cover both the fundamental concepts as well as improvements, extensions and applications of many‐light rendering.     

Persistent problems and practices in information systems development: a study of mobile applications development and distribution

The widespread uptake of mobile technologies has witnessed a re‐structuring of the mobile market with major shifts in the predominance of particular firms and the emergence of new business models. These sociotechnical trends are significant in the ways that they are influencing and shaping the working lives of software professionals. Building on prior research investigating the persistent problems and practices of systems development, this paper examines mobile applications development and distribution. A qualitative study of 60 developers based in Sweden, the UK and the USA was analysed around the interrelated problems of diversity, knowledge and structure. The analysis revealed how platform‐based development in an evolving mobile market represents significant changes at the business environment level. These changes ripple through and accentuate ongoing trends and developments, intensifying the persistent problems and challenges facing software developers.     

Simple and economic syntheses of some (Z)-7- and (Z)-9-alkenyl acetates,and of (E,Z)-7,9-dodecadien-1-yl acetate,the sex pheromone of the European grapevine moth,using aleuritic acid as a common starting material

Short syntheses of (Z)-7-dodecen-1-yl acetate, (Z)-7-tetradecen-1-yl acetate, (Z)-9-dodecen-1-yl acetate, and (Z)-9-tetradecen-1-yl acetate from 7-hydroxyheptanal and 9-oxononanoic acid precursors obtained by oxidative cleavage of easily available aleuritic acid are reported. The key step in these syntheses is a stereoselective Wittig reaction between aldehyde and alkyl-phosphonium salt. Wittig-Horner type reaction of 7-hydroxyheptanal and diethyl cyanomethylphosphonate gave the ,-unsaturated nitrile derivative which after protection of the hydroxyl group was reduced to the corresponding aldehyde. Wittig reaction of the latter, followed by acetylation, completed the synthesis of (E,Z)-7,9-dodecadien-1-yl acetate, the sex pheromone of the European grapevine mothLobesia botrana Schiff.     

The min-dist location selection and facility replacement queries

We propose and study a new type of location optimization problem, the min-dist location selection problem: given a set of clients and a set of existing facilities, we select a location from a given set of potential locations for establishing a new facility, so that the average distance between a client and her nearest facility is minimized. The problem has a wide range of applications in urban development simulation, massively multiplayer online games, and decision support systems. We also investigate a variant of the problem, where we consider replacing (instead of adding) a facility while achieving the same optimization goal. We call this variant the min-dist facility replacement problem. We explore two common approaches to location optimization problems and present methods based on those approaches for solving the min-dist location selection problem. However, those methods either need to maintain an extra index or fall short in efficiency. To address their drawbacks, we propose a novel method (named MND), which has very close performance to the fastest method but does not need an extra index. We then utilize the key idea behind MND to approach the min-dist facility replacement problem, which results in two algorithms names MSND and RID. We provide a detailed comparative cost analysis and conduct extensive experiments on the various algorithms. The results show that MND and RID outperform their competitors by orders of magnitude.