Optimal path planning in cluttered environment using RRT*-AB

Rapidly exploring Random Tree Star (RRT*) has gained popularity due to its support for complex and high-dimensional problems. Its numerous applications in path planning have made it an active area of research. Although it ensures probabilistic completeness and asymptotic optimality, its slow convergence rate and large dense sampling space are proven problems. In this paper, an off-line planning algorithm based on RRT* named RRT*-adjustable bounds (RRT*-AB) is proposed to resolve these issues. The proposed approach rapidly targets the goal region with improved computational efficiency. Desired objectives are achieved through three novel strategies, i.e., connectivity region, goal-biased bounded sampling, and path optimization. Goal-biased bounded sampling is performed within boundary of connectivity region to find the initial path. Connectivity region is flexible enough to grow for complex environment. Once path is found, it is optimized gradually using node rejection and concentrated bounded sampling. Final path is further improved using global pruning to erode extra nodes. Robustness and efficiency of proposed algorithm is tested through experiments in different structured and unstructured environments cluttered with obstacles including narrow and complex maze cases. The proposed approach converges to shorter path with reduced time and memory requirements than conventional RRT* methods.     

3D MHD cross flow over an exponential stretching porous surface

The present study aims to investigate the effects of thermal‐diffusion and diffusion‐thermo onan magnetohydrodynamic convective flow of viscous fluids over an exponentially stretching sheet. Thermal radiation effects are also considered in the study. This analysis is carried out in three dimensions and a similarity transformation is adopted to get a set of ordinary differential equations from a set of partial differential equations. And the Fourth‐order Runge‐Kutta method and shooting technique along with the secant method are employed to find out an iterative solution. We also analyze here the influence of the variable magnetic field, nonuniform permeability and variable chemical reaction on the fluid flow. The impact of various pertinent parameters of interest has extensively been explored through graphs and tables. The major findings of the present study are that resistive Lorentz force diminishes the fluid velocity and uplifts the thermal as well as concentration fields. Inclusion of porous matrix improves the viscous drag force which in turn augments wall shear stresses and peters out the heat and mass transfer rates from the sheet. In addition, the thermal expansion coefficient has an inverse relation with temperature.     

Dispersion of nanoparticles in poly(vinyl chloride) grains during In situ polymerization

Inorganic nanoparticles such as calcium carbonate, silica, or hydrotalcite were dispersed in vinyl chloride prior to suspension polymerization. That led to the production of poly(vinyl chloride) (PVC) composite grains with higher porosity and different internal morphology from those of commercial PVC. The PVC/composite grain sizes and their distribution were also influenced by the presence of nanofillers. The distribution of filler nanoparticles (either calcium carbonate or silica) was not uniform throughout the PVC grains. Regions of high and low filler concentration were observed. Regions of pure polymer were also observed. Reasons for that are suggested. Hydrotalcite did not remain in the PVC grains. © 2011 Wiley Periodicals, Inc. J Appl Polym Sci, 2012     

Syntheses and characterization of xylan esters

A series of low-molecular weight and high-molecular weight xylan esters with different alkyl chain lengths (C2–C12) were synthesized by heterogeneous and homogeneous reactions, respectively. Structure elucidation of these xylan esters was obtained by NMR analysis. The solubility of xylan in CHCl₃ improved after esterification. DSC results did not show a melting peak for all samples. However, WAXD diffractograms show the presence of diffraction peaks. The proposed structural model for xylan ester films is presented. TGA suggested that the thermal stability of xylan increased after esterification. Xylan esters with longer alkyl chains had higher decomposition temperatures. The mechanical properties of the xylan esters were dependent on the alkyl chain length. The tensile strength and elongation at break of these xylan esters ranged from 8 to 29 MPa and from 19 to 44%, respectively. Xylan esters in HFIP can be electrospun into nanofibers.     

INFLUENCE OF AN INDUCED MAGNETIC FIELD ON PERISTALTIC TRANSPORT IN AN ASYMMETRIC CHANNEL

In this study, we investigate the effects of an induced magnetic field on the peristaltic transport of a Phan-Thien-Tanner (PTT) fluid in an asymmetric channel. Asymmetry in the flow is induced because of wave trains with different amplitudes and phases. Development of mathematical analysis is made under long wavelength and low Reynolds number approximations. Explicit expressions of stream function, pressure gradient, magnetic force function, axial induced magnetic field, and current density are derived. Computation of pressure rise is based upon numerical integration. The obtained expressions are carefully analyzed through physical interpretation.     

Old and young adults' recall of events.

In two experiments, old and young adults participated in a standardized, hierarchically organized event that involved making clay. Hierarchical structure was created by establishing a set of superordinate categories that organized and were defined by a series of subordinate actions. Immediately following participation in the event, we interviewed subjects for their memory of it. Despite our expectations that old and young would perform similarly when memory for action-based information was tested, the old reported fewer event actions than the young. Old and young performed equally well, however, when instructions were clarified in a second experiment. In both experiments memory of old and young was influenced similarly by the hierarchical structure of the event. These results suggest that the old may encounter less difficulty remembering events, at least as defined and assessed here, than other types of materials. (PsycINFO Database Record (c) 2010 APA, all rights reserved)