Autonomous ground vehicle path tracking

Autonomous ground vehicle navigation requires the integration of many technologies such as path planning, position and orientation sensing, vehicle control, and obstacle avoidance. The work presented here focuses on the control of a nonholonomic ground vehicle as it tracks a given path. A new path tracking technique called “vector pursuit” is presented. This new technique is based on the theory of screws, which was developed by Sir Robert Ball in 1900. It generates a desired vehicle turning radius based on the vehicle's current position and orientation relative to the position of a point ahead on the planned path and the desired orientation along the path at that point. The vector pursuit algorithm is compared to other geometrical approaches, and it is shown to be more robust, resulting in more accurate path tracking. © 2004 Wiley Periodicals, Inc.     

Reward discounting as a measure of impulsive behavior in a psychiatric outpatient population.

Impulsivity has been operationalized as a choice of an immediate smaller reward over a larger delayed or uncertain reward. This study examined a procedure that measures reward preference under these contingencies in psychiatric outpatients considered either at a high or low risk for engaging in impulsive behavior depending on their psychiatric diagnoses. The participants' rates of delay and uncertainty reward discounting were compared with their performances on a behavioral inhibition task and responses on a self-report personality impulsivity measure. The high-risk participants discounted delayed rewards more sharply and scored higher on the self-report impulsivity measure relative to the low-risk participants. Delay and uncertainty discounting were modestly correlated, but no other relationships were found between the other measures. Results from this study indicate that delay-discounting tasks may be sensitive to at least one form of impulsive behavior. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Investigation on The Efficiency of Acceleration Feedback in Servomechanism With Friction

Friction is known to cause positioning and tracking problems for mechanism with friction. At low velocities, friction models are not well defined and measurements are ill-conditioned. Acceleration feedback was found to be an interesting approach to deal with those problems. In this paper, motivations for using acceleration feedback in cases of mechanisms with friction are investigated. By examining its effect on the positioning problem of a servomechanism, power transfer analysis is used to demonstrate the efficiency of the acceleration feedback at low velocities. From this conclusion, a Proportional-Derivative-Acceleration feedback controller is proposed. The design of the acceleration feedback gain is performed using an optimal control design approach where the contribution of the acceleration feedback is minimized. Both simulation and experimental results are used to demonstrate the approach.     

A multi‐tracers analysis of sources and transfers of particulate organic matter in a tropical reservoir (Petit Saut,French Guiana)

We measured the organic carbon (OC) content, the isotopic composition, the C/N ratios and the photosynthetic pigment composition of suspended matter, sediments, sediments traps and epiphytic and epilithic biofilms at the tropical Sinnamary River system (French Guiana). Our sampling included the mid‐stream reservoir lake (Petit Saut) and the estuary on the Atlantic coast. These tracers were complementary and allowed identifying different sources of particulate organic matter (POM) in the system. We found a δ¹³C–C/N signature of POM close to that of soils and litters collected in the surrounding forest, both for water column and sediment at the upstream station as well as for the sediment in a littoral zone of the reservoir, which thus indicated a terrestrial origin. Plankton communities at the centre of the reservoir were dominated by Chlorophyceae (chlorophyll a (Chl a), chlorophyll b (Chl b) and lutein) in the oxic epilimnion and by anoxygenic phototrophic bacteria, namely Chlorobiaceae (bacteriochlorophyll d (BChl d) and bacteriochlorophyll c (BChl c)) at and below the oxycline (6 m depth). In addition, this planktonic material was slightly ¹³C‐depleted due to a contribution of methanotrophic bacteria. Phytoplankton and bacterioplankton were the major source of settling material collected in the traps at all depths in the centre of the reservoir. In the traps, POM was subject to intense degradation, as revealed by C/N and isotopic data and by the presence of pheopigments. In the river downstream of the dam, Chl b, lutein, BChl c and d originating from the reservoir progressively decreased downstream as the result of mineralization. At the estuarine mouth, fucoxanthin showed the presence of diatoms and the δ¹³C‐C/N signature matched that of POM carried by the Amazonian coastal mobile mud belt. By analysing sedimentation rates in the reservoir and its outflow into the river, we were able to provide a first estimates of POM transfers in this system during the sampling period. Copyright © 2008 John Wiley & Sons, Ltd.     

Intergranular corrosion on Nd:YAG laser‐welded A653 steel for automotive application

Laser welding techniques produce a narrower heat‐affected zone than other conventional welding methods. However, laser welding is not exempt from high heat input during the welding process. This high heat input results in changes of the material properties including its corrosion behaviour; the formation of the heat affected zone increases the susceptibility of the material to intergranular attack. The residue of zinc at the weld due to condensation and splashing during the welding process may also influence adversely the corrosion behaviour of the material. The degree of susceptibility to corrosion strongly depends on the welding parameters. Electrochemical and microstructure characterisation were employed to study the influence of Nd:YAG (neodymium yttrium aluminium garnet) laser‐welding on an A653 galvanized steel at different welding parameters.     

Robot control via robust estimated state feedback

The problem of controlling a robot manipulator without needing the precise knowledge of the robot model physical parameters and by using only angular position feedback is considered. Sliding observers are used to estimate the link velocities. This observer and a nonlinear control law are modified, according to the Leitmann procedure, in order to face uncertainties on the robot model parameters and to yield locally exponentially closed-loop systems. The use of discontinuous functions seems to be necessary to reach exponential stability for this particular problem formulation. The same type of results would be difficult, if not impossible, to obtain using only nonlinear smooth functions because the switching terms generate a special kind of dynamics into the sliding patch, which is created only by the sign functions     

Domain interactions of the peripheral preprotein Translocase subunit SecA

The homodimeric SecA protein is the peripheral subunit of the preprotein translocase in bacteria. It binds the preprotein and promotes its translocation across the bacterial cytoplasmic membrane by nucleotide modulated coinsertion and deinsertion into the membrane. SecA has two essential nucleotide binding sites (NBS; Mitchell & Oliver, 1993): The high-affinity NBS-I resides in the amino-terminal domain of the protein, and the low-affinity NBS-II is localized at 2/3 of the protein sequence. The nucleotide-bound states of soluble SecA were studied by site directed tryptophan fluorescence spectroscopy, tryptic digestion, differential scanning calorimetry, and dynamic light scattering. A nucleotide-induced conformational change of a carboxy-terminal domain of SecA was revealed by Trp fluorescence spectroscopy. The Trp fluorescence of a single Trp SecA mutant containing Trp775 decreased and increased upon the addition of NBS-I saturating concentrations of ADP or AMP-PNP, respectively. DSC measurements revealed that SecA unfolds as a two domain protein. Binding of ADP to NBS-I increased the interaction between the two domains whereas binding of AMP-PNP did not influence this interaction. When both NBS-I and NBS-II are bound by ADP, SecA seems to have a more compact globular conformation whereas binding of AMP-PNP seems to cause a more extended conformation. It is suggested that the compact ADP-bound conformation resembles the membrane deinserted state of SecA, while the more extended ATP-bound conformation may correspond to the membrane inserted form of SecA.