Multi-rigid-body dynamics and online model predictive control for transformable multi-links aerial robot*

Transformable multi-links aerial robots have great potentials in application relying on the transformable features to change its shape during the flight. Compared to traditional quadrotor robots, transformable multi-links robots are equipped with servo motor between links. To simplify the non-linear dynamic system, the previous work restricts the robot to transform in very slow speed so that the robot could be approximated as a quadrotor robot at each time point. However, tradeoff comes as the dynamic performance is given up. In this paper, we come up with a new framework combining of computationally efficient non-linear model predictive controller and motion primitive to optimize thrust force and joints trajectory of the multi-links aerial robot. Finally, we verify our framework with fast transformation motions and table tennis task which requires dynamic performance.     

Preparation of avidin-containing polyelectrolyte microcapsules and their uptake and release properties

Avidin-containing polyelectrolyte microcapsules were prepared by a layer-by-layer deposition technique and uptake and release of biotin-labelled fluorescein (b-FITC) was studied. The polyelectrolyte microcapsules were prepared by coating the surface of calcium carbonate (CaCO₃) microparticles containing avidin-poly(styrene sulfonate) (PSS) conjugate, followed by dissolution of CaCO₃ core in an ethylenediaminetetraacetic acid solution. Release of avidin from the microcapsules was markedly suppressed due to formation of a high molecular weight of avidin-PSS conjugate in the microcapsules. The uptake of b-FITC into the microcapsules was highly enhanced through a strong binding of b-FITC to avidin, as compared to the uptake into avidin-free microcapsules. Release of b-FITC from the microcapsules was accelerated upon addition of biotin, 2-iminobiotin, or lipoic acid in the solution due to the competitive binding of the additives to the binding site of avidin.     

Symmetric lithium-ion cell based on lithium vanadium fluorophosphate with ionic liquid electrolyte

Lithium vanadium fluorophosphate, LiVPO₄F, was utilized as both cathode and anode for fabrication of a symmetric lithium-ion LiVPO₄F//LiVPO₄F cell. The electrochemical evolution of the LiVPO₄F//LiVPO₄F cell with the commonly used organic electrolyte LiPF₆/EC-DMC has shown that this cell works as a secondary battery, but exhibits poor durability at room temperature and absolutely does not work at increased operating temperatures. To improve the performance and safety of this symmetric battery, we substituted a non-flammable ionic liquid (IL) LiBF₄/EMIBF₄ electrolyte for the organic electrolyte. The symmetric battery using the IL electrolyte was examined galvanostatically at different rates and operating temperatures within the voltage range of 0.01–2.8 V. It was demonstrated that the IL-based symmetric cell worked as a secondary battery with a Coulombic efficiency of 77% at 0.1 mA cm⁻² and 25 °C. It was also found that the use of the IL electrolyte instead of the organic one resulted in the general reduction of the first discharge capacity by about 20–25% but provided much more stable behavior and a longer cycle life. Moreover, an increase of the discharge capacity of the IL-based symmetric battery up to 120 mA h g⁻¹ was observed when the operating temperature was increased up to 80 °C at 0.1 mA cm⁻². The obtained electrochemical behavior of both symmetric batteries was confirmed by complex-impedance measurements at different temperatures and cycling states. The thermal stability of LiVPO₄F with both the IL and organic electrolytes was also examined.     

Mechanical behavior of a single polymer chain in a non-solvent

Mechanical properties of a single polystyrene chain in mixtures of dioxane and methanol were measured with AFM. The effect of the solubility of the surrounding liquid on mechanical behavior of a polymer chain was examined. In good and Θ solvents, the force-extension curves exhibit a freely jointed chain (FJC)-like trend with good reproducibility. In a non-solvent, the profile of force-extension curve was dependent on the extension speed: an FJC-like nature emerged at the lower speed of 200 nm/s while saw-toothed curves were obtained at the higher speed of 2000 nm/s. The shape of saw-toothed curves varied from measurement to measurement. A force relaxation was also observed in the non-solvent under a fixed extension distance after 2000 nm/s extension. The mechanical behavior in non-solvents suggests that inhomogeneous deformation of a PS chain occurs due to reduction of the chain mobility.     

On-Line Unsupervised Outlier Detection Using Finite Mixtures with Discounting Learning Algorithms

Outlier detection is a fundamental issue in data mining, specifically in fraud detection, network intrusion detection, network monitoring, etc. SmartSifter is an outlier detection engine addressing this problem from the viewpoint of statistical learning theory. This paper provides a theoretical basis for SmartSifter and empirically demonstrates its effectiveness. SmartSifter detects outliers in an on-line process through the on-line unsupervised learning of a probabilistic model (using a finite mixture model) of the information source. Each time a datum is input SmartSifter employs an on-line discounting learning algorithm to learn the probabilistic model. A score is given to the datum based on the learned model with a high score indicating a high possibility of being a statistical outlier. The novel features of SmartSifter are: (1) it is adaptive to non-stationary sources of data; (2) a score has a clear statistical/information-theoretic meaning; (3) it is computationally inexpensive; and (4) it can handle both categorical and continuous variables. An experimental application to network intrusion detection shows that SmartSifter was able to identify data with high scores that corresponded to attacks, with low computational costs. Further experimental application has identified a number of meaningful rare cases in actual health insurance pathology data from Australia's Health Insurance Commission.     

Monolithiation of 5,5′‐Dibromo‐2,2′‐bithiophene Using Flow Microreactors: Mechanistic Implications and Synthetic Applications

The lithiation of 5,5′‐dibromo‐2,2′‐bithiophene with one equivalent of an alkyllithium such as n‐BuLi or s‐BuLi was studied by varying the residence time in flow microreactors. With a short residence time, the product 2,2′‐bithiophene (3) derived from dilithiation was obtained preferentially and a significant amount of the starting material 5,5′‐dibromo‐2,2′‐bithiophene remained unchanged. An increase in the residence time caused a higher yield of the product 5‐bromo‐2,2′‐bithiophene derived from monolithiation with expense in the yields of 2,2′‐bithiophene and 5,5′‐dibromo‐2,2′‐bithiophene. The lithiation using MeLi gave the product 5‐bromo‐2,2′‐bithiophene preferentially even with a very short residence time.     

High-dose,intermediate-temperature neutron irradiation effects on silicon carbide composites with varied fiber/matrix interfaces

SiC/SiC composites are promising structural candidate materials for various nuclear applications over the wide temperature range of 300–1000 °C. Accordingly, irradiation tolerance over this wide temperature range needs to be understood to ensure the performance of these composites. In this study, neutron irradiation effects on dimensional stability and mechanical properties to high doses (11–44 dpa) at intermediate irradiation temperatures (?600 °C) were evaluated for Hi-Nicalon Type-S or Tyranno-SA3 fiber–reinforced SiC matrix composites produced by chemical vapor infiltration. The influence of various fiber/matrix interfaces, such as a 50–120 nm thick pyrolytic carbon (PyC) monolayer interphase and 70–130 nm thick PyC with a subsequent PyC (?20 nm)/SiC (?100 nm) multilayer, was evaluated and compared with the previous results for a thin-layer PyC (?20 nm)/SiC (?100 nm) multilayer interphase. Four-point flexural tests were conducted to evaluate post-irradiation strength, and SEM and TEM were used to investigate microstructure. Regardless of the fiber type, monolayer composites showed considerable reduction of flexural properties after irradiation to 11–12 dpa at 450–500 °C; and neither type showed the deterioration identified at the same dose level at higher temperatures (>750 °C) in a previous study. After further irradiation to 44 dpa at 590–640 °C, the degradation was enhanced compared with conventional multilayer composites with a PyC thickness of ?20 nm. Multilayer composites have shown comparatively good strength retention for irradiation to ?40 dpa, with moderate mechanical property degradation beginning at 70–100 dpa. Irradiation-induced debonding at the F/M interface was found to be the major cause of deterioration of various composites.     

Synthesis and surface properties of novel fluoroalkyl end-capped amphiphilic fullerene cooligomers

New fluoroalkyl end-capped fullerene cooligomers were prepared by the reactions of fluoroalkanoyl peroxides with fullerene and comonomers such as acryloylmorpholine, N,N-dimethylacrylamide and acrylic acid. These fluorinated fullerene cooligomers were easily soluble in water and common organic solvents, and were able to reduce the surface tensions of both water and benzene, quite effectively. Additionally, these fullerene cooligomers were found to form a stable monomolecular film at the air-water interface, and the modified polystyrene surface treated with these cooligomers was shown to have a strong hydrophilicity with good oil repellency.