Miyaura Borylation and One‐Pot Two‐Step Homocoupling of Aryl Chlorides and Bromides under Solvent‐Free Conditions

Solvent‐free protocols for Miyaura borylation and the one‐pot, two‐step homocoupling of aryl halides are reported for the first time. Bis(dibenzylideneacetone)palladium(0) [Pd(dba)₂] is an optimal source of palladium for Miyaura borylation, while for one‐pot two‐step homocoupling palladium(II) acetate [Pd(OAc)₂] gives highest yields. Aryl bromides are coupled most efficiently using the DPEphos ligand. Chlorides are coupled using XPhos. The developed protocols are robust, versatile and easily reproducible on a large scale.

     

Profile miniaturization and performance improvement of a rectangular patch antenna using magnetic metamaterial substrates

The idea of profile miniaturization and performance improvement of a rectangular patch antenna using a metamaterial substrate with large values in the real part of effective relative permeability is proposed in microwave frequency range. The volume profile of the antenna is minimized by tuning the effective relative permeability and thickness of the substrate material. The specific type of metamaterial which can be used as substrate material for the antenna miniaturization purpose is suggested. The proposed idea is validated through finite‐difference time‐domain (FDTD) simulations for sample rectangular patch antennas with metamaterial substrates at the frequency about 10 GHz. Improvement of the power directivity is found for the metamaterial substrate with large value in the real part of effective permeability. © 2016 Wiley Periodicals, Inc. Int J RF and Microwave CAE 26:254–261, 2016.     

Visual odometry for ground vehicle applications

We present a system that estimates the motion of a stereo head, or a single moving camera, based on video input. The system operates in real time with low delay, and the motion estimates are used for navigational purposes. The front end of the system is a feature tracker. Point features are matched between pairs of frames and linked into image trajectories at video rate. Robust estimates of the camera motion are then produced from the feature tracks using a geometric hypothesize‐and‐test architecture. This generates motion estimates from visual input alone. No prior knowledge of the scene or the motion is necessary. The visual estimates can also be used in conjunction with information from other sources, such as a global positioning system, inertia sensors, wheel encoders, etc. The pose estimation method has been applied successfully to video from aerial, automotive, and handheld platforms. We focus on results obtained with a stereo head mounted on an autonomous ground vehicle. We give examples of camera trajectories estimated in real time purely from images over previously unseen distances (600 m) and periods of time. © 2006 Wiley Periodicals, Inc.     

Cooperative linear cargo transport with molecular spiders

Molecular spiders are nanoscale walkers made with DNA enzyme legs attached to a common body. They move over a surface of DNA substrates, cleaving them and leaving behind product DNA strands, which they are able to revisit. Simple one-dimensional models of spider motion show significant superdiffusive motion when the leg-substrate bindings are longer-lived than the leg-product bindings. This gives the spiders potential as a faster-than-diffusion transport mechanism. However, analysis shows that single-spider motion eventually decays into an ordinary diffusive motion, owing to the ever increasing size of the region of cleaved products. Inspired by cooperative behavior of natural molecular walkers, we propose a symmetric exclusion process model for multiple walkers interacting as they move over a one-dimensional lattice. We show that when walkers are sequentially released from the origin, the collective effect is to prevent the leading walkers from moving too far backwards. Hence, there is an effective outward pressure on the leading walkers that keeps them moving superdiffusively for longer times, despite the growth of the product region. Multi-spider systems move faster and farther than single spiders or systems with multiple simple random walkers.     

Java-MaC: A Run-Time Assurance Approach for Java Programs

We describe Java-MaC, a prototype implementation of the Monitoring and Checking (MaC) architecture for Java programs. The MaC architecture provides assurance that the target program is running correctly with respect to a formal requirements specification by monitoring and checking the execution of the target program at run-time. MaC bridges the gap between formal verification, which ensures the correctness of a design rather than an implementation, and testing, which does not provide formal guarantees about the correctness of the system.Use of formal requirement specifications in run-time monitoring and checking is the salient aspect of the MaC architecture. MaC is a lightweight formal method solution which works as a viable complement to the current heavyweight formal methods. In addition, analysis processes of the architecture including instrumentation of the target program, monitoring, and checking are performed fully automatically without human direction, which increases the accuracy of the analysis. Another important feature of the architecture is the clear separation between monitoring implementation-dependent low-level behaviors and checking high-level behaviors, which allows the reuse of a high-level requirement specification even when the target program implementation changes. Furthermore, this separation makes the architecture modular and allows the flexibility of incorporating third party tools into the architecture. The paper presents an overview of the MaC architecture and a prototype implementation Java-MaC.     

Optical monitoring of characteristics of the stratospheric aerosol layer and total ozone content at the Siberian Lidar Station (Tomsk: 56° 30′ N; 85° E)

We consider the results of long-term remote optical monitoring obtained at the Siberian Lidar Station of Institute of Atmospheric Optics, Siberian Branch, Russian Academy of Sciences, Tomsk (56° 30′ N, 85° E). The scattering characteristics of stratospheric aerosol layer, obtained according to data of lidar measurements recorded since 1986, are presented. We analyse the trends of changes in the total ozone (TO) content over Tomsk for the period 1996–2013 according to data of spectrophotometric measurements employing Total Ozone Mapping Spectrometer (TOMS) data for the period 1979–1994. We determined the periods of elevated content of stratospheric aerosol over Tomsk after a series of explosive eruptions of volcanoes in the Pacific Ring of Fire and Iceland in 2006–2011. Since the second half of the 1990s we have recorded an increasing TO trend, equalling 0.65 DU/year for the period 1996–2013.     

Shape optimization for drag reduction in linked bodies using evolution strategies

We present results from the shape optimization of linked bodies for drag reduction in simulations of incompressible flow at moderate Reynolds numbers. The optimization relies on the covariance matrix adaptation evolution strategy (CMA-ES) and the flow simulations use vortex methods with the Brinkman penalization to enforce boundary conditions in complex bodies. We exploit the inherent parallelism of CMA-ES, by implementing a multi-host framework which allows for the distribution of the expensive cost function evaluations across parallel architectures, without being limited to one computing facility. This study repeats in silico for the first time Ingo Rechenberg’s pioneering wind tunnel experiments for drag reduction that led to the inception of evolution strategies. The simulations confirm that the results of these experimental studies indicate a flat plate is not the optimal solution for drag reduction in linked bodies. We present the vorticity field of the flow and identify the governing mechanisms for this drag reduction by the slightly corrugated linked plate configuration.     

Direct Method Based Control System for an Autonomous Quadrotor

This paper proposes a real time control algorithm for autonomous operation of a quadrotor unmanned air vehicle. The quadrotor is a small agile vehicle, which as well as being a excellent test bed for advanced control techniques could also be suitable for internal surveillance, search and rescue and remote inspection. The proposed control scheme incorporates two key aspects of autonomy; trajectory planning and trajectory following. Using the differentially-flat dynamics property of the system, the trajectory optimization is posed as a non-linear constrained optimization within the output space in the virtual domain, not explicitly related to the time domain. A suitable parameterization using a virtual argument as opposed to time is applied, which ensures initial and terminal constraint satisfaction. The speed profile is optimized independently, followed by the mapping to the time domain achieved using a speed factor. Trajectory following is achieved with a standard multi-variable control technique and a digital switch is used to re-optimize the reference trajectory in the event of infeasibility or mission change. The paper includes simulations using a full dynamic model of the quadrotor demonstrating the suitability of the proposed control scheme.     

Identifying representative users in matrix factorization-based recommender systems: application to solving the content-less new item cold-start problem

Matrix factorization has proven to be one of the most accurate recommendation approaches. However, it faces one major shortcoming: the latent features that result from the factorization are not directly interpretable. Providing interpretation for these features is important not only to help explain the recommendations presented to users, but also to understand the underlying relations between the users and the items. This paper consists of 2 contributions. First, we propose to automatically interpret features as users, referred to as representative users. This interpretation relies on the study of the matrices that result from the factorization and on their link with the original rating matrix. Such an interpretation is not only performed automatically, as it does not require any human expertise, but it also helps to explain the recommendations. The second proposition of this paper is to exploit this interpretation to alleviate the content-less new item cold-start problem. The experiments conducted on several benchmark datasets confirm that the features discovered by a Non-Negative Matrix Factorization can be interpreted as users and that representative users are a reliable source of information that allows to accurately estimate ratings on new items. They are thus a promising way to solve the new item cold-start problem.