Distributed Cooperative Outdoor Multirobot Localization and Mapping

The subject of this article is a scheme for distributed outdoor localization of a team of robots and the use of the robot team for outdoor terrain mapping. Localization is accomplished via Extended Kalman Filtering (EKF). In the distributed EKF-based scheme for localization, heterogeneity of the available sensors is exploited in the absence or degradation of absolute sensors aboard the team members. The terrain mapping technique then utilizes localization information to facilitate the fusion of vision-based range information of environmental features with changes in elevation profile across the terrain. The result is a terrain matrix from which a metric map is then generated. The proposed algorithms are implemented using field data obtained from a team of robots traversing an uneven outdoor terrain.     

Energetic ion loss detector on the Alcator C-Mod tokamak

A scintillator-based energetic ion loss detector has been successfully commissioned on the Alcator C-Mod tokamak. This probe is located just below the outer midplane, where it captures ions of energies up to 2 MeV resulting from ion cyclotron resonance heating. After passing through a collimating aperture, ions impact different regions of the scintillator according to their gyroradius (energy) and pitch angle. The probe geometry and installation location are determined based on modeling of expected lost ions. The resulting probe is compact and resembles a standard plasma facing tile. Four separate fiber optic cables view different regions of the scintillator to provide phase space resolution. Evolving loss levels are measured during ion cyclotron resonance heating, including variation dependent upon individual antennae.     

On measuring the performance of binary classifiers

If one is given two binary classifiers and a set of test data, it should be straightforward to determine which of the two classifiers is the superior. Recent work, however, has called into question many of the methods heretofore accepted as standard for this task. In this paper, we analyze seven ways of determining whether one classifier is better than another, given the same test data. Five of these are long established, and two are relative newcomers. We review and extend work showing that one of these methods is clearly inappropriate and then conduct an empirical analysis with a large number of datasets to evaluate the real-world implications of our theoretical analysis. Both our empirical and theoretical results converge strongly toward one of the newer methods.     

Experimental determination of temperature profiles in a sheared granular bed containing two and three sizes of particles

An experiment to measure granular temperature in a sheared low density granular bed containing a range of sizes of particles has been performed. Using positron emission particle tracking, a single particle was tracked from different size phases. From the coordinate data, the second moment of the velocity fluctuations about the mean flow in each direction was determined. It was found that the larger particles are “hotter” and that most of the energy is contained in the θ (shearing) direction fluctuations. Evidence was found for Knudsen layer and higher order Burnett effects, suggesting extensions of the Navier-Stokes approaches are necessary to describe heat transport in polydisperse systems.     

Extruded meat alternatives made from Maillard-reacted beef bone hydrolysate and plant proteins: part I – Effect of moisture content

This study investigated the effects of moisture content (MC) on the physicochemical properties of extruded meat alternatives made from Maillard-reacted beef bone hydrolysate and plant proteins. Samples were extruded at 170 °C (maximum barrel temperature), at 3.6 kg h⁻¹ (liquid feed rate) and at 1.8, 2.2, 2.6 and 3.0 kg h⁻¹ (dry feed rates) to obtain MC of 60%MC, 56%MC, 52%MC and 49%MC, respectively. Meat alternatives at 52%MC showed the greatest degree of texturisation. However, meat alternatives at 49%MC were the closest in terms of both textural and microstructural properties to reference sample, boiled chicken breast. Results from protein solubility suggested that a large amount of aggregated proteins were associated with hydrogen bonds, while disulphide bonds were the main contributor in the formation of fibrous structure in meat alternatives. Results showed that the change in MC as process parameter played an important role in the formation of fibrous structure in extruded meat alternatives.     

Molecular Heterojunctions of Oligo(phenylene ethynylene)s with Linear to Cruciform Framework

Electrical transport properties of molecular junctions are fundamentally affected by the energy alignment between molecular frontier orbitals (highest occupied molecular orbital (HOMO) or lowest unoccupied molecular orbital (LUMO)) and Fermi level (or work function) of electrode metals. Dithiafulvene (DTF) is used as substituent group to the oligo(phenylene ethynylene) (OPE) molecular wires and different molecular structures based on OPE3 backbone (with linear to cruciform framework) are achieved, with viable molecular orbitals and HOMO–LUMO energy gaps. OPE3, OPE3–DTF, and OPE3–tetrathiafulvalene (TTF) can form good self‐assembled monolayers (SAMs) on Au substrates. Molecular heterojunctions based on these SAMs are investigated using conducting probe–atomic force microscopy with different tips (Ag, Au, and Pt) and Fermi levels. The calibrated conductance values follow the sequence OPE3–TTF > OPE3–DTF > OPE3 irrespective of the tip metal. Rectification properties (or diode behavior) are observed in case of the Ag tip for which the work function is furthest from the HOMO levels of the OPE3s. Quantum chemical calculations of the transmission qualitatively agree with the experimental data and reproduce the substituent effect of DTF. Zero‐bias conductance, and symmetric or asymmetric couplings to the electrodes are investigated. The results indicate that improved fidelity of molecular transport measurements may be achieved by systematic studies of homologues series of molecular wires applying several different metal electrodes.     

Comparison of two low-hazard organic solvents as individual and cosolvents for the fabrication of polysulfone membranes

Petroleum-derived solvents commonly used in membrane fabrication are often hazardous and toxic, so the investigation of safer alternatives is important. In this study, two low-hazard solvents, methyl 5-(dimethylamino)-2-methyl-5-oxopentanoate (Rhodiasolv® PolarClean) and gamma-valerolactone (GVL), were investigated as sole solvents and as cosolvents to cast polysulfone membranes via nonsolvent induced phase inversion. Normalized viscosity was introduced as an indicator of dope solution homogeneity and was used to compare the required time of mixing to achieve full dissolution of the polymer in the different solvents/solvent mixtures. All dope solutions made with low-hazard solvents were found to be more viscous than those made with traditional solvents, which meant additional mixing time was needed, and that fabricated membranes were morphologically different. With respect to operation, membranes cast from dope solutions containing equal amounts of PolarClean and GVL displayed the most similar flux curves and solute rejection to those made using the traditional solvent tested.