Collaborative Localization for Multi-Robot System with Fault Detection and Exclusion Based on the Kullback-Leibler Divergence

Multi-robot system attracted attention in various applications in order to replace the human operators. To achieve the intended goal, one of the main challenges of this system is to ensure the integrity of localization by adding a sensor fault diagnosis step to the localization task. In this paper, we present a framework able, in addition of localizing a group of robots, to detect and exclude the faulty sensors from the group with an optimized thresholding method. The estimator has the informational form of the Kalman Filter (KF) namely Information Filter (IF). A residual test based on the Kullback-Leibler divergence (KLD) between the predicted and the corrected distributions of the IF is developed. It is generated from two tests: the first acts on the means and the second deals with the covariance matrices. Thresholding using entropy based criterion and Receiver Operating Characteristics (ROC) curve are discussed. Finally, the validation of this framework is studied on real experimental data from a group of robots.     

Complex structural contribution of the morphotropic phase boundary in Na0.5Bi0.5TiO3 - CaTiO3 system

The correlation between structure and dielectric properties of lead-free (1-x)Na_0.5Bi_0.5TiO₃ - xCaTiO₃ ((1-x)NBT - xCT) polycrystalline ceramics was investigated systematically by X-ray diffraction, combined with impedance spectroscopy for dielectric characterizations. The system shows high miscibility in the entire composition range. A morphotropic phase boundary (MPB), at 0.09?≤?x?<?0.15 was identified where rhombohedral and orthorhombic symmetries coexist at room temperature. The fraction of orthorhombic phase increases gradually with x in the MPB region. Dielectric measurements reveal that the relative permittivity increase with addition of Ca²⁺. This behavior is unusual with this kind of doping. A thermal hysteresis occurred only in the MPB composition which varies in a non-monotonically manner with x, detected by dielectric properties. This phenomenon is related to the crystalline microstructure by a linear relationship between the fraction of each phase and dielectric properties, and, more precisely, to the strong interaction between rhombohedral and orthorhombic phases.     

Lignite oxidative desulphurization: notice 3—process technological aspects and application of products

International Journal of Coal Science & Technology - The study reviews the process of oxidative desulphurization of high-sulphur Ukrainian lignite, which was performed by coal treatment using...     

International development: exploring the gap between organisations’ development policy and practice—a Southern perspective

International development policies inevitably encounter a conflict in their implementation, representing the gap between universal goals and grass-roots practice. The aim of this study was to explore and understand the significance of this gap, and to apply knowledge management principles as a lens to suggest bridging solutions. The research focuses on non-governmental organisations, which are a sub-section of the civil society. The study was unique as it took a Southern perspective—the views and experiences of policy-makers, practitioners and beneficiaries in Kenya form the basis of the empirical research. Consequently, the research and its findings provide some answers as to how systems of knowledge can be aligned with the core values of organisational and societal culture in order to positively influence international stability.     

Individual and area socioeconomic inequalities in cause-specific unintentional injury mortality: 11-Year follow-up study of 2.7 million Canadians

This study investigated the association between individual and area socioeconomic status (SES) and leading causes of unintentional injury mortality in Canadian adults. Using the 1991–2001 Canadian Census Mortality Follow-up Study cohort (N = 2,735,152), Cox proportional hazard regression was used to calculate hazard ratios and 95% confidence intervals for all-cause unintentional injury, motor vehicle collision (MVC), fall, poisoning, suffocation, fire/burn, and drowning deaths. Results indicated that associations with SES differed by cause of injury, and were generally more pronounced for males. Low education was associated with an elevated risk of mortality from all-cause unintentional injury and MVC (males only) and poisoning and drowning (both sexes). Low income was strongly associated with most causes of injury mortality, particularly fire/burn and poisoning. Having no occupation or low occupational status was associated with higher risks of all-cause injury, fall, poisoning and suffocation (both sexes) and MVC deaths among men. Associations with area deprivation were weak, and only areas with high deprivation had elevated risk of all-cause injury, MVC (males only), poisoning and drowning (both sexes). This study reveals the importance of examining SES differentials by cause of death from a multilevel perspective. Future research is needed to clarify the mechanisms underlying these differences to implement equity-oriented approaches for reducing differential exposures, vulnerability or consequences of injury mortality.     

Additively patterned ferroelectric thin films with vertical sidewalls

The functional properties of electroceramic thin films can be degraded by subtractive patterning techniques used for microelectromechanical (MEMS) applications. This work explores an alternative deposition technique, where lead zirconate titanate (PZT) liquid precursors are printed onto substrates in a desired geometry from stamp wells (rather than stamp protrusions). Printing from wells significantly increased sidewall angles (from ~1 to >35 degrees) relative to printing solutions from stamp protrusions. Arrays of PZT features were printed, characterized, and compared to continuous PZT thin films of similar thickness. Three‐hundred‐nanometer‐thick printed PZT features exhibit a permittivity of 730 and a loss tangent of 0.022. The features showed remanent polarizations of 26 μC/cm², and coercive fields of 95 kV/cm. The piezoelectric response of the features produced an e_31,f of ?5.2 C/m². This technique was also used to print directly atop prepatterned substrates. Optimization of printing parameters yielded patterned films with 90° sidewalls. Lateral feature sizes ranged from hundreds of micrometers down to one micrometer. In addition, several device designs were prepatterned onto silicon on insulator (SOI) wafers (Si/SiO₂/Si with thicknesses of 0.35/1/500 μm). The top patterned silicon was released from the underlying material, and PZT was directly printed and crystallized on the free‐standing structures.     

Implicit Contact Handling for Deformable Objects

We present an algorithm for robust and efficient contact handling of deformable objects. By being aware of the internal dynamics of the colliding objects, our algorithm provides smooth rolling and sliding, stable stacking, robust impact handling, and seamless coupling of heterogeneous objects, all in a unified manner. We achieve dynamicsawareness through a constrained dynamics formulation with implicit complementarity constraints, and we present two major contributions that enable an efficient solution of the constrained dynamics problem: a time stepping algorithm that robustly ensures non-penetration and progressively refines the formulation of constrained dynamics, and a new solver for large mixed linear complementarity problems, based on iterative constraint anticipation. We show the application of our algorithm in challenging scenarios such as multi-layered cloth moving at high velocities, or colliding deformable solids simulated with large time steps.     

Characterization of recycled styrene butadiene rubber ground tire rubber: Combining X‐ray fluorescence,differential scanning calorimetry,and dynamical thermal analysis for quality control

Appraisal of the main rubber characterization techniques for styrene butadiene rubber (SBR) was performed on standard SBR samples as well as recycled ground tire rubber (GTR) from an industrial tire recycling facility, containing a blend of SBR and natural rubber. The aim of the work was to provide additional information relevant to quality control in the field of rubber recycling. Benchmark characterization of industrial samples by inductively coupled plasma optical emission spectrometry, atomic absorption spectrometry, solid‐state proton nuclear magnetic resonance, and elemental (CHNS) analysis are reported. X‐ray fluorescence spectrometry is shown to be rapid and quantitative for determining the zinc content in an industrial context. Thermogravimetric analysis, already used to determine carbon black and inorganic material content in rubbers and GTR, is recommended for determination of monomer weight ratios of SBR sources not containing other rubbers, but not for GTR. Differential scanning calorimetry (DSC) measurements of the glass‐transition show that changes in monomer ratio affect glass‐transition temperature values, and therefore, DSC can be used to detect changes in rubber composition from batch to batch. These results show that DSC and X‐ray fluorescence spectroscopy characterization techniques can be used for GTR and may lead to more thorough and rapid quality control procedures of these complex samples. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015 , 132, 42692.