Multistage bayesian autonomy for high‐precision operation in a large field

This paper presents a generalized multistage bayesian framework to enable an autonomous robot to complete high‐precision operations on a static target in a large field. The proposed framework consists of two multistage approaches, capable of dealing with the complexity of high‐precision operation in a large field to detect and localize the target. In the multistage localization, locations of the robot and the target are estimated sequentially when the target is far away from the robot, whereas these locations are estimated simultaneously when the target is close. A level of confidence (LOC) for each detection criterion of a sensor and the associated probability of detection (POD) of the sensor are defined to make the target detectable with different LOCs at varying distances. Differential entropies of the robot and target are used as a precision metric for evaluating the performance of the proposed approach. The proposed multistage observation and localization approaches were applied to scenarios using an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Results with the UGV in simulated environments and then real environments show the effectiveness of the proposed approaches to real‐world problems. A successful demonstration using the UAV is also presented.     

Estimating mechanical properties of clear wood from ten‐year‐old Melia azedarach trees using the stress wave method

The objective of this study was to examine the potential of stress wave velocity (SWV) as a rapid and non-destructive method to estimate the mechanical properties of Melia azedarach wood. The SWV, dynamic modulus of elasticity (MOE_d), modulus of elasticity (MOE), modulus of rupture (MOR, bending strength) and density were determined on ninety 20 ? 20 ? 320 mm clear wood specimens, obtained from stems of three ten-year-old M. azedarach trees, and tested at environmental equilibrium in 20°C, 60?% relative humidity (a moisture content of approximately 12?%). There was a statistically significant (0.1?% level) but weak correlation (R²?=?0.23) between the SWV and MOE, but no statistically significant correlation was found between the SWV and MOR. Much better results for prediction of static properties of M. azedarach wood were obtained when SWV and wood density (WD) were used together through calculation of MOE_d in the air-dry condition (MOE: R²?=?0.76, MOR: R²?=?0.47), although in the case of MOR a model based on WD alone is slightly better (R²?=?0.58), and WD is also almost as good as MOE_d for predicting MOE. It is concluded that SWV coupled with WD can be employed as a predicting parameter to evaluate the mechanical properties of M. azedarach wood during the manufacturing process, although WD alone is also effective. The SWV alone would not be useful due to MOE being almost directly proportional to WD at this moisture content.

     

Advanced Surface of Fibrous Activated Carbon Immobilized with FeO/TiO2 for Photocatalytic Evolution of Hydrogen under Visible Light

FeO-doped TiO₂ nanoparticle photocatalysts were immobilized onto the surface of fibrous activated carbon (ACF) via a sol-gel process. As an adsorbent and photocatalyst, FeO-TiO₂ on immobilized ACFs (FeO-TiO₂/ACF) greatly improved the photocatalysis rate of hydrogen production as compared with pure TiO₂ and ACF-TiO₂ under UV irradiation and visible light. The addition of ACFs surface significantly reduced the photogenerated pairs of electrons-hole recombination, thereby promoting the photocatalysis action of doped photo-metal oxides of FeO-TiO₂. Co-doping of FeO onto the lattice of the TiO₂ approach can improve the absorption activity of visible light through photo-metal oxide of TiO₂ and further enhance hydrogen production under visible light. The photocatalytic fabrics (FeO-TiO₂/ACF) were effortlessly split out from the experimental solution for re-utilization and exhibited high stability even after five complete regeneration cycles.     

Formulating middle-phase microemulsions using mixed anionic and cationic surfactant systems

Although mixtures of anionic and cationic surfactants can show great synergism, their potential to precipitate and form liquid crystals has limited their use. Previous studies have shown that alcohol addition can prevent liquid crystal formation, thereby allowing formation of middle-phase microemulsions with mixed anionic-cationic systems. This research investigates the role of surfactant selection in designing alcohol-free anionic-cationic microemulsions. Microemulsion phase behavior was studied for three anionic-cationic surfactant systems and three oils of widely varying hydrophobicity [trichloroethylene (TCE), hexane, and n-hexadecane]. Consistent with our hypothesis, using a branched surfactant and surfactants with varying tail length allowed us to form alcohol-free middle-phase microemulsion using mixed anionic-cationic systems (i.e., liquid crystals did not form). The anionic to cationic molar ratio required to form middle-phase microemulsions approached 1∶1 for univalent surfactants as oil hydrophobicity increased (i.e., TCE to hexane to n-hexadecane); even for these equimolar systems, liquid crystal formation was avoided. To test the use of these anionic-cationic surfactant mixtures in surfactant-enhanced subsurface remediation, we performed soil column studies: Greater than 95% of the oil was extracted in 2.5 pore volumes using an anionic-rich surfactant system. By contrast, cationic-rich systems performed very poorly (<1% oil removal), reflecting significant losses of the cationic-rich surfactant system in the porous media. The results thus suggest that, when properly designed, anionic-rich mixtures of anionic and cationic surfactants can be efficient for environmental remediation. By corollary, other industrial applications and consumer products should also find these mixtures advantageous.     

Hydrophilicity Enhancement of High‐Density Polyethylene Film by Ozonation

High‐density polyethylene (HDPE) films were ozonated in the gas phase and in distilled water, respectively, to improve their surface hydrophilicity. The efficiency of ozonation conducted in the gaseous and aqueous phases was compared. The results indicated that the aqueous ozonation was more effective than its gaseous counterpart in terms of peroxide generation. The results also showed that the concentration of peroxides generated on the film surfaces increased with the applied ozone dose and ozonation time in both phases. It was found that the peroxides generated by aqueous ozonation were accessible to monomers for graft polymerization. The hydrophilicity of the HDPE films was significantly improved by graft polymerization of acrylamide (AAm) initiated by the peroxides. The contact angle reduction from 74.9° to 38.6° indicated the successful graft polymerization. The successful graft polymerization of AAm was further confirmed by the formation of new peaks corresponding to amide groups in FTIR spectra and by scanning electron microscope images.     

Angiotensin II signal transduction pathways

It has been 100 years since the discovery of renin by Tigerstedt and Bergman. Since that time, numerous discoveries have advanced our understanding of the renin-angiotensin system, including the observation that angiotensin II is the effector molecule of this system. A remarkable aspect of angiotensin II is the many different physiological responses this simple peptide induces in different cell types. Here, we focus on the signal transduction pathways that are activated as a consequence of angiotensin II binding to the AT1 receptor. Classical signaling pathways such as the activation of heterotrimeric G proteins by the AT1 receptor are discussed. In addition, recent work examining the role of tyrosine phosphorylation in angiotensin II-mediated signal transduction is also examined. Understanding how these distinct signaling pathways transduce signals from the cell surface will advance our understanding of how such a simple molecule elicits such a wide variety of specific cellular responses.     

Biological treatment of wastewater from a polymer coating process

Wastewater containing propylene glycol methyl ether from a powder and E‐coating plant was treated biologically. The wastewater was circulated through a packed column at rates of 0.014, 0.028, and 0.042 m³ m^?2 s^?1 (14, 28, and 42 kg m^?2 s^?1) with an airflow in a countercurrent direction. Various air flowrates from 0.034 to 0.10 m³ m^?2 s^?1 (0.041–0.12 kg m^?2 s^?1) were used. The removal of the biological oxygen demand (BOD) of the wastewater did not change significantly with the air flowrate. After 4 days of treatment in the packed column the BOD was reduced by about 70% while a BOD reduction of 10% was observed with the wastewater in a stagnant tank. BOD removal with aeration in the packed column was about 40% higher than that without aeration. At the air flowrate of 0.068 m³ m^?2 s^?1 and the liquid flowrate of 0.028 m³ m^?2 s^?1, BOD removal for the wastewater seeded with Polyseed® increased by about 25% compared with that of the unseeded wastewater. In order to minimize the power consumption, cyclic pumping of the liquid to the packed column with aeration was also tested. For the liquid‐pumping cycle of 2‐h on and 4‐h off, BOD removal was about the same as that with a continuously pumping operation. © 2002 Society of Chemical Industry     

Noise correlation in dual-collector magnetotransistors

Experimental results of low frequency (1/f) noise in magnetic-field-sensitive dual-collector bipolar transistors are presented that show a strong positive correlation between the noise voltages (converted from corresponding fluctuations in the currents) of the collectors. Hence, operating the magnetotransistor in a differential mode yields very favorable signal-to-noise ratios, even for low magnetic sensitivity. Calculations performed for a magnetotransistor with a sensitivity of only 0.06/T yields a field resolution of 25 nT/√Hz at 1 kHz, in contrast to 14 μT/√Hz in single-ended operation     

Optical and solar parameters of irradiated lead–alkali–silicate glass

Lead–alkali–silicate glass that is used for a shielding window of hot cells in nuclear technology has been irradiated by a ⁶⁰Co radioisotope source between 0.998 and 35.939 kGray dose levels. Gamma rays can affect glass and change its several optical and solar parameters such as secondary internal heat transfer factor (q_i), direct solar transmittance (τ_e), solar factor (g) and shading coefficient via the absorbed dose. It is aimed to investigate the performance of the glass in terms of the shading coefficient, which is the most important parameter to view clearly inside of the hot cell. Furthermore, a comparative evaluation has been done with respect to the unexposed lead–alkali–silicate glass. Change in the shading coefficient with respect to absorbed dose is extremely important.