Is Someone in this Office Available to Help Me?

Robots are increasingly autonomous in our environments, but they still must overcome limited sensing, reasoning, and actuating capabilities while completing services for humans. While some work has focused on robots that proactively request help from humans to reduce their limitations, the work often assumes that humans are supervising the robot and always available to help. In this work, we instead investigate the feasibility of asking for help from humans in the environment who benefit from its services. Unlike other human helpers that constantly monitor a robot’s progress, humans in the environment are not supervisors and a robot must proactively navigate to them to receive help. We contribute a study that shows that several of our environment occupants are willing to help our robot, but, as expected, they have constraints that limit their availability due to their own work schedules. Interestingly, the study further shows that an available human is not always in close proximity to the robot. We present an extended model that includes the availability of humans in the environment, and demonstrate how a navigation planner can incorporate this information to plan paths that increase the likelihood that a robot can find an available helper when it needs one. Finally, we discuss further opportunities for the robot to adapt and learn from the occupants over time.     

Antioxidant activities of chestnut nut of Castanea sativa Mill. (cultivar ‘Judia’) as function of origin ecosystem

The antioxidant properties of different ecotypes of chestnut nut (cv. Judia) were studied. Total phenolics and flavonoids were also determinated. Total phenolics amount ranged from 9.6 mg/g of GAE (hottest ecotype, Murça) to 19.4 mg/g of GAE (coldest ecotype, Valpaços). Gallic and ellagic acid were the predominant compounds and Valpaços had the highest values while, Murça had the lowest ones. The antioxidant capacity of ethanolic extracts were evaluated through several biochemical essays: ABTS (2,2′-azinobis-(3-ethylbenzothiazoline-6-sulphonic acid)) and DPPH (2,2-diphenyl-1-picrylhydrazyl) radical-scavenging activity, FRAP (ferric reducing/antioxidant power) and inhibition of oxidative haemolysis in erythrocytes. In order to evaluate the antioxidant efficiency of each ecotype, the EC₅₀ values were calculated. Once again Valpaços revealed the best antioxidant properties, presenting much lower EC₅₀ values. Climatic conditions influence seems to be a limiting factor for production of phenolic compounds and consequently for the antioxidant properties of chestnut nuts.     

Real time algorithms for digital pulse processing applied to gamma-ray and hard X-ray spectroscopy

The duration of a single plasma discharge in the next generation of fusion experiments will be much longer than in the present devices. Storing all raw data acquired in each discharge will be more difficult and the high rates achieved by the new digitizers are already contributing to storage overload. This gap can be mitigated by real time (RT) analysis and compression, using devices such as field programmable gate arrays (FPGAs) capable to transfer and process data on the fly. However, to ensure a correct RT analysis, the FPGA algorithm must be adapted to the signal to be acquired. Since minor changes in signal shape may require significant algorithm modifications, it is important to know in advance the signal attributes. For that reason, the availability of more than one RT algorithm, especially during commissioning of new sub-systems and during campaigns with relevant changes in diagnostic conditions, is advantageous. This paper presents an implementation using two RT algorithms processing simultaneously, developed for the gamma-ray and hard X-ray diagnostics of the Joint European Torus (JET). Both algorithms perform pulse height analysis with pile-up rejection. While the first algorithm is suitable for Gaussian shaped pulses, the second is suitable for exponential signals. The algorithms are selectable by the user, during discharge configuration. Tests with radioactive sources made in JET are presented.     

High surface area LaNiO<Subscript>3</Subscript> electrodes for oxygen electrocatalysis in alkaline media

LaNiO₃ coatings on nickel-foam supports were prepared by brush painting. The electrochemical properties were investigated by cyclic voltammetry (CV) and electrochemical impedance spectroscopy (EIS). Comparative studies were performed with LaNiO₃-pelleted electrodes. The roughness factors were determined by CV and found to be 5,208 ± 350 and 4,037 ± 250 for the pelleted and coated electrodes, respectively. EIS measurements confirm the results obtained by CV. Values lower than 0.3 were calculated for the morphology factors for both electrodes, indicating low electrochemical porosity. The experimental method used in this work to synthesise the oxide coupled with the use of Ni foam as support has proved to be very effective in producing oxide electrodes with surface areas higher than those referred to in relevant literature.     

The contextualization of divergent outlooks in a Greenfield master-planned community: a pathway towards reflexivity

Comprehensive design schemes and specifications have progressively shaped Master-Planned Communities (MPCs). The market largely predetermines these outcomes, with background input from communities. Therefore, this paper endeavours to define the fundamental structures that generate differences between market actors and residents within the North Lakes MPC. This study employs ‘habitus theory’, which is a sociological phenomenon describing the divergence of personal outlooks and expertise. The application of this theory is thus illustrative of the evolution of distinct observations within MPCs. Contemporary studies have under-researched these inherent gaps between communities, authorities, and critics, and these frictions could be exacerbated within restrictive developmental contexts. Epistemic and objectified content analyses collated over many years and sources will uncover the underlying differences between the relevant groups. These analyses will enable the progression of a framework for understanding power relation biases and how reflexivity can enhance current consultative methods.     

Latent motion spaces for full-body motion editing

We explore an approach to full-body motion editing with linear motion models, prioritized constraint-based optimization and latent-space interpolation. By exploiting the mathematical connections between linear motion models and prioritized inverse kinematics (PIK), we formulate and solve the motion editing problem as an optimization function whose differential structure is rich enough to efficiently optimize user-specified constraints within the latent motion space. Performing motion editing within latent motion spaces has the advantage of handling pose transitions and consequently motion flow by construction from single key-frame editing. To handle motion adjustments from multiple key-frame and trajectory constraints, we developed a latent-space interpolation technique by exploiting spline functions. Such an approach handles per-frame adjustments generating smooth animations, while avoiding the computational expense of joint space interpolations. We demonstrate the usefulness of this approach by editing and generating full-body reaching and walking jump animations in challenging environment scenarios.     

Hydroxyapatite deposition study through polymeric process on commercially pure Ti surfaces modified by laser beam irradiation

Many techniques have been used to coat metallic substrate with bioceramics. The aim of this study was to study the physical-chemical characteristics of polyvinylidene fluoride (α-PVDF)/hydroxyapatite (HA) composite coating, obtained by casting method, on commercially pure titanium (α-CP Ti) substrate surface modified by laser beam irradiation. The preparation of coating was done for mixing α-PVDF pellets shape dissolved in dimethylacetamide (DMA) with HA/DMA emulsion. The mixture was poured onto the α-CP Ti sample and left to dry in an oven. CP Ti plates were coated with α-PVDF/HA composite film, in proportions of 100/00 and 60/40 in weight, and characterized by particle size analysis, scanning electron microscopy, energy dispersive spectroscopy (EDS), X-ray diffractometry, thickness measurement and contact angle. Uniform coating with a small thickness variation along the coated surface was successfully obtained.     

Solvent Influence on the Hydrodeoxygenation of Guaiacol over Pt/SiO2 and Pt/H‐MFI 90 Catalysts

Second generation biofuels are produced in the bioliq® process at the Karlsruhe Institute of Technology via gasification of pyrolysis oil and synthesis of gasoline from the emerging synthesis gas. An alternative strategy is the direct upgrading of the pyrolysis oil by hydrodeoxygenation (HDO). The present study reports on the HDO of guaiacol as one of the phenolic compounds strongly abundant in such mixtures. Special focus was laid on the solvent influence using Pt‐based catalysts. Higher HDO ability was seen using nonpolar solvents and acidic supports. Characterization of the catalysts before and after the test showed that the solvent did not only influence the reactivity, but also the catalyst stability.     

Stresses Analysis on a Rail Part

The EFVM （Vitoria Minas Railroad） is one of the main railways in Brazil. It transports freight trains of ore, 220 wagons each. These wagons have 2 boogies of 2 axles each and 32 metric tons on metre gauge. Elastic strains were measured on a special part of this railway due to these trains. The main load to evaluate stresses and strains was a G 16 Locomotive, a C-C kind from Vale, a Brazilian Company. The measurements were obtained by dynamic deflectometer installed on a main line of this railway, near Ipatinga, a city from Minas Gerais, one of Brazil states. This track was equipped to obtain stresses under an equal repeated static load A simulation of the stresses was made under critical strain by Ferrovia 1.0 software. It was also made an evaluation of unequal results from neighbor sleepers taking in comparison two equipped parts of this railway, one with compacted ballast and no compaction to the other. The results were strain limited, avoiding breakage or damage to the studied rails. This work analyses these measurements focusing on the improvement of track quality.     

Metabolic versatility in full-scale wastewater treatment plants performing enhanced biological phosphorus removal

This study analysed the enhanced biological phosphorus removal (EBPR) microbial community and metabolic performance of five full-scale EBPR systems by using fluorescence in situ hybridisation combined with off-line batch tests fed with acetate under anaerobic–aerobic conditions. The phosphorus accumulating organisms (PAOs) in all systems were stable and showed little variability between each plant, while glycogen accumulating organisms (GAOs) were present in two of the plants. The metabolic activity of each sludge showed the frequent involvement of the anaerobic tricarboxylic acid cycle (TCA) in PAO metabolism for the anaerobic generation of reducing equivalents, in addition to the more frequently reported glycolysis pathway. Metabolic variability in the use of the two pathways was also observed, between different systems and in the same system over time. The metabolic dynamics was linked to the availability of glycogen, where a higher utilisation of the glycolysis pathway was observed in the two systems employing side-stream hydrolysis, and the TCA cycle was more active in the A²O systems. Full-scale plants that showed higher glycolysis activity also exhibited superior P removal performance, suggesting that promotion of the glycolysis pathway over the TCA cycle could be beneficial towards the optimisation of EBPR systems.