Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper.     

Mechanical properties of wollastonite‐reinforced polypropylene composites modified with SEBS and SEBS‐g‐MA elastomers

Mechanical properties of isotactic polypropylene/wollastonite/styrene rubber block copolymers (iPP/wollastonite/SRBC) composites were studied as a function of elastomeric poly(styrene‐b‐ethylene‐co‐butylene‐b‐styrene) triblock copolymer (SEBS) and SEBS grafted with maleic anhydride (SEBS‐g‐MA) content from 0 to 20 vol%. Microphase morphology was stronger influenced by SRBC elastomers than by different wollastonite types. Higher encapsulation ability of SEBS‐g‐MA than SEBS caused more expressive core‐shell morphology and consequently higher notched impact strength as well as yield parameters, but lower Young's modulus. Higher ductility of the composites with SEBS than with SEBS‐g‐MA has been primarily caused by better miscibility of the polypropylene chains with SEBS molecules. Surface properties of components and adhesion parameters also indicated that adhesion at SEBS‐g‐MA/wollastonite interface, which was stronger than the one at the SEBS/wollastonite interface, influenced higher encapsulation of wollastonite particles by SEBS‐g‐MA. POLYM. ENG. SCI., 47:1873–1880, 2007. © 2007 Society of Plastics Engineers     

Experimental observation of temperature gradients occurring in a single zeolite pellet

An experimental study has been made of temperature profiles incident within a zeolite adsorbent particle in the course of adsorption of n-heptan. Using thermocouple wires 0.1 mm in diameter it has been possible to measure simultaneously the temperatures of the surface and in the centre. It was observed that temperature differences between center of the pellet and ambient stagnant gas may be more than 20°C. The results of this work indicate that the overheating of an adsorbent particle is a very rapid process which is followed by a slow cooling of the hot particle. Experimental data are compared with predictions calculated from the theoretical model.     

Structure Development of NiO–YSZ Oxide Mixtures in Simulated Citrate–Nitrate Combustion Synthesis

Yttria-stabilized zirconia (NiO/YSZ) composites were prepared by the modified citrate–nitrate combustion synthesis. The citrate–nitrate combustion proceeded through several consecutive steps. Evolution of structure in the system and its changes were followed up by thermogravimetry-differential scanning calorimetry, X-ray powder diffraction, extended X-ray absorption fine structure, and high resolution transmission electron microscopy analyses of intermediate products prepared at distinct temperatures that correspond to different stages of the combustion process. It was shown that the crystalline structure developed gradually, first with crystallization of nano-sized NiO particles (400°–700°C), which was followed by crystallization of YSZ (800°–900°C). The final composite material after heat treatment at 1100°C comprised of nano-crystals with an average size of 6.5±2 nm.     

Synthesis, structure and magnetic properties of β-MnO 2 nanorods

We present synthesis, structure and magnetic properties of structurally well-ordered single-crystalline β-MnO₂ nanorods of 50–100 nm diameter and several μm length. Thorough structural characterization shows that the basic β-MnO₂ material is covered by a thin surface layer (∼2.5 nm) of α-Mn₂O₃ phase with a reduced Mn valence that adds its own magnetic signal to the total magnetization of the β-MnO₂ nanorods. The relatively complicated temperature-dependent magnetism of the nanorods can be explained in terms of a superposition of bulk magnetic properties of spatially segregated β-MnO₂ and α-Mn₂O₃ constituent phases and the soft ferromagnetism of the thin interface layer between these two phases.     

Solvent induced crystallization of syndiotactic poly(methyl methacrylate) relation to the formation of polymer aggregates in solution

Polymer Bulletin - Solutions of syndiotactic (s) poly (methyl methacrylate) (PMMA) and samples of solid s-PMMA prepared from these solutions were studied by NMR and infrared (IR) spectroscopy and...     

Negative electrodes for nickel-cadmium accumulators: their properties as determined by impregnation procedure

Sintered negative electrodes for nickel-cadmium secondary cells were studied. Model electrodes prepared by means of three different impregnation methods were evaluated. It was demonstrated that the impregnation procedure may affect properties of active mass and the service life of electrodes in a significant way.     

Study of rotational mobility of stable nitroxide radicals in solid polymers

The rotational mobility of stable nitroxide radicals in PS, PMMA, PVC, PP and PE has been studied over a wide temperature range by the e.s.r. method. At temperatures T lower than T_g, spin probes act as kinetically independent particles, the rotational frequency of which is deter mined mainly by the micropore dimensions of the polymer and depends indirectly on the mobility of segments or side groups.     

Ensemble-based noise detection: noise ranking and visual performance evaluation

Noise filtering is most frequently used in data preprocessing to improve the accuracy of induced classifiers. The focus of this work is different: we aim at detecting noisy instances for improved data understanding, data cleaning and outlier identification. The paper is composed of three parts. The first part presents an ensemble-based noise ranking methodology for explicit noise and outlier identification, named Noise- Rank, which was successfully applied to a real-life medical problem as proven in domain expert evaluation. The second part is concerned with quantitative performance evaluation of noise detection algorithms on data with randomly injected noise. A methodology for visual performance evaluation of noise detection algorithms in the precision-recall space, named Viper, is presented and compared to standard evaluation practice. The third part presents the implementation of the NoiseRank and Viper methodologies in a web-based platform for composition and execution of data mining workflows. This implementation allows public accessibility of the developed approaches, repeatability and sharing of the presented experiments as well as the inclusion of web services enabling to incorporate new noise detection algorithms into the proposed noise detection and performance evaluation workflows.