Multisensor Fusion: An Autonomous Mobile Robot

A conventional autonomous mobile robot is introduced. The main idea is the integration of many conventional and sophisticated sensor fusion techniques, introduced by several authors in recent years. We show the actual possibility of integrating all these techniques together, rather than analyzing implementation details. The topics of multisensor fusion, observation integration and sensor coordination are widely used throuhout the article. The final goal is to demonstrate the validity of both mathematical and artificial intelligence techniques in guaranteeing vehicle survival in a dynamic environment, while the robot carries out a specific task. We review conventional techniques for the management of uncertainty while we describe an implementation of a mobile robot which combines on-line heterogeneous sensors in its navigation and localisation tasks.     

Optimal channel coordination in use-based product-service system contracts

Nowadays, service economy efficiencies are key to keep competitiveness and increase market advantages. The development of Product-Service Systems (PSS) can be an interesting strategy as they seek to improve the business performance of all the participants in the value chain. This paper proposes a novel reliability-based reward scheme for use-oriented PSS contracts. In a PSS instead of paying for the product, the client pays a fee for its performance. The contribution of this work to the existing literature is to provide a quantitative tool for the development of a use-oriented PSS contract based on non-repairable component reliability and risk sharing. It can be extended to other performance metrics such as availability and reliability. A well designed PSS achieves a mutual growth agreement for the client and the supplier if it aligns their interests through channel coordination. This is achieved by balancing the improvement in the expected cost and profit for the client and the supplier, respectively. The improvement is measured with respect to a baseline scenario where no PSS contract exists. The methodology is tested using a case study that analyses mining haul truck tires. The results show a significant overall improvement in the main key performance indicators and environmental impact of the value chain.     

Synthesis and characterization of first‐ and second‐generation polyamide pyridylimine nickel dihalide metallodendrimers and their uses as catalysts for ethylene polymerization

First‐ and second‐generation pyridylimine‐terminated dendrimeric ligands were prepared by the reaction of the corresponding amine‐terminated aromatic polyamide dendrimers with 2‐acetylpyridine. The pyridylimine terminal groups were used as bidentate N,N ligands of nickel halide to prepare the corresponding first‐generation and second‐generation nickel dihalide metallodendrimers C1 and C2 , respectively. The synthesized dendrimers and metallodendrimers were characterized by elemental and spectral analyses. C1 and C2 were evaluated as catalyst precursors for ethylene oligomerization after being activated with methylaluminoxane (MAO) and diethylaluminum chloride (Et₂AlCl) under 1 atm and 5 atm pressure of ethylene. In both cases, the use of 1 atm or 5 atm pressure of ethylene and a 1500:1 Al:Ni molar ratio for C1 and C2 resulted in high catalytic activities toward ethylene polymerization. Upon activation with MAO and Et₂AlCl, C1 exhibited promising activities toward ethylene polymerization and produced linear chain structures that were associated with high density polyethylene. In contrast, C2 produced a polymer with the branching nature of low density polyethylene under similar conditions. © 2014 Society of Chemical Industry     

Synthesis and dielectric relaxation behavior of 55B2O3–15SiO2– 30Na2O: WO3 glass system

55 B₂O₃ – 15 SiO₂ – 30 Na₂O: x WO₃, (x ranging from 0 to 5 wt%) glass composites were prepared according to the melt-quenching procedure. The prepared samples were characterized via X-ray diffraction and broad band dielectric spectroscopy (viz., dielectric constant (ε₁), tanδ and AC conductivity (σ_AC) over a wide range of frequency and temperature). No sharp peaks were shown in the XRD pattern and is evidence of the amorphous nature of the samples. It turns out that the values of ε₁ and ε₂ are increasing at higher temperatures particularly at lower frequencies. The energy barrier height, W_M values decreased as 0.27, 0.25 and 0.22 while showed value of 0.29 eV for 5.0 wt% WO₃. In the dielectric modulus plots, two relaxation processes are found especially on the higher temperature side. It also shifted a higher frequency with increasing temperature. The values of exponent s have been found to lie between 0.48 and 0.74, which confirms that the conduction mechanism in the glass samples follows the correlated barrier hopping model. By calculating the activation energy associated with the relaxation processes and DC conductivity, it was found that the values are close, which indicates that the same charges contribute to the two processes.     

Formal probabilistic analysis of a surgical robot control algorithm with different virtual fixtures

Surgical robots are increasingly being used in operation theaters involving normal or laparoscopic surgeries. The working of these surgical robots is highly dependent on their control algorithms, which require very rigorous analysis to ensure their correct functionality due to the safety-critical nature of surgeries. Traditionally, safety of control algorithms is ensured by simulations, but they provide incomplete and approximate analysis results due to their inherent sampling-based nature. We propose to use probabilistic model checking, which is a formal verification method, for quantitative analysis, to verify the control algorithms of surgical robots in this paper. As an illustrative example, the paper provides a formal analysis of a virtual fixture control algorithm, implemented in a neuro-surgical robot, using the PRISM model checker. In particular, we provide a formal discrete-time Markov chain-based model of the given control algorithm and its environment. This formal model is then analyzed for multiple virtual fixtures, like cubic, hexagonal and irregular shapes. This verification allowed us to discover new insights about the considered algorithm that allow us to design safer control algorithms.     

Significant G peak temperature shift in Raman spectra of graphene on copper

Linear G peak position temperature dependence in Raman spectra of graphene synthesized by chemical vapor deposition from decane on copper (220) with a shift factor of ?(5.4 ± 0.4) × 10^?2 cm^?1K^?1 was observed. The obtained value substantially exceeds values previously obtained for graphene by other authors, and was associated with the substrate interaction effects.     

Numerical simulation and experimental validation of a multi-step deep drawing process

This paper presents the numerical simulation of an industrial multi-step deep drawing process. A large strain finite element formulation including a hyperelastic elastoplastic constitutive model and a contact-friction law is used to this end where the steel sheet material parameters considered in the analysis are previously derived through a characterization procedure of its mechanical response. The numerical predictions of the final shape and thickness distribution of the blank are compared and discussed with available experimental values measured at the end of three successive drawing steps. In addition, a plastic work-based damage index is used to assess failure occurrence during the process. The damage values computed at the end of the drawing process are found to be lower than that corresponding to rupture in the tensile test, considered here as the threshold of failure, confirming, as observed experimentally, that neither fracture nor necking is developed in the blank during the whole drawing process. Finally, the possibility to carry out a reduced two-step drawing process, obtained by merging the second and third steps of the three-step process, is precluded since the damage criterion predicts in this case excessively large values that indicate that failure may occur in specific zones of the sheet.     

Combined effect of antimicrobial edible coatings with reduction of initial microbial load on the shelf-life of fresh hake (Merluccius merluccius) medallions

Two distinct strategies were combined to preserve fresh fish (Merluccius merluccius) under refrigeration at 4 °C for 12 days: (i) the application of an antimicrobial edible coating enriched with oregano essential oil (OEO) or carvacrol (CV) and (ii) the reduction of initial microbial load by good handling practise and the use of sodium hypochlorite (NaOCl). The action of antimicrobial coatings alone retarded the growth of Enterobacteriaceae, lactic acid bacteria (LAB) and H₂S producing bacteria on fish samples. The reduction of initial microbial load by itself only affected the evolution of LAB, but not the rest of the bacterial groups. When using both techniques combined, edible antimicrobial coatings were significantly more effective with additional and significant delays in the growth of mesophilic, psychrotrophic and Pseudomonas bacteria. Thus, the use of both strategies combined resulted in a reduction of the counts of all bacterial groups after 12 days of storage which ranged from 1.5 log and 8 log, in Pseudomonas and H₂S producing bacteria, respectively. Moreover, no significant differences were observed when comparing the microbiological evolution of samples treated with OEO compared to those only treated with CV.