Kinetics of ion-exchange-induced vitrification of glass-ceramics

Micro-Raman spectroscopy was applied to characterize the ion-exchange-induced vitrification of silicate glass-ceramics with lithium metasilicate crystalline phase. In parallel, the glass-ceramics vitrification was simulated on the base of the theory developed. Comparison of the data obtained with micro-Raman spectroscopy with the results of the simulation allowed revealing the kinetic parameters of vitrification process and evaluating the corresponding activation energies. These experimental approach and theory can be applied to other types of glass-ceramics.     

Verification of Hypertorus Communication Grids by Infinite Petri Nets and Process Algebra

A model of a hypertorus communication grid has been constructed in the form of an infinite Petri net. A grid cell represents either a packet switching device or a bioplast cell. A parametric expression is obtained to allow a finite specification of an infinite Petri net. To prove properties of an ideal communication protocol, we derive an infinite Diophantine system of equations from it, which is subsequently solved. Then we present the programs htgen and ht-mcrl2-gen, developed in the C language, which generate Petri net and process algebra models of a hypertorus with a given number of dimensions and grid size. These are the inputs for the respective modeling tools Tina and mCRL2, which provide model visualization, step simulation, state space generation and reduction, and structural analysis techniques. Benchmarks to compare the two approaches are obtained. An ad-hoc induction-like technique on invariants, obtained for a series of generated models, allows the calculation of a solution of the Diophantine system in a parametric form. It is proven that the basic solutions of the infinite system have been found and that the infinite Petri net is bounded and conservative. Some remarks regarding liveness and liveness enforcing techniques are also presented.      

Learning temporal logic formulas from suboptimal demonstrations: theory and experiments

Autonomous Robots - We present a method for learning multi-stage tasks from demonstrations by learning the logical structure and atomic propositions of a consistent linear temporal logic (LTL)...     

Towards a set of agrosystem-specific cropland mapping methods to address the global cropland diversity

Accurate cropland information is of paramount importance for crop monitoring. This study compares five existing cropland mapping methodologies over five contrasting Joint Experiment for Crop Assessment and Monitoring (JECAM) sites of medium to large average field size using the time series of 7-day 250 m Moderate Resolution Imaging Spectroradiometer (MODIS) mean composites (red and near-infrared channels). Different strategies were devised to assess the accuracy of the classification methods: confusion matrices and derived accuracy indicators with and without equalizing class proportions, assessing the pairwise difference error rates and accounting for the spatial resolution bias. The robustness of the accuracy with respect to a reduction of the quantity of calibration data available was also assessed by a bootstrap approach in which the amount of training data was systematically reduced. Methods reached overall accuracies ranging from 85% to 95%, which demonstrates the ability of 250 m imagery to resolve fields down to 20 ha. Despite significantly different error rates, the site effect was found to persistently dominate the method effect. This was confirmed even after removing the share of the classification due to the spatial resolution of the satellite data (from 10% to 30%). This underlines the effect of other agrosystems characteristics such as cloudiness, crop diversity, and calendar on the ability to perform accurately. All methods have potential for large area cropland mapping as they provided accurate results with 20% of the calibration data, e.g. 2% of the study area in Ukraine. To better address the global cropland diversity, results advocate movement towards a set of cropland classification methods that could be applied regionally according to their respective performance in specific landscapes.     

Multi-modal control framework for a semi-autonomous wheelchair using modular sensor designs

This paper presents the hardware and software control framework for a semi-auton omous wheelchair. The hardware design incorporates modular and reconfigurable sensors and corresponding low-level software architecture. Two control schemes are discussed. Assisted control that augments the user inputs by providing functionalities such as obstacle avoidance and wall following. And, semi-autonomous navigation which takes higher level destination goals and executes a simultaneous localization and mapping algorithm. We also propose an adaptive motion control with a online parameter estimation. The paper presents both experimental and simulation results.     

The Lyapunov–Malkin theorem and stabilization of the unicycle with rider

This paper analyzes stabilization of a nonholonomic system consisting of a unicycle with rider. It is shown that one can achieve stability of slow steady vertical motions by imposing a feedback control force on the rider's limb.