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.     

Bestimmung des molekulargewichts von „mikrogelhaltigem”︁ polystyrol mit der ultrazentrifuge (methode archibald)

The weight average molecular weight M_w of a mixture of two polystyrenes with very high and relatively low molecular weights (M_w = 16.1 · 10⁶ and 98 · 10³ g/mole), as a model for polymers containing microgel, was determined by ultracentrifugation with the ARCHIBALD-methode. M_w decreases with increasing number of rotation N. The exact molecular weight can only be determined by extrapolation to N = 0. This value depends nearly completely on the molecular weight and weight percentage of the “microgel”. It is not suitable for the characterization of the whole sample.     

Das spezifische Brechungsinkrement eines statistischen Methylmethacrylat/Benzylacrylat/Styrol-Terpolymeren

The specific refractive index increments of a random methylmethacrylate/ benzylacrylate/styrene-terpolymer and of the three corresponding homopolymers was measured in several solvents and at six different wavelengths. With the known terpolymer composition and the specific refractive index increments of the homopolymers the specific refractive index increment of the terpolymer is calculated by means of an equation formerly derived. Calculated and experimental values are compared.     

Zur kinetik der acrylnitril-polymerisation

The heterogeneous bulk polymerization of acrylonitrile initiated by AIBN has been studied by means of an improved dilatometric technique and a new method of analysis, where the initial reaction rate (v_w)₀ results from the intercept of a straight line in a \documentclass{article}\pagestyle{empty}\begin{document}$ \frac {\ln \left( 1 \hbox{---} {\rm U} \right)} {{\rm e}^{{- 0,5} {\rm k}_{\rm s}{\rm t} \hbox{---} 1}}$\end{document} versus t plot. It has been found that the initial reaction rate is proportional to the square root of the initial catalyst concentration S₀. The ratio of the rate coefficients of propagation and termination\documentclass{article}\pagestyle{empty}\begin{document}$\frac { {\rm k}_{\rm a} } { {\rm k}_{ {\rm w}^{2} } } $\end{document} could be calculated from the slope of a straight line passing through the origin in a plot of (v_w)₀ versus \documentclass{article}\pagestyle{empty}\begin{document}$\sqrt { {\rm S}_{0} }$\end{document} and yielded a value of 280 mol 1^?1.     

Influence of the type of reducing agent (H2, CO,C3H6 and C3H8) on the reduction of stored NO X in a Pt/BaO/Al2O3 model catalyst

In this investigation, a comparative study for a NO _X storage catalytic system was performed focusing on the parameters that affect the reduction by using different reductants (H₂, CO, C₃H₆ and C₃H₈) and different temperatures (350, 250 and 150 °C), for a Pt/BaO/Al₂O₃ catalyst. Transient experiments show that H₂ and CO are highly efficient reductants compared to C₃H₆ which is somewhat less efficient. H₂ shows a significant reduction effect at relatively low temperature (150 °C) but with a low storage capacity. We find that C₃H₈ does not show any NO _X reduction ability for NO _X stored in Pt/BaO/Al₂O₃ at any of the temperatures. The formation of ammonia and nitrous oxide is also discussed.

     

Sky Based Light Metering for High Dynamic Range Images

Image calibration requires both linearization of pixel values and scaling so that values in the image correspond to real‐world luminances. In this paper we focus on the latter and rather than rely on camera characterization, we calibrate images by analysing their content and metadata, obviating the need for expensive measuring devices or modeling of lens and camera combinations. Our analysis correlates sky pixel values to luminances that would be expected based on geographical metadata. Combined with high dynamic range (HDR) imaging, which gives us linear pixel data, our algorithm allows us to find absolute luminance values for each pixel—effectively turning digital cameras into absolute light meters. To validate our algorithm we have collected and annotated a calibrated set of HDR images and compared our estimation with several other approaches, showing that our approach is able to more accurately recover absolute luminance. We discuss various applications and demonstrate the utility of our method in the context of calibrated color appearance reproduction and lighting design.     

Messung der Selbstdiffusion im System Polystyrol-Benzol; Temperatur-, Konzentrations- und Molekulargewichtsabhängigkeit

Self-diffusion of benzene and polystyrene in the system benzene-polystyrene is studied by means of spin-echo-technique as function of temperature, concentration and polymer molecular weight. From the dependence of temperature the activation energies are calculated as function of concentration and molecular weight. The concentration dependence is discussed in terms of restricted diffusion and the Fujita Free-Volume-Theory. The computed free volume shows a significant maximum at 50°C. This effect may be attributed to a change in the mobility of the phenyl side groups of polystyrene and is vanishing with decreasing molecular weight. The free-volume-temperature curves are giving references to the glass transition.     

AutoRELAX: automatically RELAXing a goal model to address uncertainty

Dynamically adaptive systems (DAS) must cope with system and environmental conditions that may not have been fully understood or anticipated during development. RELAX is a fuzzy logic-based specification language for identifying and assessing sources of environmental uncertainty, thereby making DAS requirements more tolerant of unanticipated conditions. This paper presents AutoRELAX, an approach that automatically generates RELAXed goal models to address environmental uncertainty. Specifically, AutoRELAX identifies goals to RELAX, which RELAX operators to apply, and the shape of the fuzzy logic function that establishes the goal satisfaction criteria. AutoRELAX generates different solutions by making tradeoffs between minimizing the number of RELAXed goals and maximizing delivered functionality by reducing the number of adaptations triggered by minor and adverse environmental conditions. In a recent extension, AutoRELAX uses a stepwise adaptation of weights to balance these two competing concerns and thereby further improve the utility of AutoRELAX. We apply it to two industry-based applications involving network management and a robotic controller, respectively.     

DMTO – a method for Discrete Material and Thickness Optimization of laminated composite structures

This paper presents a gradient based topology optimization method for Discrete Material and Thickness Optimization of laminated composite structures, labelled the DMTO method. The capabilities of the proposed method are demonstrated on mass minimization, subject to constraints on the structural criteria; buckling load factors, eigenfrequencies, and limited displacements. Furthermore, common design guidelines or rules, referred to as manufacturing constraints, are included explicitly in the optimization problem as series of linear inequalities. The material selection and thickness variation are optimized simultaneously through interpolation functions with penalization. Numerical results for several parameterizations of a finite element model of a generic main spar from a wind turbine blade are presented. The different parameterizations represent different levels of complexity with respect to manufacturability. The results will thus give insight into the relation between potential weight saving and design complexity. The results show that the DMTO method is capable of solving the problems robustly with only few intermediate valued design variables.     

Determination of the molecular weight distribution of cellulose on calibrated gel columns

CMC samples obtained by gel filtration on a preparative scale were used to calibrate an agarose column. The relation between molecular weight and the peak elution volume for monodisperse samples were calculated as well as the relation between band broadening and the peak elution volume. In the calculations of the molecular weight distribution curves of the studied CMC samples, consideration was given to the variable band broadening by proper transformations of the experimental data, thus making it possible to obtain numerical solutions free from oscillations. The method admits a rapid determination of the molecular weight distribution of cellulose and related materials.