State-variable planning under structural restrictions: algorithms and complexity

Computationally tractable planning problems reported in the literature so far have almost exclusively been defined by syntactical restrictions. To better exploit the inherent structure in problems, it is probably necessary to study also structural restrictions on the underlying state-transition graph. The exponential size of this graph, though, makes such restrictions costly to test. Hence, we propose an intermediate approach, using a state-variable model for planning and defining restrictions on the separate state-transition graphs for each state variable. We identify such restrictions which can tractably be tested and we present a planning algorithm which is correct and runs in polynomial time under these restrictions. The algorithm has been implemented and it outperforms Graphplan on a number of test instances. In addition, we present an exhaustive map of the complexity results for planning under all combinations of four previously studied syntactical restrictions and our five new structural restrictions. This complexity map considers both the optimal and non-optimal plan generation problem.     

Tractable plan existence does not imply tractable plan generation

We present a class, 3S, of planning instances such that the plan existence problem is tractable while plan generation is provably intractable for instances of this class. The class is defined by simple structural restrictions, all of them testable in polynomial‐time. Furthermore, we show that plan generation can be carried out in time bounded by a polynomial in the size of the input and the size of the generated solution. For this class, we propose a provably sound and complete incremental planner, i.e., a planner that can usually output an executable prefix of the final plan before it has generated the whole plan. This revised version was published online in June 2006 with corrections to the Cover Date.     

Algorithms for four variants of the exact satisfiability problem

We present four polynomial space and exponential time algorithms for variants of the E S problem. First, an O(1.1120ⁿ) (where n is the number of variables) time algorithm for the NP-complete decision problem of E 3-S , and then an O(1.1907ⁿ) time algorithm for the general decision problem of E S . The best previous algorithms run in O(1.1193ⁿ) and O(1.2299ⁿ) time, respectively. For the #P-complete problem of counting the number of models for E 3-S we present an O(1.1487ⁿ) time algorithm. We also present an O(1.2190ⁿ) time algorithm for the general problem of counting the number of models for E S ; presenting a simple reduction, we show how this algorithm can be used for computing the permanent of a 0/1 matrix.     

Thermodiffusion‐Assisted Pyroelectrics—Enabling Rapid and Stable Heat and Radiation Sensing

Sensors for monitoring temperature, heat flux, and thermal radiation are essential for applications such as electronic skin. While pyroelectric and thermoelectric effects are suitable candidates as functional elements in such devices, both concepts show individual drawbacks in terms of zero equilibrium signals for pyroelectric materials and small or slow response of thermoelectric materials. Here, these drawbacks are overcome by introducing the concept of thermodiffusion‐assisted pyroelectrics, which combines and enhances the performance of pyroelectric and ionic thermoelectric materials. The presented integrated concept provides both rapid initial response upon heating and stable synergistically enhanced signals upon prolonged exposure to heat stimuli. Likewise, incorporation of plasmonic metasurfaces enables the concept to provide both rapid and stable signals for radiation‐induced heating. The performance of the concept and its working mechanism can be explained by ion–electron interactions at the interface between the pyroelectric and ionic thermoelectric materials.     

Microstructural Investigation of the HCl-Induced Corrosion of the Austenitic Alloy 310S (52Fe26Cr19Ni) at 500 °C

This paper investigates the influence of 500 ppm HCl in a 5 %O₂–95 %N₂ atmosphere on the oxidation of the austenitic stainless steel AISI 310S at 500 °C. Laboratory exposures were made for one, 24, 72 and 168 h and the samples were analysed with XRD, SEM/EDX, FIB and TEM/EDX. When exposed in oxygen a thin and protective chromium-rich oxide scale forms. Addition of HCl causes significantly accelerated corrosion. Within the first hour of exposure, accumulations of FeCl₂, CrCl₂ and NiCl₂ forms below the chromium-rich oxide, especially at steel grain boundaries. The chlorine-induced corrosion is suggested to occur through an electrochemical reaction, in which the dissociation of HCl to form chloride ions at the scale surface is coupled to the oxidation of the metal surface beneath the scale by an outwards electronic current and inwards diffusion of chloride ions along oxide grain boundaries.     

Radiation induced dissolution of UO2 based nuclear fuel – A critical review of predictive modelling approaches

Radiation induced dissolution of uranium dioxide (UO₂) nuclear fuel and the consequent release of radionuclides to intruding groundwater are key-processes in the safety analysis of future deep geological repositories for spent nuclear fuel. For several decades, these processes have been studied experimentally using both spent fuel and various types of simulated spent fuels. The latter have been employed since it is difficult to draw mechanistic conclusions from real spent nuclear fuel experiments. Several predictive modelling approaches have been developed over the last two decades. These models are largely based on experimental observations. In this work we have performed a critical review of the modelling approaches developed based on the large body of chemical and electrochemical experimental data. The main conclusions are: (1) the use of measured interfacial rate constants give results in generally good agreement with experimental results compared to simulations where homogeneous rate constants are used; (2) the use of spatial dose rate distributions is particularly important when simulating the behaviour over short time periods; and (3) the steady-state approach (the rate of oxidant consumption is equal to the rate of oxidant production) provides a simple but fairly accurate alternative, but errors in the reaction mechanism and in the kinetic parameters used may not be revealed by simple benchmarking. It is essential to use experimentally determined rate constants and verified reaction mechanisms, irrespective of whether the approach is chemical or electrochemical.     

Getting to grips with automated prepreg handling

Automated manufacturing of composite parts based on prepreg material is receiving increased interest with the rising use of composite materials for high-performance applications. The two main automation alternatives for prepreg layup, automated tape layup and fiber placement, are not cost-effective for all types of products, and manual labor is common for the manufacturing of complex parts in low manufacturing volumes. Alternatives to the two dominant automation solutions have been pursued, but so far these have had a limited impact in industrial applications. This paper presents four different solutions for automated layup of prepreg plies to flat laminates that can be formed in a subsequent forming process, which decrease the system complexity. The solutions target products where the layup of flat laminates today is done manually due to technical limitations or cost considerations. The layup solutions must manage challenges caused by material properties such as low material rigidity and tack, and be able to handle a high number of ply shapes. All four solutions are designed for prepreg that is covered with a stiff backing paper. The aim of the paper is to analyze and compare the four solutions. It can be concluded that the most versatile solution is a dual-arm robot equipped with simple end effectors. The dual-arm solution presents a possibility to control the pick-up and lay-down motions that make peeling motions possible, which is advantageous when picking material that has tacked to the pickup surface.