Using neural networks to learn hand-eye co-ordination

The work presented in this paper shows how the association of proprioceptive and exteroceptive stimuli can enable a Kohonen neural network, controlling a robot arm, to learn hand-eye co-ordination so that the arm can reach for and track a visually presented target. The approach presented in this work assumes no a priorimodel of arm kinematics or of the imaging characteristics of the cameras. No explicit representation, such as homogeneous transformations, is used for the specification of robot pose, and camera calibration and triangulation are done implicitly as the system adapts and learns its hand-eye co-ordination by experience. This research is validated on physical devices and not by simulation.     

Nitrification parameter measurement for plant design: experience and experimental issues with new methods.

Nitrification kinetics are important for process design, optimization, and capacity rating of activated sludge wastewater treatment plants. A Water Environment Research Foundation (WERF) project on Methods for Wastewater Characterization in Activated Sludge Modeling (WERF, 2003) focused significantly on the development of procedures for measuring the nitrifier maximum specific growth rate, micro(AUT). In addition, the importance of (and lack of data for) the nitrifier decay rate, b(AUT), was identified. This paper describes three bench-scale methods for measuring micro(AUT): the Low F/M SBR, Washout and High F/M methods. During the WERF project, the importance of pH and temperature control was investigated briefly; this paper summarizes further experimental work performed to address these issues. A summary of micro(AUT) measurements in a number of locations and using the different measurement techniques is provided.     

Performance of a non‐load‐bearing steel stud gypsum board wall assembly: Experiments and modelling

A gypsum wall assembly was exposed to an intense real‐scale compartment fire. For the wall assembly, temperatures were measured at the exposed face, within the stud cavity, and at the unexposed face during the fire exposure. Total heat flux gauges were used to measure the temporal variation of the energy incident on the walls, and cameras, both visual and infrared, were used to image the unexposed face of the wall assembly during the fire exposure. The behaviour of the wall assembly under the fire load is discussed as are current model results for a simulation of the fire test. Copyright © 2006 John Wiley & Sons, Ltd.     

Organochlorine Contaminants of Wintering Ducks Foraging on Detroit River Sediments

Organochlorine analysis was performed on carcasses of 13 diving ducks from a 1981 wintering population that foraged on contaminated sediments in the lower Detroit River. Mean total PCB concentrations were 10 mg/kg for seven lesser scaups (Aythya affinis), 11 mg/kg for three greater scaups (A. marila), and 7.6 mg/kg for three goldeneyes (Bucephala clangula). Highest mean levels of other residues were measured for hexachlorobenzene (1.7 mg/kg) in goldeneyes, and transnonachlor (0.33 mg/kg) and 4,4’-DDE (1.3 mg/kg) in greater scaup. Quantitative analysis of 72 PCB congeners also was applied to water, seston, sediment, benthie oligochaetes, and carp from the same site. Principal congeners in most of the samples included some of the more toxic and persistent PCBs. Results of a multivariate analysis indicated that ratios of more conservative to less conservative PCBs did not vary significantly among ducks (α = .05), but differed from those in carp, oligochaetes, and sediment. For the February through March period of fat mobilization, concentrations of total PCB in lipid were inversely correlated with percent lipid (r = 0.76) in ducks. The percentage of conservative PCBs increased slightly. The distribution and partitioning of organochlorines, including toxic PCB congeners, varied considerably within this water column-sediment-fauna ecosystem. Estimates of toxic exposure based on total PCB values may be unreliable.     

Variations in software development practices

Research on over 18 years of software projects reveals that developing large systems involves substantially more activities and a greater variety of specialized personnel than developing smaller systems. Perhaps the most significant observation is that good quality control is the best overall indicator of a successful project. Schedule delays and cost overruns most often occur when you discover during testing that the application has so many bugs that it doesn't work. Projects using QA teams, formal design and code inspections, and pretest defect tracking always had shorter testing cycles and therefore were more likely to be deliverable on schedule.     

Demonstration of an endurance limit in cast 319 aluminum

An investigation of the fatigue properties of cast W319-T7, an Al-Si-Cu alloy used in automotive engine components, was conducted using ultrasonic testing equipment with operating frequencies of 20 kHz. The stress-life (S-N) behavior at room temperature was determined for three solidification conditions of this alloy, where stresses for fatigue lives ranging from 10⁵ to 10⁹ cycles were determined. The results are compared to fatigue data acquired using servohydraulic equipment operating at 40 Hz. No influence of loading frequency has been observed. A discrete endurance limit is indicated for each of the three solidification conditions of W319-T7. The scientific and practical implications of this result are discussed. A material model presented previously is modified by introducing a crack growth threshold condition in order to predict the observed endurance limits. The model is shown to effectively predict the influence of solidification time on the fatigue properties of W319-T7.