MULTIROBOT MOTION PLANNING USING HYBRID MNHS AND GENETIC ALGORITHMS

Planning the motion of multiple robots deals with computing the motion of all robots avoiding any collision. This article focuses on the use of hybrid Multi Neuron Heuristic Search (MNHS) and Genetic Algorithm (GA). The MNHS is an advancement over the conventional A* algorithm and is better suited for maze-like conditions where there is a high degree of uncertainty. The MNHS contributes toward optimality of the solution, and the GA gives it an iterative nature and enables the approach to be used on high-resolution maps. MNHS works over the set of points returned by the GA in its fitness function evaluation. A priority-based approach is used, in which the priorities are decided by the GA. Path feasibility is speeded up by using the concept of coarser-to-finer lookup called momentum. Experimental results show that the combined approach is able to easily solve the problem for a variety of scenarios.

[Supplementary materials are available for this article. Go to the publisher's online edition of Applied Artificial Intelligence for the following free supplemental resource(s): Videos 1-4]     

Majorisations for the eigenvectors of graph-adjacency matrices

We develop majorisation results that characterise changes in eigenvector components of a graph's adjacency matrix when its topology is changed. Specifically, for general (weighted, directed) graphs, we characterise changes in dominant eigenvector components for single- and multi-row incrementations. We also show that topology changes can be tailored to set ratios between the components of the dominant eigenvector. For more limited graph classes (specifically, undirected, and reversibly-structured ones), majorisations for components of the subdominant and other eigenvectors upon graph modifications are also obtained.     

Biomedical applications of thermally activated shape memory polymers

Shape memory polymers (SMPs) are smart materials that can remember a primary shape and can return to this primary shape from a deformed secondary shape when given an appropriate stimulus. This property allows them to be delivered in a compact form via minimally invasive surgeries in humans, and deployed to achieve complex final shapes. Here we review the various biomedical applications of SMPs and the challenges they face with respect to actuation and biocompatibility. While shape memory behavior has been demonstrated with heat, light and chemical environment, here we focus our discussion on thermally stimulated SMPs.     

Effect of long-term stress and temperature exposure on the fracture toughness of Ti-62222 alloy

Fracture toughness tests were conducted on a Ti-62222 (titanium alloy) sheet being considered for use in high temperature aircraft applications in the as received condition and after exposing the pre-cracked specimens to a sustained stress intensity, K, level between 55 and 60.5 MPa for 200 h at 350°C. It was concluded that the fracture toughness does not degrade as a result of exposure to high temperature and the K levels in this material. The tensile strength in the exposed condition also remained the same as in the as received condition.     

Comparing stationary standing with an intermittent walking posture during assembly operations

The purpose of this investigation was to evaluate two different standing postures, intermittent walking (dynamic) and stationary, on 11 volunteers. While performing the activity in a stationary posture, volunteers worked barefoot for 25 minutes at a particular workstation, taking up to five passive breaks. The dynamic standing postural activity was similar in every respect with the exception of the nature of the breaks that were spent walking from one workstation to the other. Foot pressure was analyzed using a static evaluation variable (contact area) and a dynamic evaluation variable (area pressure change root mean square [aPcrms]). Foot center of pressure (COP) was analyzed using two of its features: excursion length (LEN) and root mean square velocity of excursions (VEL). In addition, a psychophysical study was used to distinguish the comfort levels of various muscles between the two postures. The quantifications of the four physiological variables revealed a lower comfort index (p < 0.05) in stationary standing compared to dynamic standing during assembling duties. This significant distinction was further corroborated by the results of the psychophysical test. Such a positive influence of the dynamic standing posture on standing comfort can be used to improve industrial productivity. © 2008 Wiley Periodicals, Inc.     

An Efficient and Scalable Quasi-Aggregate Signature Scheme Based on LFSR Sequences

Aggregate signatures can be a crucial building block for providing scalable authentication of a large number of users in several applications like building efficient certificate chains, authenticating distributed content management systems, and securing path vector routing protocols. Aggregate signatures aim to prevent resources (signature and storage elements, and computation) from growing linearly in the number of signers participating in a network protocol. In this paper, we present an efficient and scalable quasi-aggregate signature scheme, {rm CLFSR}- {rm QA}, based on third-order linear feedback shift register (cubic LFSR) sequences that can be instantiated using both XTR and GH public key cryptosystems. In the proposed {rm CLFSR}-{rm QA} construction, signers sign messages sequentially; however, the verfier need not know the order in which messages were signed. The proposed scheme offers constant length signatures, fast signing, aggregation, and verification operations at each node, and requires the least storage elements (public keys needed to verify the signature), compared to any other aggregate signature scheme. To the best of our knowledge, {rm CLFSR}- {rm QA} is the first aggregate signature scheme to be constructed using LFSR sequences. We believe that the {rm CLFSR}- {rm QA} signature scheme can be catalytic in improving the processing latency as well as reducing space requirements in building secure, large-scale distributed network protocols. We perform extensive theoretical analysis including correctness and security of {rm CLFSR}- {rm QA} and also present a performance (computation and communication costs, storage overhead) comparison of the proposed scheme with well-known traditional constructions.     

An atomic force microscope study of carbon onions and related nanoparticles

Carbon onions are found along with carbon nanotubes and other carbon nanoparticles in the cathodic deposit in the arc-vaporization of graphite. Atomic force microscopy has been used to characterize these particles on the basis of their sizes and shapes. Onion-like particles have three-dimensional, near spherical structure and are distinct from two-dimensional graphitic particles. The spherical shape and height to diameter ratios obtained using atomic force microscope, afford a distinction between onion-like structures and other carbon nanoparticles.     

Formation of dialyzable iron during in-vitro digestion and extraction of mycoprotein

Mycoprotein is the biomass of the fungus Fusarium venenatum. The ability of mycoprotein to enhance production of dialyzable iron following in-vitro digestion or extraction was studied, with the aim of identifying the components responsible. Digested mycoprotein, extracted mycoprotein and digested chicken breast muscle all produced about ten times as much dialyzable iron as the control. All of the dialyzable iron from mycoprotein was ferric. Essentially all the dialyzable iron passed through a 1 kDa molecular weight cut-off membrane. Iron binding components were extracted from mycoprotein using weak acid but not water. Extraction of mycoprotein produced both dialyzable and non-dialyzable components, which bound ferric iron. Analysis of the digests and the dialyzable fraction of acid extraction showed that they contained siderophores, which contributed to the formation of dialyzable iron.