Team THOR's Entry in the DARPA Robotics Challenge Finals 2015

This paper describes Team THOR's approach to human‐in‐the‐loop disaster response robotics for the 2015 DARPA Robotics Challenge (DRC) Finals. Under the duress of unpredictable networking and terrain, fluid operator interactions and dynamic disturbance rejection become major concerns for effective teleoperation. We present a humanoid robot designed to effectively traverse a disaster environment while allowing for a wide range of manipulation abilities. To complement the robot hardware, a hierarchical software foundation implements network strategies that provide real‐time feedback to an operator under restricted bandwidth using layered user interfaces. Our strategy for humanoid locomotion includes a backward‐facing knee configuration paired with specialized toe and heel lifting strategies that allow the robot to traverse difficult surfaces while rejecting external perturbations. With an upper body planner that encodes operator preferences, predictable motion plans are executed in unforeseen circumstances. These plans are critical for manipulation in unknown environments. Our approach was validated during the DRC Finals competition, where Team THOR scored three points in 18 min of operation time, and the results are presented along with an analysis of each task.     

Emulation of complex open quantum systems using superconducting qubits

With quantum computers being out of reach for now, quantum simulators are alternative devices for efficient and accurate simulation of problems that are challenging to tackle using conventional computers. Quantum simulators are classified into analog and digital, with the possibility of constructing “hybrid” simulators by combining both techniques. Here we focus on analog quantum simulators of open quantum systems and address the limit that they can beat classical computers. In particular, as an example, we discuss simulation of the chlorosome light-harvesting antenna from green sulfur bacteria with over 250 phonon modes coupled to each electronic state. Furthermore, we propose physical setups that can be used to reproduce the quantum dynamics of a standard and multiple-mode Holstein model. The proposed scheme is based on currently available technology of superconducting circuits consist of flux qubits and quantum oscillators.     

Emission Control of NO and SO2 for the High-Temperature and Low O2 Concentration Combustion of Coke by Urea and NH4HCO3

Urea and NH4HCO3 were used to control the emission of NO and SO2 from the combustion of coke at high-temperature and low oxygen concentration. Urea and NH4HCO3 could control NO emission only under 1100°C. Their effects disappeared above 1100°C even though the increase of urea and NH4HCO3 content from 10?to?50?wt?%. However, they showed good desulfurization effect on the emission of SO2 at all combustion temperatures and their effects showed remarkable results even at 1500°C. Only 10?wt?% of urea or NH4HCO3 could control the emission of SO2 effectively at 1400 and 1500°C. This effect was caused by ?NH and ?NH2 from the thermal decomposition of reducing agents at high temperature. Low O2 concentration showed little effect on the removal of SO2. Ammonia slip from the thermal decomposition of reducing chemical was not a considerable level.     

Evolution of textures and microstructures in IF-steel sheets during continuous confined strip shearing and subsequent recrystallization annealing

Interstitial free (IF) steel sheets were deformed by continuous confined strip shearing (CCSS) based on the equal channel angular pressing (ECAP). The samples were deformed by CCSS up to three passages and subsequently recrystallized at 700°C for 1 h. The strain history of IF steel sheets in the CCSS die-channel was tackled by finite element method (FEM) simulations. The deformation by CCSS led to the shear deformation and consequently the formation of shear texture components. With increasing number of CCSS passages, the intensity of the deformation texture was hardly increased. The recrystallization texture resembled the deformation texture. The orientation stability was discussed by mean of Taylor deformation model and the formation of recrystallization textures was discussed by occurrence of the discontinuous recrystallization. Observations by transmission electron microscopy (TEM) and electron backscattered diffraction (EBSD) revealed the formation of ultra-fine grains in IF sheets deformed by CCSS.     

Development of a lane departure monitoring and control system

The lane departure avoidance systems have been considered promising to assist human drivers in AVCS (Advanced Vehicle Control System). In this paper, a lane departure monitoring and control system is developed and evaluated in the hardware-in-the-loop simulations. This system consists of lane sensing, lane departure monitoring and active steering control subsystems. The road image is obtained based on a vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active steering controller for avoiding the lane departure is designed based on the lane departure metric. The proposed lane departure avoidance system is realized in a steering HILS (hardware-in-the-loop simulation) tool and its performance is evaluated with a driver in the loop.     

Optimizing Chain Topology of Bottle Brush Copolymer for Promoting the Disorder-to-Order Transition

The order-disorder transitions (ODT) of core-shell bottle brush copolymer and its structural isomers were investigated by dissipative particle dynamics simulations and theoretically by random phase approximation. Introducing a chain topology parameter λ which parametrizes linking points between M diblock chains each with N monomers, the degree of incompatibility at ODT ((χN)ODT; χ being the Flory–Huggins interaction parameter between constituent monomers) was predicted as a function of chain topology parameter (λ) and the number of linked diblock chains per bottle brush copolymer (M). It was found that there exists an optimal chain topology about λ at which (χN)ODT gets a minimum while the domain spacing remains nearly unchanged. The prediction provides a theoretical guideline for designing an optimal copolymer architecture capable of forming sub-10 nm periodic structures even with non-high χ components.     

Acid catalyst influence on the polymerization time of polyfurfuryl alcohol and on the porosity of monolithic vitreous carbon

This study compares the influence of different acid catalysts on the polymerization rate of polyfurfuryl alcohol (PFA) precursor and especially on the respective porosity of Monolithic Vitreous Carbon (MVC) produced from that. Five acid catalysts commonly used were compared: p‐toluenesulfonic (PTLS), hydrochloric, sulfuric, nitric, and phosphoric. A fixed molar concentration of catalyst was diluted in PFA resin under room pressure and temperature. The time dependence of PFA resin polymerization was investigated by optical transmittance of PFA films, and the polymerization degree, characterized by ATR spectroscopy and thermogravimetry. MVC samples prepared with the same PFA resin and each catalyst were carbonized up to 1200 °C, under inert atmosphere. MVC porosity was studied by nitrogen adsorption/desorption, and by SEM and optical microscopy. Higher polymerization degree and higher residual mass were obtained with faster catalysts. No direct relation between the polymerization rate and the acid force was observed. PTLS promoted the fastest PFA polymerization process and the sulfuric acid, the slowest one. MVC samples were obtained by slow carbonization. MVC presented low specific surface S_BET from 1.4 to 7.4 m²/g. Nitric acid catalyst contributed the most to micropores formation. Micrometric apparent porosity was smaller for the catalysts having longer polymerizations times, such as phosphoric and sulfuric acid. Phosphoric catalyst corresponded to the lowest porosity in MVC. As the polymerization time increased, the average size of the micrometric surface pores tended to augment. The MVC macroscopic porosity increased with the S_BET increment. Acid catalysts choice exerted a fundamental role on the porosity of MVC. © 2016 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 43272.     

Effects of work hardening models on low-cycle fatigue evaluations of coiled tubing with CT-100 steel

In the present study, low-cycle fatigue life of a coiled tubing (CT) with a CT-100 steel was evaluated by using various work hardening models. Tensile and low-cycle fatigue tests were performed, and experimental results were used to calibrate material model constants. A nonlinear finite element model was constructed in the ABAQUS program by using a CT fatigue test machine. During the test cycles, bending and straightening conditions were repeated and histories of strains were collected. The multiaxial low-cycle fatigue life was calculated by using Manson–Coffin relation and Tresca criterion. The kinematic and combined hardening models can be used to evaluate the fatigue life of CT, and their results are conservative compared with the fatigue test results. Results of the present study can be used as the basic data in establishing CT fatigue analysis.     

Experimental study on the life prediction of servo motors through model-based system degradation assessment and accelerated degradation testing

The advent of smart factories has resulted in the frequent utilization of industrial robots within factories to increase production automation and efficiency. Due to the increase in the number of industrial robots, it has become more important to prevent any unexpected breakdowns of the factory. As a result, the lifespan prediction of machinery has become a crucial factor because such failures can be directly associated with factory productivity resulting in significant losses. Most of the failures occur within one of the core components of the robot arm, the servo motor, and thus we will focus on the analysis of the servo motor in this study. However, sensor attachment to such equipment is considered difficult due to the dynamic movement of the robot arm, meaning that internal instrumentation should be utilized during analysis. In addition, no definite measure to determine the degradation of the motor exists, and thus a new degradation index is proposed in this study. Therefore, in this study, the lifespan of the servo motor will be estimated through accelerated degradation testing methods based on a new system degradation assessment method, which estimates the fault of the system using observer-based residuals with encoder data obtained from internal instrumentation.     

Solubility and electrochemical properties of chemically modified polyaniline‐gold/camphor sulfonic acid composites

Polyaniline nanocomposites encapsulating gold nanoparticles on camphor sulfonic acid (CSA) surface were prepared via the polymerization of aniline hydrochloride with different concentrations of CSA using HAuCl₄ as oxidant. The synthesized composites were characterized by Fourier transform infrared spectroscopy and UV–visible spectroscopy. Surface morphology was studied by scanning electron microscopy and transmission electron microscopy. The embedded crystallinity of the composites was investigated by X‐ray diffraction analysis. The solubility of the nanocomposites was studied using water, N‐methyl‐2‐pyrrolidinone, chloroform, and dimethylformamide solvents. The room temperature direct current conductivity of the composites was also observed in solution state. Electrical property of the composites was examined using cyclic voltammetric measurements at room temperature. The fabricated polymer nanocomposites with better solubility in water and some organic solvents will have various applications in electrical devices and biosensors. POLYM. COMPOS., 36:245–252, 2015. © 2014 Society of Plastics Engineers