Learned Stochastic Mobility Prediction for Planning with Control Uncertainty on Unstructured Terrain

Motion planning for planetary rovers must consider control uncertainty in order to maintain the safety of the platform during navigation. Modeling such control uncertainty is difficult due to the complex interaction between the platform and its environment. In this paper, we propose a motion‐planning approach whereby the outcome of control actions is learned from experience and represented statistically using a Gaussian process regression model. This mobility prediction model is trained using sample executions of motion primitives on representative terrain, and it predicts the future outcome of control actions on similar terrain. Using Gaussian process regression allows us to exploit its inherent measure of prediction uncertainty in planning. We integrate mobility prediction into a Markov decision process framework and use dynamic programming to construct a control policy for navigation to a goal region in a terrain map built using an onboard depth sensor. We consider both rigid terrain, consisting of uneven ground, small rocks, and nontraversable rocks, and also deformable terrain. We introduce two methods for training the mobility prediction model from either proprioceptive or exteroceptive observations, and we report results from nearly 300 experimental trials using a planetary rover platform in a Mars‐analogue environment. Our results validate the approach and demonstrate the value of planning under uncertainty for safe and reliable navigation.     

Review: current international research into cellulose nanofibres and nanocomposites

This paper provides an overview of recent progress made in the area of cellulose nanofibre-based nanocomposites. An introduction into the methods used to isolate cellulose nanofibres (nanowhiskers, nanofibrils) is given, with details of their structure. Following this, the article is split into sections dealing with processing and characterisation of cellulose nanocomposites and new developments in the area, with particular emphasis on applications. The types of cellulose nanofibres covered are those extracted from plants by acid hydrolysis (nanowhiskers), mechanical treatment and those that occur naturally (tunicate nanowhiskers) or under culturing conditions (bacterial cellulose nanofibrils). Research highlighted in the article are the use of cellulose nanowhiskers for shape memory nanocomposites, analysis of the interfacial properties of cellulose nanowhisker and nanofibril-based composites using Raman spectroscopy, switchable interfaces that mimic sea cucumbers, polymerisation from the surface of cellulose nanowhiskers by atom transfer radical polymerisation and ring opening polymerisation, and methods to analyse the dispersion of nanowhiskers. The applications and new advances covered in this review are the use of cellulose nanofibres to reinforce adhesives, to make optically transparent paper for electronic displays, to create DNA-hybrid materials, to generate hierarchical composites and for use in foams, aerogels and starch nanocomposites and the use of all-cellulose nanocomposites for enhanced coupling between matrix and fibre. A comprehensive coverage of the literature is given and some suggestions on where the field is likely to advance in the future are discussed.     

Poly(vinylidene fluoride)/halloysite nanotubes nanocomposites: The structures,properties, and tensile fracture behaviors

Poly(vinylidene fluoride)/halloysite nanotubes (HNTs) nanocomposites with good dispersion were prepared. The effect of HNTs on the crystalline structure, dynamic rheological properties, dynamic mechanical properties, and tensile properties was investigated. Results showed that at low concentration, the effect of HNTs on the modulus was minor. However, at high concentration, improvement of the modulus can be observed. The tensile fracture behaviors were investigated, which showed that the addition of HNTs changed the fracture mode. When the concentration of HNTs was 20 phr, a fracture mode change from microductility/brittle to brittle/fibrillation occurred. © 2012 Wiley Periodicals, Inc. J. Appl. Polym. Sci., 2013     

Flow Visualization in a Pocketed Thrust Washer

The objectives of this study were to experimentally and numerically investigate oil flow in surface-pocketed thrust washers. In order to achieve the experimental aspects of this investigation, a thrust washer test rig was designed and developed to visualize the lubricant flow at the contact interface. A novel approach for creating the pockets was developed to allow optical inspection of the lubricant during thrust washer operation. The thrust washers were fabricated using a glass disk with a thin layer of steel shim stock adhered to the surface. The micrometer-thick shim stock was machined using an Nd:YAG laser to create the circular pocket geometries and then glued to the glass disk. A mirror and camera were placed below the semitransparent washer to observe the lubricant flow in the pocket. The results obtained from this configuration illustrate a cavitation bubble forming on the leading edge of the pocket followed by a sharp transition back to liquid. The size of the cavitation area was found to be a function of rotational speed, nominal bearing pressure (NBP), viscosity, and pocket geometry. The cavitation area ratio (gaseous region divided by the pocket area) increased for greater speeds and higher viscosities and decreased for larger pocket diameters, deeper pockets, and higher NBPs. The friction force for various thrust washer designs was also measured as a function of load, speed, and lubricant. The results showed that shallower, wider pockets provided the lowest friction. It was found that, generally, the conditions that minimize friction also result in a stable cavitation region. ANSYS Fluent computational fluid dynamics software was used to develop a three-dimensional model of the pocketed thrust washer utilizing the full Navier-Stokes equations to investigate the cavitation and pressure distribution occurring at the contact and corroborate the experimental results.     

Effect of Alloy Composition on Carburizing Performance of Steel

This paper investigates the effect of alloy composition on the gas carburizing performance of AISI 1018, 4820, 5120, and 8620 steels. The mass-transfer coefficients and carbon diffusivities were calculated from experimental measurements using direct flux integration. Although steels with high concentration of austenite-stabilizing elements (Si, Ni) increased carbon diffusivity in austenite, they significantly reduced the kinetics of carbon transfer from the atmosphere to the steel surface and resulted in lower weight gain. Despite lowering the carbon diffusivities, steels alloyed with carbide-forming elements (Cr, Mo) significantly increased the mass-transfer coefficient in the atmosphere and enhanced the rate of carbon profile evolution. The experimentally determined carbon diffusivities were in good agreement with the carbon diffusivities obtained from the thermodynamic and kinetic databases in DICTRA. Overall, using the concentration dependent mass-transfer coefficient and carbon diffusivity in various alloy steels helped explain the experimentally observed variations in the carbon concentration profiles and the effective case depths. Recommendations are made to help achieve better case depth uniformity within a carburizing workload.     

Beam Splitter Model of Two-beam Coupling in Photorefractive Materials

Abstract

The phenomenon of two-beam coupling in photorefractive crystals results from the interaction of two beams with the index grating written by those two beams. In this paper we show that the process can be understood by considering the photorefractive crystal to be a nonlinear beam splitter, with reflectivity and transmission coefficients dependent upon the relative intensities of the two beams. The relative phase relationships upon reflection, determined by the Fresnel equations, as well as the phase shift between the intensity and index grating, are the sources of the asymmetric coupling. A simple derivation of coupled mode equations describing two-beam coupling based upon the beam splitter model is proffered.     

Torsional properties of stainless steel and nickel-titanium endodontic files

American cutaneous leishmaniasis (ACL) presents a spectrum of clinical and immunological manifestations. Since the nature of the cellular response appears to play a fundamental role in determining the characteristics of the immunoglobulin isotype of specific antibody responses, we have compared the relative levels of specific antibodies of the four IgG isotypes against Leishmania in sera from patients with different clinical manifestations of ACL. Using a specific antibody capture assay, significant levels of antibodies of the IgG1, 2 and 3 isotypes were detected in localized cutaneous leishmaniasis (LCL); the average level of IgG4 antibodies was low and they were not detected in 10/20 sera. Sera from muco-cutaneous leishmaniasis (MCL) gave a comparatively strong IgG1 response. Sera from diffuse cutaneous leishmaniasis (DCL), the rare form characterized by antigen-specific anergy of cell-mediated immunity, showed highly significant levels of IgG4 antibodies compared to antibody levels of this isotype in the other groups; IgG1 and IgG2 levels were also elevated. Based on other studies of the relationship between the IgG isotype response and cell-mediated immunity, these results confirm a Th1-like CD4+ T cell response in LCL and MCL and a significant Th2-like response in DCL.     

The effect of articulatory suppression on short-term recognition.

Exp 1 determined whether articulatory suppression (AS) affected mainly α (initial strength) or φ (influence of later items) in a short-term recognition task, using 12 female undergraduates. Exp 2, with 12 undergraduates, indicated that the degree to which trace-strength was reduced by an incoming target item varied with what was spoken in the context of the AS task. Findings show that if d′ was used to measure strength in an immediate recognition task, AS of any kind reduced encoding strength as compared with normal voicing. It is concluded that AS exerted its effects by preoccupying short-term store with extraneous material, one effect being that intralist rehearsal was prevented. (French abstract) (PsycINFO Database Record (c) 2010 APA, all rights reserved)