A contribution to collision-free trajectory planning for handling systems in varying environments

In highly flexible and complex handling systems the risk of collision of moving machine components is continuously increasing. When, for example, several robots share the same workspace and the environment in the workspace is changing due to the operation, the robot trajectories can no longer be planned in advance without the risk of collision. The objective of this paper is the collision-free motion planning of handling system manipulators from the start to the end position within a changing environment. For this purpose, the trajectories on the control system have to be planned during the operating time most efficiently depending on the current state of a varying environment. This paper describes a new approach for trajectory planning based on curve shortening flows combined with potential fields. The functional capability of the method will be demonstrated initially on a simple robot kinematics with two degrees of freedom.     

Upcycling of polypropylene with various concentrations of peroxydicarbonate and dilauroyl peroxide and two processing steps

The influence of two peroxides (peroxydicarbonate/dilauroyl peroxide) with various concentrations (10–200 mmol/kg PP) and their effective opportunity to introduce long chain branched (LCB) were investigated. The dependence of a single and double extrusion step and the changes of the properties were studied. Experiments were carried out in a single screw extruder at 180°C for the first extrusion step (modification) and at 240°C for the second extrusion step (processing simulation). Melt flow rate and dynamic rheological properties were studied at a measuring temperature of 230°C. For the definitive determination of long chain branched polypropylene (LCB-PP) served the extensional rheology measurements. The mechanical properties were examined via tensile test and impact tensile test. Summarized, LCB (melt strength) could be observed via extensional rheology for all modified specimens and the mechanical properties were maintained or even improved for the modified samples. Particularly, samples containing dilauroyl peroxide display excellent mechanical properties in this study.     

Motormouth: Mere exposure depends on stimulus-specific motor simulations.

The authors apply an embodied account to mere exposure, arguing that through the repeated exposure of a particular stimulus, motor responses specifically associated to that stimulus are repeatedly simulated, thus trained, and become increasingly fluent. This increased fluency drives preferences for repeated stimuli. This hypothesis was tested by blocking stimulus-specific motor simulations during repeated exposure. In Experiment 1, chewing gum while evaluating stimuli destroyed mere exposure effects (MEEs) for words but not for visual characters. However, concurrently kneading a ball left both MEEs unaffected. In Experiment 2, concurrently whispering an unrelated word destroyed MEEs for words but not for characters, even when implemented either exclusively during the initial presentation or during the test phase and when the first presentation involved an evaluation or a mere study of the stimuli. In Experiment 3, a double dissociation between 2 classes of stimuli was demonstrated, namely, words (oral) and tunes (vocal). A concurrent oral task (tongue movements) destroyed MEEs for words but not for tone sequences. A concurrent vocal task (humming “mm-hm”) destroyed MEEs for tone sequences but not for words. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Smart consumer load balancing: state of the art and an empirical evaluation in the Spanish electricity market

The basis of an efficient functioning of a power grid is an accurate balancing of the electricity demand of all the consumers at any instant with supply. Nowadays, this task involves only the grid operator and retail electricity providers. One of the facets of the Smart Grid vision is that consumers may have a more active role in the problem of balancing demand with supply. With the deployment of intelligent information and communication technologies in domestic environments, homes are becoming smarter and able to play a more active role in the management of energy. We use the term Smart Consumer Load Balancing to refer to algorithms that are run by energy management systems of homes in order to optimise the electricity consumption, to minimise costs and/or meet supply constraints. In this work, we analyse different approaches to Smart Consumer Load Balancing based on (distributed) artificial intelligence. We also put forward a new model of Smart Consumer Load Balancing, where consumers actively participate in the balancing of demand with supply by forming groups that agree on a joint demand profile to be contracted in the market with the mediation of an aggregator. We specify the business model as well as the optimisation model for load balancing, showing the economic benefits for the consumers in a realistic scenario based on the Spanish electricity market.     

3D deep X-ray lithography for producing a multi-channel Fourier transform interferometer

We introduce a modified LIGA process architecture to manufacture a static lamellar grating Fourier-transform spectrometer invented by Moser and Möller (European patent EP 0 765 488 B1, 1994). Such spectrometers hold unique advantages over common Michelson-type FTIRs including high time resolution, speed, compactness, and robustness. To cope with the spectrometer’s demand for precise high-aspect-ratio micro-fabrication, we present a modified LIGA process which enhances the X-ray lithography by means of a moving mask technique (Heussler and Moser Lithography method and apparatus PCT/SG2011/000376, 2011). The technique relies on independently moving multiple masks stacked on top of each other during the lithographic step and thus allows to locally vary the deposited dose in a positive tone photoresist. First manufacturing results as well as a performance test of a prototype spectrometer are reported.     

The impact of tangled code changes on defect prediction models

When interacting with source control management system, developers often commit unrelated or loosely related code changes in a single transaction. When analyzing version histories, such tangled changes will make all changes to all modules appear related, possibly compromising the resulting analyses through noise and bias. In an investigation of five open-source Java projects, we found between 7 % and 20 % of all bug fixes to consist of multiple tangled changes. Using a multi-predictor approach to untangle changes, we show that on average at least 16.6 % of all source files are incorrectly associated with bug reports. These incorrect bug file associations seem to not significantly impact models classifying source files to have at least one bug or no bugs. But our experiments show that untangling tangled code changes can result in more accurate regression bug prediction models when compared to models trained and tested on tangled bug datasets—in our experiments, the statistically significant accuracy improvements lies between 5 % and 200 %. We recommend better change organization to limit the impact of tangled changes.     

Velocity measurements inside the concentration boundary layer during copper-magneto-electrolysis using a novel laser Doppler profile sensor

The evolution of the velocity boundary layer during the initial phase of copper electrolysis under the influence of a magnetic field is studied by using particle image velocimetry and a novel laser Doppler velocity profile sensor. With this new sensor, time-resolved velocity measurements within 400 μm of a vertically aligned cathode in an aqueous 0.05 M CuSO₄-solution are presented. In this way, the complex interaction of Lorentz force and opposing buoyancy-driven convection was studied by measuring the resulting velocity profile inside the concentration boundary layer with a spatial resolution of 15 μm. It is shown that the Lorentz force-driven convection only dominates the velocity boundary layer during the early phase of electrolysis and induces a linear velocity profile near the cathode. The linear relationship between the velocity gradient and Lorentz force is determined. With the onset of the opposing buoyancy-driven convection at the cathode, a duplex structure of the boundary layer appears. Its characteristic quantities, given by the horizontal distances, δ_max and δv=0, where the velocity reaches the maximum and where it is equal to zero, remain nearly unchanged, while the maximum velocity, vmax, in spite of the counteracting Lorentz force, increases faster as compared to pure natural convection, depending on the current density.