Supervisory control of multiple robots in dynamic tasking environments

A military targeting environment was simulated to examine the effects of an intelligent route-planning agent RoboLeader, which could support dynamic robot re-tasking based on battlefield developments, on the performance of robotics operators. We manipulated the level of assistance (LOAs) provided by RoboLeader as well as the presence of a visualisation tool that provided feedback to the participants on their primary task (target encapsulation) performance. Results showed that the participants' primary task benefited from RoboLeader on all LOAs conditions compared to manual performance; however, visualisation had little effect. Frequent video gamers demonstrated significantly better situation awareness of the mission environment than did infrequent gamers. Those participants with higher spatial ability performed better on a secondary target detection task than did those with lower spatial ability. Finally, participants' workload assessments were significantly lower when they were assisted by RoboLeader than when they performed the target entrapment task manually. Practitioner Summary: This study demonstrated the utility of an intelligent agent for enhancing robotics operators' supervisory control performance as well as reducing their workload during a complex urban scenario involving moving targets. The results furthered the understanding of the interplay among level-of-autonomy, multitasking performance and individual differences in military tasking environments.     

Preparation of a sensor substrate using functionalized mesoporous silica on a gold film for surface plasmon resonance (SPR) spectroscopy

The use of surface plasmon resonance (SPR) spectroscopy has been applied to a wide variety of fields such as biosensors and surface analysis instruments. In general, a SPR substrate is prepared using self-assembled monolayer (SAM) method of organic molecules as receptor for the target on a layer of gold or silver. However, mesoporous inorganic materials such as SBA-15 have benefits as sensor substrate for SPR. Mesoporous silica has a large surface area which receptor molecule can be attached and has a rigid body which has an excellent stability in the extreme condition compared to organic sensing layer. We prepared an organic modified mesoporous silica and successfully immobilized it on a gold surface, in an attempt to use as a substrate for SPR spectroscopy. For the comparison of sensitivity of prepared substrate, Pt²⁺ detection was selected as a model system. Substrate prepared in this study exhibited the capability of selective sensing for Pt²⁺ ions.     

Orientationability analyses of a special class of the Stewart–Gough parallel manipulators using the unit quaternion representation

This paper addresses the orientation-singularity and orientationability analyses of a special class of the Stewart–Gough parallel manipulators whose moving and base platforms are two similar semi-symmetrical hexagons. Employing a unit quaternion to represent the orientation of the moving platform, an analytical expression representing the singularity locus of this class of parallel manipulators in a six-dimensional Cartesian space is obtained. It shows that for a given orientation, the position-singularity locus is a cubic polynomial expression in the moving platform position parameters, and for a given position, the orientation-singularity locus is an analytical expression but not a polynomial directly with respect to the mobile platform orientation parameters. Further inspection shows that for the special class of parallel manipulators, there must exist a nonsingular orientation void in the orientation space around the orientation origin for each position in the position-workspace. Therefore, a new performance index referred to as orientationability is introduced to describe the orientation capability of the special class of manipulators at a given position. A discretization algorithm is proposed for the computation of the orientationability of the special class of manipulators. Moreover, effects of the design parameters and position parameters on the orientationability are investigated in details. Based on the orientationability performance index, another novel performance index referred to as practical orientationability is presented which represents the practical orientation capability of the manipulator at a given position. The practical orientationability not only can satisfy all the kinematic demands and constraints of such class of manipulators, but also can guarantee that the manipulator is nonsingular.     

Effect of integrated extrusion–equal channel angular pressing temperature on microstructural characteristics of low carbon steel

Abstract

In the present research, a combined forward extrusion–equal channel angular pressing was developed and executed for the deformation of a plain carbon steel. In this method, two different deformation steps, including forward extrusion and equal channel angular pressing, take place successively in a single die. The deformation process was performed at different deformation start temperatures (800, 930 and 1100°C). Three-dimensional finite element simulation was used to predict the strain and temperature variations within the samples during deformation. With microstructural observations and the results of finite element simulation, the main grain refinement mechanisms were studied at different deformation temperatures. The results show that the forward extrusion–equal channel angular pressing is effective in refining the ferrite grains from an initial size of 32 μm to a final size of ～0·9 μm. The main mechanisms of grain refinement were considered to be strain assisted transformation, dynamic strain induced transformation and continuous dynamic recrystallisation, depending on the deformation temperature.     

Structure factors of modified liquid Al–Si alloys

The structure factor and the coordination numbers of liquid Al–Si alloys with different Si content have been measured by a high temperature X-ray diffractometer. Radial distribution functions (RDFs), the nearest atomic distance and the coordination numbers of eutectic Al–Si alloys before and after being modified with Sr and Sb were studied. The RDFs of the liquid alloy were decomposed by five Gaussian peaks. The results show that a Si–Si covalent bond exists in the liquid of eutectic and hyper-eutectic alloys. Sr in the liquid Al–Si has a capability to weaken the covalent bonds of Si–Si, suppressing the nucleation of the eutectic silicon phase. On the other hand, Sb in the liquid Al–Si increases the order degree of Si atoms, decreasing the supercooling degree of the nucleation and promoting the nucleation of eutectic silicon.     

Annealing process of fine grained co-stabilised (Y,Mg)-PSZ/MgAl2O4 ceramics

Abstract

Co-stabilised (Y,Mg) partially stabilised zirconia (PSZ) ceramics with MgAl₂O₄ spinel additions were produced, with industrial zirconia as the main starting material. Powders were prepared using a mechanical milling–mixing process. The effect of the annealing process on the mechanical properties, phase compositions, and microstructure of fine grained PSZ ceramics was investigated.     

LaO_x(OH)_y supported platinum catalysts for CO oxidation:Deactivation by formation of lanthanum carbonate

Platinum catalyst for CO oxidation has been studied for decades,due to its high activity and good stability.In this work,we prepared three different lantha num oxide or hydroxide supports(LaO_x(OH)_y),and deposited platinum(Pt) with 0.5 at% via an impregnation approach to synthesize Pt/LaO_x(OH)_y catalysts.However,we find that these catalysts perform a poor stability for the CO oxidation reaction.The fresh and used samples were comprehensively characterized by multiple techniques including power X-ray diffraction(XRD),X-ray absorption fine structure(XAFS),transmission electron microscopy(TEM),temperature-programmed reduction by carbon monoxide(CO-TPR) and thermogravimetric analysis(TGA),to demonstrate that the oxidized platinum atoms or clusters,without any component of Pt-Pt metallic bond,are highly dispersed on the surface of LaO_x(OH)_y.Furthermore,the as-formed lanthanum carbonate(La₂O₂CO₃) during the exposure to ambient circumstances or in the reaction atmosphere of CO+O₂,severely impair the reactivity of Pt/LaO_x(OH)_y.On the basis of the obtained experimental results,we have drawn a conclusion that the oxidized P_tO_x atoms or PtxOy clusters are the active species for CO oxidation,while the formation of lanthanum carbonate is the origin of deactivation on reactivity.     

Sensitivity analysis of nonlinear fractional order control systems with state delay

In this paper, we consider a class of nonlinear fractional order control system with delay in state variable. Existence and uniqueness of solution are shown by using method of steps. The sensitivity of the state and control with respect to the parameters of the system is shown. Finally, analytical results are substantiated by numerical examples.     

Recursive identification for Hammerstein–Wiener systems with dead-zone input nonlinearity

A new recursive algorithm is proposed for the identification of a special form of Hammerstein–Wiener system with dead-zone nonlinearity input block. The direct motivation of this work is to implement on-line control strategies on this kind of system to produce adaptive control algorithms. With the parameterization model of the Hammerstein–Wiener system, a special form of model estimation error is defined; and then its approximate formula is given for the following derivation. Based on these, a recursive identification algorithm is established that aims at minimizing the sum of the squared parameter estimation errors. The conditions of uniform convergence are obtained from the property analysis of the proposed algorithm and an adaptive setting method for a weighted factor in the algorithm is given, which enhances the convergence of the proposed algorithm. This algorithm can also be used for the identification of the Hammerstein systems with dead-zone nonlinearity input block. Three simulation examples show the validity of this algorithm.     

贮氢合金组成对电极性能的影响

本文研究了混合稀土MmBx贮氢合金B组分的钴含量和Mm(Ni_(0.70)Co_(0.16)Mn_(0.08)Al_(0.06))_x的配比数x对P-C-T曲线平衡氢压、放电容量和电池的循环使用寿命的影响。