Simultaneous design of the sensory morphology and controller of mobile robots

This paper proposes a method for automatic design of the sensory morphology of a mobile robot. The proposed method employs two types of adaptations, ontogenetic and phylogenetic, to optimize the sensory morphology of the robot. In ontogenetic adaptation, reinforcement learning searches for the optimal policy, which is highly dependent on the sensory morphology. In phylogenetic adaptation, a genetic algorithm is used to select morphologies with which the robot can learn tasks faster. Our proposed method was applied to the design of the sensory morphology of a line‐following robot. We performed simulation experiments to compare the design solution with a hand‐coded robot. The results of the experiments revealed that our robot outperformed the hand‐coded robot in terms of the following accuracy and learning speed, although our robot had fewer sensors than the hand‐coded one. We also built a physical robot using the design solution. The experimental results revealed that this physical robot used its morphology effectively and outperformed the hand‐coded robot. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 172(1): 48–57, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20965     

On change in the landscape

Research in landscape history/archaeology frequently concerns studies of human interventions in the cultural landscape. Decisions are seen to produce interventions that change a setting in some way, and each combination of decision, intervention and result tends, often sub-consciously, to be regarded as an episode of change or a discrete chapter in the evolution of a locality. Research will conventionally culminate in the completion of such an episode. The habit of perceiving landscape change in terms of discrete chapters or episodes distracts attention from the on-going nature of changes that reverberate around a landscape causing adjustments and compensations long after the termination of the initial intervention. The processes of adjustment and compensation endow landscape change with the character of a continuum rather than that of an episode. Examples from a long-term and highly detailed investigation of landscape evolution at Ripley, North Yorkshire, are used to illustrate the need for more refined perspectives on change. These perspectives should embrace continuing consequences of change as well as the initial impact of a decision upon a location.     

铰线钢盘条控冷工艺研究

分析绞线钢在控冷过程中水冷段和风冷段传热和相变的数学模型，由现场工艺确定的边界条件，通过大型商用有限元软件Marc／Mentat及二次开发技术，模拟轧后控制冷却过程中水冷线的温度场以及风冷线的温度场和组织场的全过程，并和实际结果对比，对现场生产制定合理的工艺制度、提高产品的综合性能具有重要的指导意义。     

The stability of hydrogen evolution activity and corrosion behavior of NiCu coatings with long-term electrolysis in alkaline solution

In this study, NiCu composite coating was electrochemically deposited on a copper electrode (Cu/NiCu) and tested for hydrogen evolution reaction (HER) in 1 M KOH solution for long-term electrolysis with the help of cathodic current–potential curves and electrochemical impedance spectroscopy (EIS) techniques. The bulk and surface composition of the coating was determined using atomic absorption spectroscopy (AAS) and energy dispersive X-ray (EDX) analysis. The surface morphology was investigated by scanning electron microscopy (SEM). The effect of electrolysis on the corrosion behavior of the Cu/NiCu electrode was also reported. It was found that the NiCu coating had a compact and porous structure with good time stability. The HER activity of the coating was stable over 120 h electrolysis and the HER mechanism was not modified during the operation. The corrosion tests showed that the corrosion resistance of the Cu/NiCu electrode changed when a cathodic current was applied to the electrolysis system.     

Rational approach for the analysis of segmental reinforced soil walls based on kinematic constraints

The paper presents an analytical method for the solution of reinforced soil walls in which the wall facing has a structural role. The three-component (soil–reinforcement–wall) system is statically indeterminate, and hence cannot be solved by equilibrium equations alone. The paper follows up on the work of Baker and Klein [2004. An integrated limiting equilibrium approach for design of reinforced soil retaining structures part I – formulation. Geotextiles and Geomembranes 22, 119–150] where an interaction model, incorporating factors that divide forces between the reinforcement layers and the wall, was introduced to solve the statically indeterminate system. In the current work, the division factors are resolved such that the kinematic constraints of compatibility between the reinforcement layers and the wall are satisfied. This is achieved by solving an optimization problem in which the objective function includes the relative displacement between the reinforcement layers and the wall. The resultant system is fully coupled whereby upper reinforcement layers are affected by the behavior of lower layers. As such, the method overcomes the limitation of the original framework in which the top-down procedure omits such coupling. A non-dimensional parametric study was conducted on walls with 10 face blocks (9 reinforcement layers). Results are given in a normalized manner for cases in which the reinforcement pullout stiffness is uniform and linearly increasing with depth. Analysis results show that in cases where the wall is relatively stiff compared to the reinforcement, the upper reinforcement layers are clearly affected by the lower layers (this is a direct outcome of the fully coupled system). On the other hand, when the relative stiffness of the wall is low, the system behavior tends towards that of a hinged system, which is statically determinate. In this case the solution becomes independent of the reinforcement pullout stiffness. Analysis results indicate that current design codes, which do not explicitly consider the structural role of the facing in the calculation procedure, may be overconservative in certain cases. This result supports the argument for introducing the structural role of the facing into design procedures.     

A comparison of global optimization algorithms with standard benchmark functions and real-world applications using EnergyPlus

There is an increasing interest in the use of computer algorithms to identify combinations of parameters that optimize the energy performance of buildings. For such problems, the objective function can be multi-modal and needs to be approximated numerically using building energy simulation programs. As these programs contain iterative solution algorithms, they introduce discontinuities in the numerical approximation to the objective function. Metaheuristics often work well for such problems, but their convergence to a global optimum cannot be established formally. Moreover, different algorithms tend to be suited to particular classes of optimization problems.

To shed light on this issue, we compared the performance of two metaheuristics, the hybrid CMA-ES/HDE and the hybrid PSO/HJ, in minimising standard benchmark functions and real-world building energy optimization problems of varying complexity. From this, we find that the CMA-ES/HDE performs well on more complex objective functions, but that the PSO/HJ more consistently identifies the global minimum for simpler objective functions. Both identified similar values in the objective functions arising from energy simulations, but with different combinations of model parameters. This may suggest that the objective function is multi-modal. The algorithms also correctly identified some non-intuitive parameter combinations that were caused by a simplified control sequence of the building energy system that does not represent actual practice, further reinforcing their utility.     

Efficiency and stability of transition metal electrocatalysts for the hydrogen evolution reaction using ionic liquids as electrolytes

Different electrodes (nickel, molybdenum, and iron alloys containing chromium, manganese, and nickel) were tested as cathodes for the hydrogen evolution reaction (HER) using 1-n-butyl-3-methylimidazolium tetrafluoroborate (BMI.BF₄) ionic liquid (IL) as the electrolyte. HERs were conducted at room temperature, at a cathodic potential of −1.7 V (PtQRE) using 10 vol.% aqueous BMI.BF₄ solutions. Reactions performed in a thermostated Hoffman cell gave current densities between 14.6 and 77.5 mA cm⁻² and efficiencies in the range 97.0–99.2%. Mo electrocatalysts in IL have been shown to be better than Pt, contrary to the classic behavior observed in an aqueous KOH medium. The electrochemical properties of molybdenum, as well as its resistance to corrosion (studied by Tafel plots and observed using SEM) indicate the potential use of this material as a cathode in an IL medium, which can lead to many attractive technological applications.     

Engineering Morphologies of Cobalt Pyrophosphates Nanostructures toward Greatly Enhanced Electrocatalytic Performance of Oxygen Evolution Reaction

Herein, a surfactant‐ and additive‐free strategy is developed for morphology‐controllable synthesis of cobalt pyrophosphate (CoPPi) nanostructures by tuning the concentration and ratio of the precursor solutions of Na₄P₂O₇ and Co(CH₃COO)₂. A series of CoPPi nanostructures including nanowires, nanobelts, nanoleaves, and nanorhombuses are prepared and exhibit very promising electrocatalytic properties toward the oxygen evolution reaction (OER). Acting as both reactant and pseudo‐surfactant, the existence of excess Na₄P₂O₇ is essential to synthesize CoPPi nanostructures for unique morphologies. Among all CoPPi nanostructures, the CoPPi nanowires catalyst renders the best catalytic performance for OER in alkaline media, achieving a low Tafel slope of 54.1 mV dec⁻¹, a small overpotential of 359 mV at 10 mA cm⁻², and superior stability. The electrocatalytic activities of CoPPi nanowires outperform the most reported non‐noble metal based catalysts, even better than the benchmark Ir/C (20%) catalyst. The reported synthesis of CoPPi gives guidance for morphology control of transition metal pyrophosphate based nanostructures for a high‐performance inexpensive material to replace the noble metal‐based OER catalysts.     

基于技术进化趋势的裁剪方法研究

裁剪是TRIZ中一种有效解决问题的方法,其通过删除问题元件,重组系统有用功能进行产品创新设计,达到简化系统与优化产品的目的.为了启发和引导设计者在裁剪过程中有效地利用资源,在使用裁剪规则引导创新设计的基础上,以具有预测性和启发性的技术进化趋势作为知识源,综合分析进化趋势解题与裁剪规则引导功能重组的资源来源,构建了进化趋势与裁剪规则的映射关系,提出了基于裁剪规则的多层次进化趋势选择策略,利用进化趋势辅助功能重组,构建了基于进化趋势的裁剪方法过程模型.最后通过钢带铠装机裁剪实例验证了此方法的合理性.     

Research progress of the NSFC Major Research Plan Dynamic Disaster Evolution of Major Engineering Structures

The NSFC Major Research Plan aims to conduct researches at the international research frontiers on modeling of strong earthquake ground motions and strong wind or typhoon fields, and investigating the damage and failure evolution process of the major engineering structures under dynamic actions, focusing on the following two key scientific problems: (1) characteristics and laws of strong earthquake ground motions and strong wind or typhoon fields, and (2) process and mechanism of dynamic disaster evolution ...