Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

A novel bio‐based phthalonitrile resin derived from catechin: synthesis and comparison of curing behavior with petroleum‐based counterpart

The development of bio‐based thermosetting resins with good thermal stability can potentially afford sustainable polymers as replacements for petroleum‐based polymers. We report a practical route to a novel catechin‐based phthalonitrile resin precursor (CA‐Ph), which contains free phenolic hydroxyl groups that result in ‘self‐curing’ at elevated temperatures to afford a thermostable polymer. Comparison of the performance of this CA‐Ph resin with that of a conventional petroleum‐based bisphenol A phthalonitrile resin (BPA‐Ph; containing 5 wt% of the curing agent 4,4′‐diaminodiphenylsulfone) revealed that CA‐Ph exhibits a lower melting point and curing temperature. Cured CA‐Ph resin retains 95% of its weight at 520 °C under a nitrogen atmosphere, which compares favorably with results obtained for BPA‐Ph resin that retains 95% of its weight at a lower temperature of 484 °C. Kinetic results indicated that the curing reactions of both CA‐Ph and BPA‐Ph systems follow an autocatalytic mechanism. These results suggest that catechin is a useful bio‐based feedstock for the preparation of self‐curing and thermally stable phthalonitrile resins for advanced technological applications. © 2017 Society of Chemical Industry     

Using electroencephalogram to continuously discriminate feelings of personal thermal comfort between uncomfortably hot and comfortable environments

Thermal comfort is an important factor for the design of buildings. Although it has been well recognized that many physiological parameters are linked to the state of thermal comfort or discomfort of humans, how to use physiological signal to judge the state of thermal comfort has not been well studied. In this paper, the feasibility of continuously determining feelings of personal thermal comfort was discussed by using electroencephalogram (EEG) signals in private space. In the study, 22 subjects were exposed to thermally comfortable and uncomfortably hot environments, and their EEG signals were recorded. Spectral power features of the EEG signals were extracted, and an ensemble learning method using linear discriminant analysis or support vector machine as a sub-classifier was used to build the discriminant model. The results show that an average discriminate accuracy of 87.9% can be obtained within a detection window of 60 seconds. This study indicates that it is feasible to distinguish whether a person feels comfortable or too hot in their private space by multi-channel EEG signals without interruption and suggests possibility for further applications in neuroergonomics.     

A new mechanoluminescence phosphor Na3Sc2(PO4)3:Eu2+: Phase transition-assisted defect formation in a polymorphic composition

A new mechanoluminescent phosphor was developed from a sodium (Na) superionic conductor (NASICON)-structured Na₃Sc₂(PO₄)₃:Eu²⁺ phosphor that is known for its self-healing properties. The compound that crystalized assuming monoclinic C2/c symmetry was found to be blue-emitting, with no noticeable persistent luminescence. Thermoluminescence analysis showed that the phosphor had two prominent distinct thermal emission bands corresponding to the high-temperature β- and γ-phases of the composition. The mechanoluminescence properties of the material that does not have any persistent luminescence at room temperature were investigated by imparting impulsive strain. The compound on charging with 365 nm radiation was found to have significant mechanoluminescent emission originating from shallow defects present in the β-phase of composition that formed by the stress-induced phase transition process. Its emission characteristics and temporal behavior were investigated by varying the impact velocity.     

岩矿稀有金属化学分析技术浅析

分析当前较为常用的岩矿稀有元素分析技术方法,并对几种常见的稀有元素分析方法进行了阐述,希望为我国矿产勘探领域提供一些有价值的参考借鉴。     

Precipitating spinel into precursor glass and its assistance in crystallization

The crystallization phenomena of spinel in CaO-MgO-Al₂O₃-SiO₂-Fe₂O₃ glass have received much attention due to the particular role in preparation of glass-ceramic materials, which represent an effective option to manage hazardous waste. In this study, both preliminary spinel and secondary spinel were precipitated in the precursor glass. The formation of these spinel was meticulously assessed by a combination of X-ray diffractometry and scanning electron microscopy. The structure of the microenvironment in the precursor glass was characterized by Raman spectrums. These advanced techniques highlight the potential for one-step crystallization of the glass. The investigation, which focused on one-step crystallization, demonstrated the growth of pyroxene on spinel accompanying a migration of chromium. The results also show the microstructure of the obtained glass-ceramic was very dependent on the heat-treat temperature. This study not only unambiguously reveals the precipitation mechanisms of spinel but also provides more documentation for one-step crystallization in the glass-ceramics field.     

Retinal Vessel Extraction Framework Using Modified Adaboost Extreme Learning Machine

An explicit extraction of the retinal vessel is a standout amongst the most significant errands in the field of medical imaging to analyze both the ophthalmological infections, for example, Glaucoma, Diabetic Retinopathy (DR), Retinopathy of Prematurity (ROP), Age-Related Macular Degeneration (AMD) as well as non retinal sickness such as stroke, hypertension and cardiovascular diseases. The state of the retinal vasculature is a significant indicative element in the field of ophthalmology. Retinal vessel extraction in fundus imaging is a difficult task because of varying size vessels, moderately low distinction, and presence of pathologies such as hemorrhages, microaneurysms etc. Manual vessel extraction is a challenging task due to the complicated nature of the retinal vessel structure, which also needs strong skill set and training. In this paper, a supervised technique for blood vessel extraction in retinal images using Modified Adaboost Extreme Learning Machine (MAD-ELM) is proposed. Firstly, the fundus image preprocessing is done for contrast enhancement and in-homogeneity correction. Then, a set of core features is extracted, and the best features are selected using “minimal Redundancy-maximum Relevance (mRmR).” Later, using MAD-ELM method vessels and non vessels are classified. DRIVE and DR-HAGIS datasets are used for the evaluation of the proposed method. The algorithm’s performance is assessed based on accuracy, sensitivity and specificity. The proposed technique attains accuracy of 0.9619 on the DRIVE database and 0.9519 on DR-HAGIS database, which contains pathological images. Our results show that, in addition to healthy retinal images, the proposed method performs well in extracting blood vessels from pathological images and is therefore comparable with state of the art methods.     

A design of experiments investigation into dry separation using a Knelson Concentrator

Enhanced gravity, or centrifugal, separators have revolutionised gold processing over the past decades, significantly increasing the recovery of fine (−100 μm) free gold. One of the main drawbacks of centrifugal gravity concentrators is the large volume of water required (even if it is all recycled). With water becoming an ever increasingly important “commodity”, reducing this is of importance both from an environmental and a monetary point of view. This work investigated operating a laboratory scale Knelson Concentrator with a dry feed and using air as the fluidising medium. The feed used was a synthetic mixture of tungsten and quartz, used to mimic a gold ore. The response surface method and central composite design techniques were used to design the experiments and to model the results, with the experimental variables being the bowl speed (G-Level), air fluidising pressure and the feed rate. The models corresponded well to the experimental results, indicating that for this experimental setup, the optimal conditions were a bowl G-Level of 40 G, a feed rate of 220 g/min and an air fluidising pressure of 8 psi.     

Effect of the cultivation mode on red pigments production from Monascus ruber

In submerged cultures performed in chemically defined fermentation medium containing glucose and glutamate, the growth and production of water‐soluble red pigments and citrinin by the filamentous fungus Monascus ruber were studied under various carbon/nitrogen (C/N) ratios. The specific production of the red pigments was optimal at a glucose/glutamate ratio of about 10 and then steadily decreased at higher C/N ratio. In contrast, the production of the mycotoxin increased with increased C/N with an optimum in the range of 30–45. In a fed‐batch mode, it was also found that the production of pigments was not favoured in fed‐batch mode by feeding the medium with glucose while keeping the C/N ratio lower than 10. This low production likely resulted from concurrent high accumulation of L‐malic acid that was reported to inhibit this production. In contrast, this mode of cultivation was rather favourable for the production of the mycotoxin.