Pepper to fall: a perception method for sweet pepper robotic harvesting

Intelligent Service Robotics - In this paper we propose a robotic system for picking peppers in a structured robotic greenhouse environment. A commercially available robotic manipulator is equipped...     

Results from the ORPHEUS dark matter detector

The ORPHEUS dark matter detector consists of 450 g superconducting tin granules with diameters of 28 and 36 μm. The detector has been operating in the shallow site of the underground laboratory in Bern (70 m.w.e). First preliminary results on WIMP detection sensitivity will be presented.     

Multipurpose modular experimental station for the DiProI beamline of Fermi@Elettra free electron laser

We present a compact modular apparatus with a flexible design that will be operated at the DiProI beamline of the Fermi@Elettra free electron laser (FEL) for performing static and time-resolved coherent diffraction imaging experiments, taking advantage of the full coherence and variable polarization of the short seeded FEL pulses. The apparatus has been assembled and the potential of the experimental setup is demonstrated by commissioning tests with coherent synchrotron radiation. This multipurpose experimental station will be open to general users after installation at the Fermi@Elettra free electron laser in 2011.     

改性γ-聚谷氨酸去除重金属Pb2+性能研究

研究了不同改性水平的γ-聚谷氨酸(以下简写为γ-PGA)吸附去除水体中重金属离子Pb2+的性能影响。研究结果表明,交联改性后的γ-PGA与未改性的γ-PGA相比,具有更好的Pb2+吸附性能,在将改性γ-PGA加入到含有Pb2+的水体中并均匀混合之后,随着交联度的提高,改性γ-PGA吸附Pb2+的性能逐渐增加,但在吸附最终结束时,不同改性的γ-PGA对Pb2+吸附去除率均在99%以上。在吸附去除Pb2+影响因素分析中发现Pb2+初始质量浓度和溶液pH对不同改性的γ-PGA吸附去除Pb2+性能的影响较大。随着Pb2+质量浓度的增加,不同改性水平γ-PGA对Pb2+的去除率均略有一定程度的下降。当溶液的pH控制在中性或者偏碱性时,25%改性γ-PGA对Pb2+的去除率能够保持在99%以上,当pH降至4.5和3时,Pb2+去除率分别降为90.76%和78.46%。     

Visual Target Localization with the Spincopter

The goal of the Spincopter project was to design an energy efficient aircraft capable of autorotation glide that could be used for both indoor and outdoor surveillance. This paper demonstrates how to utilize the self-rotating capability of the Spincopter in order to acquire a 3D image of its environment and localize predefined object(s). The omnidirectional capabilities of such an UAV extends the otherwise very limited field of view of conventional cameras usually used for aerial photography and surveillance. The paper presents the theoretical background and the actual implementation of such a system. It presents the resulting images and offers a brief survey of the image quality.     

Model-Reference Fuzzy Adaptive Control as a Framework for Nonlinear System Control

The paper presents a general methodology of adaptive control based on fuzzy model to deal with unknown plants. The problem of parameter estimation is solved using a direct approach, i.e. the controller parameters are adapted without explicitly estimating plant parameters. Thus, very simple adaptive and control laws are obtained using Lyapunov stability criterion. The generality of the approach is substantiated by Stone-Weierstrass theorem, which indicates that any continuous function can be approximated by fuzzy basis function expansion. In the sense of adaptive control, this implies the adaptive law with fuzzified adaptive control parameters. The proposed control algorithm may be viewed as an extension of classical adaptive control for linear plants, but compared to the latter it provides higher adaptation ability and consequently better performance if the plant is nonlinear. The global stability of the control system is assured and the tracking error converges to the residual set that depends on fuzzification properties. The main advantage of the approach is simplicity that suits control engineers since wide range of industrial processes can be controlled by the proposed method. In the paper, the control of heat exchanger is performed.     

Homogenization and crystallization of histidine ammonia-lyase by exchange of a surface cysteine residue

Histidase (histidine ammonia-lyase, EC 4.3.1.3) from Pseudomonasputida was expressed in Escherichia coli and purified. In theabsence of thiols the tetrameric enzyme gave rise to undefinedaggregates and suitable crystals could not be obtained. Thesolvent accessibility along the chain was predicted from theamino acid sequence. Among the seven cysteines, only one waslabeled as `solvent-exposed'. The exchange of this cysteineto alanine abolished all undefined aggregations and yieldedreadily crystals diffracting to 1.8 Å resolution.     

Search beam method

An interactive multi‐objective decision‐making (MODM) model based on the Search Beam Method (SBM) and a finite‐difference groundwater flow model (GWM), is developed for analysing groundwater resources development and management problems. The SBM utilizes one‐dimensional search in the objective space to (systematically) identify the non‐dominated solutions. The steady‐state GWM determines the aquifer response due to well withdrawals. Three competing objectives of maximizing total yield, minimizing maximum compression and minimizing total pumping cost are considered. Applicability of the MODM model is demonstrated on a simplified confined aquifer system resembling one of the water‐bearing layers underlying Bangkok.     

Hybrid Adaptive Control for Aerial Manipulation

This paper presents a control scheme to achieve dynamic stability in a mobile manipulating unmanned aerial vehicle (MM-UAV) using a combination of Gain scheduling and Lyapunov based model reference adaptive control (MRAC). Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the saftey of the aerial manipulation missions.     

Hybrid MCM-41 grafted by a general microwave-assisted procedure: a characterization study

Hybrid materials obtained through a Microwave-assisted grafting of organic functional groups on mesoporous silica (MCM-41 type) have been characterized by X-ray powder diffraction, TG-DSC, N₂ adsorption, solid state ¹³C- and ²⁹Si-NMR, TEM and SEM. The studied grafting procedure is effective in the preparation of hybrid organosilicas under solvent-free conditions. Microwaves allows an ultra-fast and clean functionalization of the mesoporous materials and the method has been applied to produce a wide series of functional materials. The hybrid materials maintain the original mesoporous structure when the loading of linked organic groups does not exceed 10 %. In this cases, the slight pore volume reduction is linearly correlated to the organic amount in the product. If functional groups able to interact among them through hydrogen bond are used, hybrid materials exhibit high Organic/SiO₂ ratios and low pore volumes due to the formation of a network occluding the pores, where functional groups of free organosilane molecules interacts with the functional groups of molecules linked to the matrix. NMR data confirm that the network is composed by organosilane molecules linked or not to the framework. Acid washing is able to labilize hydrogen bond and open the network. In the case of bulky but chemically inert functionalising agents the network is not produced.