Microstructural properties,thermal insulation and thermal degradation behavior of boron-containing monolithic novolac xerogels

Enhancement of thermal stability-insulation performance of hyper porous materials is the premier issue to design of novel porous thermal protection systems. Boron-containing monolithic novolac xerogels (BCNXs) were synthesized using sol–gel networking of novolac resin with hexamethylenetetramine (HMTA) and boric acid at the solvent saturated vapor atmosphere (SSVA). The aim was to elucidate the effect of higher crosslinking density and thermal stable boron containing chemical bonds on the microstructure, thermal conductivity, and thermal oxidation stability of novolac xerogels. The results of FESEM and BET analysis showed that the microstructural characteristics of xerogels are significantly depend on the HMTA and boric acid concentration. The thermogravimetric results were analyzed using characteristic kinetic temperature (CKT)-characteristic kinetic temperature range (CKTR) approximations. The effect of micromorphology of xerogels on the thermal conductivity was investigated. The effective thermal conductivity of samples were in the range of 0.031–0.048 W/m K.     

An intelligent terrain-based navigation system for planetary rovers

A fuzzy logic framework for onboard terrain analysis and guidance towards traversable regions. An onboard terrain-based navigation system for mobile robots operating on natural terrain is presented. This system utilizes a fuzzy-logic framework for onboard analysis of the terrain and develops a set of fuzzy navigation rules that guide the rover toward the safest and the most traversable regions. The overall navigation strategy deals with uncertain knowledge about the environment and uses the onboard terrain analysis to enable the rover to select easy-to-traverse paths to the goal autonomously. The navigation system is tested and validated with a set of physical rover experiments and demonstrates the autonomous capability of the system     

New Traversability Indices and Traversability Grid for Integrated Sensor/Map‐Based Navigation

This paper presents new measures of terrain traversability at short range and long range of a mobile robot; namely, local and global traversability indices. The sensor‐based local traversability index is related by a set of linguistic rules to large obstacles and surface softness within a short range of the robot measured by on‐board sensors. The map‐based global traversability index is obtained from the terrain topographic map, and is based on major surface features such as hills and lakes within a long range of the robot. These traversability indices complement the mid‐range sensor‐based regional traversability index introduced earlier. Each traversability index is represented by four fuzzy sets with the linguistic labels {POOR, LOW, MODERATE, HIGH}, corresponding to surfaces that are unsafe, moderately‐unsafe, moderately‐safe, and safe for traversal, respectively. The global terrain analysis also leads to the new concepts of traversability map and traversability grid for representation of terrain quality based on the global map information. The traversability indices are used in two sensor‐based traverse‐local and traverse‐regional behaviors and one map‐based traverse‐global behavior. These behaviors are integrated with a map‐based seek‐goal behavior to ensure that the mobile robot reaches its goal safely while avoiding both sensed and mapped terrain hazards. This provides a unified system in which the two independent sources of terrain quality information, i.e., prior maps and on‐board sensors, are integrated together for reactive robot navigation. The paper is concluded by a graphical simulation study. © 2003 Wiley Periodicals, Inc.     

住房——城市的物质

观察和讨论 本文既非重新书写住房的历史,也非限于住房建筑的批评.我们的建筑师事务所对历史作为当代社会的脉搏以及批评作为建造未来工程的策略感兴趣.它所伴随的此次出版和展示试图展现建筑师的选择及其通过住房参与改变我们社会的重要性和结果.因此,它是上一世纪欧洲建造住房方式的编年史. 在它们所发生并且与实质性相关事件并置的环境和时代中,工程被替代;年鉴表明,住房随着时间在不同环境中发展变化.它旨在批评地审视历史以"滋养"生产并且推动对于关键话题的讨论. 1997年是我在这一研究领域的关键性一年.在欧洲和美国最著名的建筑学校中,信息时代通过形式的图表和数字实验赢得了速度.建筑师从"法国理论"知识分子那得到借鉴.辩证法是新形式的基础.我在这些学校教书的时候,伦敦建筑联盟(AA)的学生、普林斯顿的学生或维也纳艺术学院的学生对住房都不感兴趣,虽然他们的项目与城市变革相关.在他们看来,这一项目在空间和形式的复杂性上都没有值得他们发挥设计能力的可能总之,这不是个非常具有"魅力"的主题.建筑似乎有意模糊社会责任.     

Sensor-based collision avoidance: Theory and experiments

A new on-line control strategy for sensor-based collision avoidance of manipulators and supporting experimental results are presented in this article. This control strategy is based on nullification of virtual forces applied to the end-effector by a hypothetical spring-plus-damper attached to the object's surface. In the proposed approach, the real-time arm control software continuously monitors the object distance measured by the arm-mounted proximity sensors. When this distance is less than a preset threshold, the collision avoidance control action is initiated to inhibit motion toward the object and thus prevent collision. This is accomplished by employing an outer feedback loop to perturb the end-effector nominal motion trajectory in real-time based on the sensory data. The perturbation is generated by a proportional-plus-integral (PI) collision avoidance controller acting on the difference between the sensed distance and the preset threshold. This approach is computationally very fast, requires minimal modification to the existing manipulator positioning system, and provides the manipulator with an on-line collision avoidance capability to react autonomously and intelligently. A dexterous RRC robotic arm is instrumented with infrared proximity sensors and is operated under the proposed collision avoidance strategy. Experimental results are presented to demonstrate end-effector collision avoidance both with an approaching object and while reaching inside a constricted opening. © 1996 John Wiley & Sons, Inc.     

Direct adaptive control of robotic systems

This paper presents a new approach to adaptive motion control of an important class of robotic systems. The control schemes developed using this approach are very simple and computationally efficient since they do not require knowledge of either the mathematical model or the parameter values of the robotic system dynamics. It is shown that the control strategies are globally stable in the presence of bounded disturbances, and that the size of the tracking errors can be made arbitrarily small. The proposed controllers are very general and are implementable with a wide variety of robotic systems, including both open- and closed-kinematic-chain manipulators. Computer simulation results are given for a seven degree-of-freedom (DOF) Robotics Research Corporation Model K-1607 arm. These results demonstrate that accurate and robust trajectory tracking can be achieved by using the proposed schemes.     

Right Hemisphere Sensitivity to Word- and Sentence-Level Context: Evidence From Event-Related Brain Potentials.

Researchers using lateralized stimuli have suggested that the left hemisphere is sensitive to sentence-level context, whereas the right hemisphere (RH) primarily processes word-level meaning. The authors investigated this message-blind RH model by measuring associative priming with event-related brain potentials (ERPs). For word pairs in isolation, associated words elicited more positive ERPs than unassociated words with similar magnitudes and onset latencies in both visual fields. Embedded in sentences, these same pairs showed large sentential context effects in both fields. Small effects of association were observed, confined to incongruous sentences after right visual hemifield presentation but present for both congruous and incongruous sentences after left visual hemifield presentation. Results do not support the message-blind RH model but do suggest hemispheric asymmetries in the use of word and sentence context during real-time processing. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Linear multivariable control of two-link robots

Several simple multivariable controllers such as proportional (P), proportional-derivative (PD), proportional-integral (PI), and proportional-integral-derivative (PID) are investigated and designed for stabilization and regulation of a two-link planar robot. A new multivariable controller is introduced in this article to achieve command matching. The multivariable controllers are designed on the basis of a linearized model of the robot dynamics. Numerous simulation results are presented to evaluate the performance of the multivariable controllers for the two-link planar robot.     

The theory of reasoned action as a model of marijuana use: Tests of implicit assumptions and applicability to high-risk young women.

The theory of reasoned action (TRA) is used to model decisions about substance use among young mothers who became premaritally pregnant at age 17 or younger. The results of structural equation modeling to test the TRA indicated that most relationships specified by the model were significant and in the predicted direction, Attitude was a stronger predictor of intention than norm, but both were significantly related to intention, and intention was related to actual marijuana use 6 months later. Outcome beliefs were bidimensional, and positive outcome beliefs, but not negative beliefs, were significantly related to attitude. Prior marijuana use was only partially mediated by the TRA variables; it also was directly related to intentions to use marijuana and to subsequent use. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Non-linear analysis of membrane action effect in profiled steel sheeting dry board flooring system

This study highlights the effect of membrane action in improving load carrying capacity of Profiled Steel Sheeting Dry Board (PSSDB) floor system. PSSDB system is a lightweight composite structural system composed of profiled steel sheeting and dry board, attached together by self-drilling and self-tapping screws. Many literatures have reported that restricting conventional slabs, such as reinforced concrete slab, at the supports against translation and/or rotation while it is subjected to vertical loading develops the compressive membrane action in the slab. The development of this phenomenon is considered in the PSSDB system with concrete infill for continuous and practical spans, with and without topping concrete. Previous authors’ experimentally verified non-linear finite element model for the PSSDB floor without topping was extended to parametrically predict the effect of different boundary conditions on the performance of the system for practical applications. It was revealed that preventing the in-plane movement of the slab ends improves the flexural rigidities of the slab up to more than three times when considering central deflection of serviceability limit state. This was observed when the deflection limit load of the fixed both end supports model was compared to the pin-roller support model. Moreover, the topping concrete enhances the applicability of the system in longer span and the developed compressive membrane action dramatically boosts the load carrying capacity of the slab with restricted translation and/or rotation of the slab ends.