Autonomy for Mars Rovers: Past, Present, and Future

The vehicles used to explore the Martian surface require a high degree of autonomy to navigate challenging and unknown terrain, investigate targets, and detect scientific events. Increased autonomy will be critical to the success of future missions.     

A test-driven approach to code search and its application to the reuse of auxiliary functionality

Context

Software developers spend considerable effort implementing auxiliary functionality used by the main features of a system (e.g., compressing/decompressing files, encryption/decription of data, scaling/rotating images). With the increasing amount of open source code available on the Internet, time and effort can be saved by reusing these utilities through informal practices of code search and reuse. However, when this type of reuse is performed in an ad hoc manner, it can be tedious and error-prone: code results have to be manually inspected and integrated into the workspace.

Objective

In this paper we introduce and evaluate the use of test cases as an interface for automating code search and reuse. We call our approach Test-Driven Code Search (TDCS). Test cases serve two purposes: (1) they define the behavior of the desired functionality to be searched; and (2) they test the matching results for suitability in the local context. We also describe CodeGenie, an Eclipse plugin we have developed that performs TDCS using a code search engine called Sourcerer.

Method

Our evaluation consists of two studies: an applicability study with 34 different features that were searched using CodeGenie; and a performance study comparing CodeGenie, Google Code Search, and a manual approach.

Results

Both studies present evidence of the applicability and good performance of TDCS in the reuse of auxiliary functionality.

Conclusion

This paper presents an approach to source code search and its application to the reuse of auxiliary functionality. Our exploratory evaluation shows promising results, which motivates the use and further investigation of TDCS.     

Effect of Cooling Rate on Microstructure and Mechanical Properties of Eutectoid Steel Under Cyclic Heat Treatment

A systematic study has been carried out to ascertain the effect of cooling rate on structure and mechanical properties of eutectoid steel subjected to a novel incomplete austenitization-based cyclic heat treatment process up to 4 cycles. Each cycle consists of a short-duration holding (6 min) at 775 °C (above A₁) followed by cooling at different rates (furnace cooling, forced air cooling and ice-brine quenching). Microstructure and properties are found to be strongly dependent on cooling rate. In pearlitic transformation regime, lamellar disintegration completes in 61 h and 48 min for cyclic furnace cooling. This leads to a spheroidized structure possessing a lower hardness and strength than that obtained in as-received annealed condition. On contrary, lamellar disintegration does not occur for cyclic forced air cooling with high air flow rate (78 m³ h^?1). Rather, a novel microstructure consisting of submicroscopic cementite particles in a ‘interweaved pearlite’ matrix is developed after 4 cycles. This provides an enhancement in hardness (395 HV), yield strength (473 MPa) and UTS (830 MPa) along with retention of a reasonable ductility (%Elongation = 19) as compared to as-received annealed condition (hardness = 222 HV, YS = 358 MPa, UTS = 740 MPa, %Elongation = 21).     

The effect of heat treatment temperature on the interfacial shear strength of C/C composites

This paper investigates the effect of heat treatment temperature on the interfacial shear strength (IFSS) of carbon/carbon composites reinforced with polyacrylonitrile-based fibers. A series of single fiber push-out tests were performed on specimens heat treated at 1800, 2100, and 2400 °C, using a nanoindenter with a flat ended conical tip. The microstructure was characterized using polarized light and transmission electron microscopy and the debonded fiber/matrix interface was examined using scanning electron microscopy. Wavelet analysis of the load–displacement data was used as an additional tool to investigate the initiation and progression of debonding. Compared to 1800 °C, heat treatment at 2400 °C was associated with a decrease in IFSS, from 12 to 7 MPa. Transmission electron microscopy study showed that the microstructure of the fiber/matrix interphase remained amorphous even with heat treatment at 2400 °C. The decrease in the IFSS can be partly attributed to the reorganization of the graphene sheets in the matrix in the vicinity of fiber/matrix interphase. The thermal expansion mismatch between fiber and pyrocarbon matrix is another possible reason for the observed decrease in the IFSS.     

Removal of nitrophenols from water using cellulose derived nitrogen doped graphitic carbon material containing titanium dioxide

Nitrophenols (NPs) and their derivatives are highly toxic, mutagenic and bio-refractory pollutants commonly present in natural water resources and industrial wastewater. To remove NPs from water, N-doped graphitic carbon (NGC) and NGC adsorbent containing titanium dioxide (NGC–TiO₂) were synthesized by pyrolysis of microcrystalline cellulose and dopamine mixture, and the mixture along with TiO₂ at 500°C, respectively. NCG-TiO₂ was thoroughly characterized using various analytical techniques. NP adsorption on the NGC–TiO₂ adsorbent surface was studied by varying the pH, initial concentration of NP, and adsorbent dose. The results showed that the most efficient adsorption was achieved at pH 3. After 4?h sonication at pH 3, 80% 4-NP adsorption was achieved using NGC–TiO₂ compared to 74% with NGC adsorbent. The percentage removal of 4-NP was higher than 3-NP which was also higher than 2,4-DNP using NGC–TiO₂. 4-NP adsorption best fitted to the Langmuir isotherm plot with R² value of 0.9981 and adsorption capacity of 52.91?mg?g^?1. The adsorption process of NP was found to follow a pseudo-second-order kinetic model. The rate constant value for the adsorption of 10^?4?M 4-NP at pH 3 using 10?mg of NGC–TiO₂ adsorbent was found to be 3.76?×?10^?5?g.mg^?1.min^?1     

Fate and efficiency of nitrogen fertilizers applied to wetland rice. II. Punjab,India

Two modified urea products (urea supergranules [USG] and sulfur-coated urea [SCU]) were compared with conventional urea and ammonium sulfate as sources of nitrogen (N), applied at 58 kg N ha^–1 and 116 kg N ha^–1, for lowland rice grown in an alkaline soil of low organic matter and light texture (Typic Ustipsamment) having a water percolation rate of 109 mm day^–1. The SCU and USG were applied at transplanting, and the whole dose of nitrogen was¹⁵N-labeled; the SCU was prepared in the laboratory and was not completely representative of commercial SCU. The SCU was broadcast and incorporated, whereas the USG was point-placed at a depth of 7–8 cm. The urea and ammonium sulfate applications were split: two-thirds was broadcast and incorporated at transplanting, and one-third was broadcast at panicle initiation. All fertilizers except the last one-third of the urea and ammonium sulfate were labeled with¹⁵N so that a fertilizer-N balance at flowering and maturity stages of the crop could be constructed and the magnitude of N loss assessed.At all harvests and N rates, rice recovered more¹⁵N from SCU than from the other sources. At maturity, the crop recovered 38 to 42% of the¹⁵N from SCU and only 23 to 31% of the¹⁵N from the conventional fertilizers, urea and ammonium sulfate, whose recovery rates were not significantly different. In contrast, less than 9% of the USG-N was utilized. Fertilizer nitrogen uptake was directly related to the yield response from the different sources. Most of the fertilizer N was taken up by the time the plants were flowering although recovery did increase up to maturity in some treatments.Analysis of the soil plus roots revealed that less than 1% of the added¹⁵N was in the mineral form. Between 20 and 30% of the¹⁵N applied as urea, SCU, and ammonium sulfate was recovered in the soil plus roots, mainly in the 0–15 cm soil layer. Only 16% of the¹⁵N applied as USG was recovered in the soil, and this¹⁵N was distributed throughout the soil profile to a depth of 70 cm, which was the lowest depth of sampling.Calculations of the¹⁵N balance showed that 46 to 50% of the urea and ammonium sulfate was unaccounted for and considered lost from the system. Only 27 to 38% of the¹⁵N applied as SCU was not recovered at maturity, but 78% of the USG application was unaccounted for. The extensive losses and poor plant recovery of USG at this site are discussed in relation to the high percolation rate, which is atypical of many ricegrowing areas.     

Nano-liposomal dry powder inhaler of Amiloride Hydrochloride

The purpose of this study was to encapsulate Amiloride Hydrochloride into nano-liposomes, incorporate it into dry powder inhaler, and to provide prolonged effective concentration in airways to enhance mucociliary clearance and prevent secondary infection in cystic fibrosis. Liposomes were prepared by thin film hydration technique and then dispersion was passed through high pressure homogenizer to achieve size of nanometer range. Nano-liposomes were separated by centrifugation and were characterized. They were dispersed in phosphate buffer saline pH 7.4 containing carriers (lactose/sucrose/mannitol), and glycine as anti-adherent. The resultant dispersion was spray dried. The spray dried powders were characterized and in vitro drug release studies were performed using phosphate buffer saline pH 7.4. In vitro and in vivo drug pulmonary deposition was carried out using Andersen Cascade Impactor and by estimating drug in bronchial alveolar lavage and lung homogenate after intratracheal instillation in rats respectively. Nano-liposomes were found to have mean volume diameter of 198 +/- 15 nm, and 57% +/- 1.9% of drug entrapment. Mannitol based formulation was found to have low density, good flowability, particle size of 6.7 +/- 0.6 microm determined by Malvern MasterSizer, maximum fine particle fraction of 67.6 +/- 0.6%, mean mass aerodynamic diameter 2.3 +/- 0.1 microm, and geometric standard deviation 2.4 +/- 0.1. Developed formulations were found to have prolonged drug release following Higuchi's Controlled Release model and in vivo studies showed maximal retention time of drug of 12 hrs within the lungs and slow clearance from the lungs. This study provides a practical approach for direct lung delivery of Amiloride Hydrochloride encapsulated in liposomes for controlled and prolonged retention at the site of action from dry powder inhaler. It can provide a promising alternative to the presently available nebulizers in terms of prolonged pharmacological effect, reducing systemic side effects such as potassium retention due to rapid clearance of the drug from lungs in patients suffering from cystic fibrosis.     

Nanostructured membranes and electrodes with sulfonic acid functionalized carbon nanotubes

Herein we report the covalent functionalization of multiwall carbon nanotubes by grafting sulfanilic acid and their dispersion into sulfonated poly(ether ether ketone). The nanocomposites were explored as an option for tuning the proton and electron conductivity, swelling, water and alcohol permeability aiming at nanostructured membranes and electrodes for application in alcohol or hydrogen fuel cells and other electrochemical devices. The nanocomposites were extensively characterized, by studying their physicochemical and electrochemical properties. They were processed as self-supporting films with high mechanical stability, proton conductivity of 4.47 × 10⁻² S cm⁻¹ at 30 °C and 16.8 × 10⁻² S cm⁻¹ at 80 °C and 100% humidity level, electron conductivity much higher than for the plain polymer. The methanol permeability could be reduced to 1/20, keeping water permeability at reasonable values. The ratio of bound water also increases with increasing content of sulfonated filler, helping in keeping water in the polymer in conditions of low external humidity level.     

Effect of variations in the riveting process on the quality of riveted joints

Sheet metal parts are widely used in the assembly of aircraft. The most common method of assembling sheet metal parts is through riveting. Failure of a rivet can have severe consequences in terms of loss of human lives and money. There are many parameters associated with a riveting process that directly affect the quality of rivets including squeeze force, rivet length, rivet diameter, and hole diameter tolerance. Incorrect selection or variations in these parameters could induce excessive residual stresses that result in stress concentration sites and initiate cracks, and also result in improper rivet head deformation leading to loose rivets. This paper presents a study of the effect of the aforementioned riveting parameters on the quality of a formed rivet using finite element simulation. The study was part of a larger project carried out for the local aircraft industry and hence, uses the inch system. The research is conducted on a 1/8″ (0.125″) diameter rivet and a 0.064″ thick aluminum sheet. The results indicate that under normal variations in the riveting process parameters, when using the recommended countersunk depth of 0.042″ for rivet hole, most rivets that are formed will not meet the quality requirements. This is primarily due to the existence of a gap between the formed rivet and the hole. Decreasing the countersunk depth to 0.032″ allows for a higher range of hole and rivet diameter tolerances, as well as an increase in the range of squeeze force that can be applied without violating the quality requirements.     

Polyoligomeric silsesquioxane (POSS)–hydrogenated polybutadiene polyurethane coatings for corrosion inhibition of AA2024

A series of coatings were developed that help prevent corrosion of aluminum alloy 2024 (AA2024). The coatings were based on an aliphatic polyurethane–polyoligomeric silsesquioxane (PU–POSS) resin. The materials were selected to exhibit a high level of hydrophobicity, which is expected to increase the moisture barrier properties, and thereby improve corrosion prevention. In addition, corrosion inhibitors (free molecules or encapsulated) were introduced into the coatings to improve corrosion resistance. The performance of the coatings was quantified using electrochemical impedance spectroscopy (EIS) and salt fog testing. Results from various formulations show that the hardness of the coating can be controlled by adjusting the ratio of POSS to hydrogenated hydroxyl terminated polybutadiene in the formulation. The coatings also had remarkable barrier properties, fast curing, and very high adhesion to the treated AA2024 substrate, all of which are expected to improve the anti-corrosion properties of the coatings. The best corrosion protection of AA2024 was observed in a transparent 10 μm thick PU–POSS bilayer coating that contained a mixture of sodium-2-mercaptobenzothiazole (i.e., NACAP) and benzotriazole-laden hydrotalcite. It was found that only certain corrosion inhibitors (free molecules or encapsulated) improve the anti-corrosion properties of the coating, whereas other corrosion inhibitors may actually degrade the coating performance.