Learning Perception for Indoor Robot Navigation with a Hybrid Hidden Markov Model/Recurrent Neural Networks Approach

This paper introduces a hybrid system for modeling, learning and recognition of sequences of 'states' in indoor robot navigation. States are broadly defined as local relevant situations (in the real world) in which the robot happens to be during the navigation. The hybrid is based on parallel recurrent neural networks trained to perform a posteriori state probability estimates of an underlying hidden Markov model (HMM) given a sequence of sensory (e.g. sonar) observations. Discriminative training is accomplished in a supervised manner, using gradient-descent. Recognition is carried out either in a dynamic programming framework, i.e. searching the maximum a posteriori probability of state-posteriors along paths of the HMM, or in real time. The approach is suitable for navigation and for map learning. Experiments of learning and recognition of noisy sequences acquired by a mobile robot equipped with 16 sonars are presented.     

A semiautomated procedure for the determination of phosphorus in water, waste waters and particulates

Improved procedures for the determination of total dissolved phosphorus (TDP), particulate phosphorus (PP) and dissolved inorganic orthophosphate (DP) are described. Organic particulate material is solubilized in 5 n NaOH, and phosphorus compounds are oxidized and mineralized to orthophosphate by persulfate digestion. DP is determined by an improved automated molybdenum blue procedure that does not require sample pH adjustment or a correction for silicate interference in the 0–50 mg Si 1^?1 range. The use of 36-position digestion racks allows 32 TDP or PP samples to be digested in ca. 1 and 4 h respectively. Detection limits in μg of phosphorus 1^?1 are DP, 2; TDP, 5; and PP. 1. Waste water samples were analyzed for TDP and PP by the nitric acid-sulfuric acid procedure and by the proposed method. There was no significant difference between the two sets of data (P > 0.45).     

Surfactant Micellar Solutions as Alternative Solvents for Microwave-Assisted Extraction of Polycyclic Aromatic Hydrocarbons from a Spiked River Sediment

A procedure to extract polycyclic aromatic hydrocarbons (PAHs) from a contaminated river sediment is discussed; this combines short extraction times obtained by microwave energy with the peculiar solvent capability of aqueous micellar solutions. The technique, named microwave-assisted micellar extraction (MAME), was tested for the extraction of 11 PAHs from a spiked river sediment using polyoxyethylene (23) dodecyl ether (Brij 35), polyoxyethylene (10) dodecyl ether (C 12 E 10 ) or cetyl trimethylammonium bromide (CTAB). Different temperatures and extraction times were explored to establish whether this method has merit. Comparative measurements were made using sonication and Soxhlet extraction with acetone-hexane. Generally, Soxhlet extraction was revealed to be the most effective method to extract the PAHs from the solid matrix, with percent of recovery ranging from 92% to 102%. Nevertheless, high recoveries were also achieved by MAME using C 12 E 10 ; in fact, with only the exception of indeno[1,2,3- cd ]pyrene, the differences between recoveries obtained by MAME and Soxhlet extractions were below 10% for all the considered compounds.     

Lubrication with Oil-Compatible Polymer Brushes

A polymer-brush-based, surface-modification strategy for friction and wear reduction in hard contact under boundary-lubrication conditions is proposed, specifically for a non-aqueous environment. Surface-initiated atom-transfer radical polymerization was employed for the synthesis of three different oil-compatible, hydrophobic polymer brushes based on alkyl methacrylates. This study presents polymerization kinetics, chemical characterization by means of Fourier-transform infrared spectroscopy and surface morphologies observed in atomic force microscopy. The lubrication properties of the anchored polymers were evaluated macroscopically by means of ball-on-disk methods and on the nanonewton scale by lateral force microscopy and showed significant reduction in friction up to contact pressures as high as 460 MPa. The frictional response of surface-grafted polymers is shown to depend strongly on the compatibility of the polymer with the chosen lubricating fluid.     

Photocatalytic degradation of aromatic sulfonates present in industrial percolates

Photocatalytic treatment in the presence of aqueous TiO₂ suspensions was applied to an aqueous percolate containing various hydrophilic aromatic pollutants, in particular naphthalene sulfonates. A preliminary feasibility study was accomplished on standards of pure compounds, for which a degradation rate trend inversely proportional to the sulfonation degree was found, demonstrating the important role played by the substrate adsorption on semiconductor particles. The evolution of primary processes, the abatement of TOC and the release of sulfate were monitored. Further experiments performed on samples of percolates taken from an abandoned industrial site demonstrated the suitability of photocatalysis for the effective destruction and mineralization of the investigated contaminants in these complex matrices after a few hours irradiation.     

Assessment of dietary intake of patulin from baby foods

Patulin is a mycotoxin produced by microscopic fungi belonging to the Penicillium and Aspergillus genera, frequently detectable in moldy fruits and their derivatives fruit products. The EC Regulation 1881/06 has imposed the limit for the presence of patulin equal to 10 μg/kg or 10 μg/L in baby food on the basis of a PMTDI of 0.4 μg/kg bw set by the Joint FAO/WHO Expert Committee on Food Additives (JECFA). A total of 120 homogenized baby foods were analyzed to evaluate the exposure of baby and children to patulin through the consumption of these products. None of examined samples has shown a toxin concentration above the limit imposed by the law, however a PAT concentration equal to 9 μg/kg was found in 22 samples, slightly below the fixed limit. The presence of patulin in marketed baby food can be regarded as a parameter indicative of the quality of raw materials used.     

Marangoni migration of a methanol drop in cyclohexane matrix in a closed cavity

In the present paper the thermo-solutal-capillary (Marangoni) migration of a methanol liquid drop, which exhibits a miscibility gap in solution with cyclohexane, is studied. The simulation starts from the drop injection in a closed cavity with differentially heated end-walls. The paper is devoted to the preparation of a MAXUS 5 sounding rocket space experiment. The main goal of the analysis is to clarify if and how the dissolution process affects the drop migration. The numerical code is based on the modern level-set technique. Non steady and steady migration speeds are determined for different drop radii and temperature differences during the whole drop migration along the cavity axis.     

Dynamic Hybrid Random Fields for the Probabilistic Graphical Modeling of Sequential Data: Definitions,Algorithms, and an Application to Bioinformatics

The paper introduces a dynamic extension of the hybrid random field (HRF), called dynamic HRF (D-HRF). The D-HRF is aimed at the probabilistic graphical modeling of arbitrary-length sequences of sets of (time-dependent) discrete random variables under Markov assumptions. Suitable maximum likelihood algorithms for learning the parameters and the structure of the D-HRF are presented. The D-HRF inherits the computational efficiency and the modeling capabilities of HRFs, subsuming both dynamic Bayesian networks and Markov random fields. The behavior of the D-HRF is first evaluated empirically on synthetic data drawn from probabilistic distributions having known form. Then, D-HRFs (combined with a recurrent autoencoder) are successfully applied to the prediction of the disulfide-bonding state of cysteines from the primary structure of proteins in the Protein Data Bank.     

Core − shell microgels with controlled structural properties

Microgels have gained great attention in the biomedical field for their wide application in diagnostic and drug delivery systems. The bulk properties as well as the surface features of these particular microparticles define their final performance. In particular, multifunctional microgels with complex architectures have been widely used in multiplex assays for their favourable capability to accommodate encoding systems and anchoring groups for probes to capture circulating targets by simply changing synthesis parameters. In this work a limited set of fluorescent encoded poly(ethyleneglycol) based microgels, of size ranging between 0.5 and 1.3 µm, with a core ? shell architecture were obtained by combining precipitation and seeded polymerizations. Here we demonstrate the possibility of tailoring and controlling the bulk and surface properties according to the synthesis by fluorescence imaging and pH titrations. Concerning the structural characterization, we adopted a method to calculate polymer fraction volumes from AFM images and combined these with equilibrium swelling theory (Peppas–Merrill equation) to determine the mesh size of the microgels. Surface composition was probed by X‐ray photoelectron spectroscopy directly on freeze‐dried microgels. In such a way we were able to describe the organizations of the different adlayers also in response to pH, highlighting the possibility of some overlap of the adlayers representing physical barriers at the boundaries of each shell. © 2016 Society of Chemical Industry     

Distributed control for energy-efficient and fast consensus in wireless sensor networks

The paper proposes a distributed control of nodes transmission radii in energy-harvesting wireless sensor networks for simultaneously coping with energy consumption and consensus responsiveness requirement. The stability of the closed-loop network under the proposed control law is proved. Simulation validations show the effectiveness of the proposed approach in nominal scenario as well as in the presence of uncertain node power requirements and harvesting system supply.