Prioritized Mobile Robot Exploration Based on Percolation Enhanced Entropy Based Fast SLAM

The major aim in search and rescue using mobile robots is to detect and reach trapped survivors and to support rescue operations through disaster environments. Our motivation is based on the fact that a search and rescue (SAR) robot can navigate within and penetrate a disaster area only if the area in question possesses connected voids. Traversability or penetrability of a disaster area is a primary factor that guides the navigation of a search and rescue (SAR) robot, since it is highly desirable that the robot, without hitting a dead end or getting stuck, keeps its mobility for its primary task of reconnaissance and mapping when searching the highly unstructured environment. We propose a novel percolation guidance that collaborates with entropy based SLAM under a switching control setting the priority to either position or map accuracy. This newly developed methodology has proven to combine the superiority of both percolator guidance and entropy based prioritization so that the active SLAM becomes speedy, with high coverage rate of the area as well as increased accuracy in localization. Our percolator guidance stems from a frontier based conditioning of a-posteriori occurrences of upcoming connected voids that uses the fact that every obstacle partially seen at the frontier of the explored domain has a spatial continuity into the unexplored area. The developed modular architecture is introduced in details and demonstrative examples are provided and discussed.     

Momentum Transfer from Preshape to Grasping

A fully immersed object, suspended in water can be rotated from distance by a preshaped robot hand approaching and closing upon the object prior to contacting it. Momentum transfer from robot fingers closing into a grasp, to the fluid medium particles, and from these particles to the object surface generates the motion tendencies of that object in terms of rotational and translational displacements. In this paper, we propose the novel concept of a controller that determines either: 1) given initial position and orientation of a robot hand, what preshape is suitable for generating a desired momentum distribution on the surface of a given object in order to trigger a desired rotation in a desired direction when approaching with this preshaped hand; or 2) given a predetermined hand preshape, what initial position, orientation and hand aperture are suitable to generate a desired rotation upon approach and, without causing the retroceeding of the object. The desired object motion generated from distance by the approach of a hand preshape is to be used seamlessly for the subsequent manipulation of the object upon grasp. Towards this end, we propose in our work, a new model based on computational fluid dynamics, for determining the continuity in momentum transfer from robot hand fingers to the fluid medium, and to the object, until landing on that immersed object. Our experimental results demonstrate how different hand preshapes initiated from different locations in the medium surrounding an object of different cross sections suspended in equilibrium in the fluid, affects its motion tendencies in terms of rotation and translation. Our further contribution, in this paper, includes the modelling of robot fingers and object as fluidic elements which rigidity can be relaxed to induce compliance.     

Estimation of ground pressures on a shielded TBM in tunneling through squeezing ground and its possibility of jamming

Bulletin of Engineering Geology and the Environment - Single- and double-shield tunnel boring machines are being increasingly considered for use in rock tunneling projects. However, one of the main...     

Seismic,ground motion and geotechnical characteristics of the 2011 Van-Erciş and Van-Edremit earthquakes of Turkey,and assessment of geotechnical damages

Two devastating earthquakes with moment magnitudes of 7.2 and 5.6 occurred on October 23, 2011 (Van-Erci? earthquake) and November 9, 2011 (Van-Edremit earthquake), respectively, in the Van Province of the eastern Turkey. The Van-Erci? and Van-Edremit earthquakes caused 604 and 38 fatalities, respectively, and heavy damage to buildings and other structures, particularly in Erci? town and Van City. In this study, characteristics of both main shocks and their geotechnical aspects, such as local site conditions, liquefaction phenomena and associated ground deformations and slope failures are evaluated. The failures of slopes and embankments and rock falls and ground liquefaction may also be indications of diluted ground deformation caused by the earthquake fault. It seems that a wedge-like body bounded by two fault planes was uplifted. As a result of this movement, the northern shoreline of Van Lake uplifted. The November 9, 2011 Van-Edremit earthquake was triggered due to the variation of crustal stresses induced by the October 23, 2011 earthquake. The effects of local site conditions have contributed to the damage of some parts of Erci? city and its vicinity; however, the ground liquefaction was not observed in the city as anticipated. With a magnitude of 5.6, the Van-Edremit earthquake is probably the smallest magnitude earthquake to cause liquefaction in Turkey so far.     

Ultrathin Highly Luminescent Two‐Monolayer Colloidal CdSe Nanoplatelets

Surface effects in atomically flat colloidal CdSe nanoplatelets (NLPs) are significantly and increasingly important with their thickness being reduced to subnanometer level, generating strong surface related deep trap photoluminescence emission alongside the bandedge emission. Herein, colloidal synthesis of highly luminescent two‐monolayer (2ML) CdSe NPLs and a systematic investigation of carrier dynamics in these NPLs exhibiting broad photoluminescence emission covering the visible region with quantum yields reaching 90% in solution and 85% in a polymer matrix is shown. The astonishingly efficient Stokes‐shifted broadband photoluminescence (PL) emission with a lifetime of ≈100 ns and the extremely short PL lifetime of around 0.16 ns at the bandedge signify the participation of radiative midgap surface centers in the recombination process associated with the underpassivated Se sites. Also, a proof‐of‐concept hybrid LED employing 2ML CdSe NPLs is developed as color converters, which exhibits luminous efficacy reaching 300 lm W_opt^?1. The intrinsic absorption of the 2ML CdSe NPLs (≈2.15 × 10⁶ cm^?1) reported in this study is significantly larger than that of CdSe quantum dots (≈2.8 × 10⁵ cm^?1) at their first exciton signifying the presence of giant oscillator strength and hence making them favorable candidates for next‐generation light‐emitting and light‐harvesting applications.     

A Partial Reinforcement Extinction Effect Despite Equal Rates of Reinforcement During Pavlovian Conditioning.

In 4 experiments rats received appetitive Pavlovian conditioning followed by extinction. Food accompanied every trial with the conditioned stimulus (CS) for the continuously reinforced groups and only half of the trials for the partially reinforced groups. In contrast to previous experiments that have compared the effects of partial and continuous reinforcement, the rate at which food was delivered during the CS was the same for both groups. The strength of the conditioned response during extinction weakened more rapidly in the continuously than in the partially reinforced groups. The results demonstrate that the partial reinforcement extinction effect is a consequence of the nonreinforced trials with the CS, rather than the rate at which the unconditioned stimulus is delivered during the CS. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Light‐Emitting Diodes with Cu‐Doped Colloidal Quantum Wells: From Ultrapure Green,Tunable Dual‐Emission to White Light

Copper‐doped colloidal quantum wells (Cu‐CQWs) are considered a new class of optoelectronic materials. To date, the electroluminescence (EL) property of Cu‐CQWs has not been revealed. Additionally, it is desirable to achieve ultrapure green, tunable dual‐emission and white light to satisfy the various requirement of display and lighting applications. Herein, light‐emitting diodes (LEDs) based on colloidal Cu‐CQWs are demonstrated. For the 0% Cu‐doped concentration, the LED exhibits Commission Internationale de L'Eclairage 1931 coordinates of (0.103, 0.797) with a narrow EL full‐wavelength at half‐maximum of 12 nm. For the 0.5% Cu‐doped concentration, a dual‐emission LED is realized. Remarkably, the dual emission can be tuned by manipulating the device engineering. Furthermore, at a high doping concentration of 2.4%, a white LED based on CQWs is developed. With the management of doping concentrations, the color tuning (green, dual‐emission to white) is shown. The findings not only show that LEDs with CQWs can exhibit polychromatic emission but also unlock a new direction to develop LEDs by exploiting 2D impurity‐doped CQWs that can be further extended to the application of other impurities (e.g., Mn, Ag).     

Effect of Neutron Flux on the Frequency Dependence of Permittivity of Nano Silicon Particles

In the present work, nano silicon is irradiated with a neutron flux (2x10 ¹³ n ?cm ^?2 s ^?1) up to 20 hours at different times. In the first stage frequency dependencies of real and imaginary parts of the permittivity of nanomaterials affected by neutron flux was analysed comparatively. As a result of this analysis it is known that the permittivity of nano silicon increases under the influence of neutron flux. The dependence of real and imaginary parts of permittivity of nano silicon particles is also reviewed. Moreover, the mechanism of the observed peaks and other effects is given in the work.