Solid-state NMR study of N labelled polyaniline upon reaction with DPPH

The quantitative investigation of the radical scavenging properties of polyaniline (PANI) upon reaction with excess of the stable DPPH radical (a 4:1 ratio of DPPH to aniline units in the polymer) was carried out using ¹⁵N and ¹³C solid state NMR spectroscopy. During the process the polyaniline was oxidised so that the imine content increased from 45 to 65%. The extent of oxidation measured by NMR was confirmed by N1s XPS analysis. However, within a 30 min reaction time, about 85% of the DPPH radicals were scavenged as monitored by the decay in its EPR signal. This is about 20 times greater than the fraction of DPPH required to oxidize PANI from an imine content of 45-65%. An identification of further redox processes is required to explain the high degree of radical scavenging. At the same time, there was no evidence of significant chemical binding or trapping of DPPH in the PANI structure.     

Autonomous robot manipulator-based exploration and mapping system for bridge maintenance

This paper presents a system for Autonomous eXploration to Build A Map (AXBAM) of an unknown, 3D complex steel bridge structure using a 6 degree-of-freedom anthropomorphic robot manipulator instrumented with a laser range scanner. The proposed algorithm considers the trade-off between the predicted environment information gain available from a sensing viewpoint and the manipulator joint angle changes required to position a sensor at that viewpoint, and then obtains collision-free paths through safe, previously explored regions. Information gathered from multiple viewpoints is fused to achieve a detailed 3D map. Experimental results show that the AXBAM system explores and builds quality maps of complex unknown regions in a consistent and timely manner.     

Estimation of a nonvisible field-of-view mobile target incorporating optical and acoustic sensors

This paper presents a nonvisible field-of-view (NFOV) target estimation approach that incorporates optical and acoustic sensors. An optical sensor can accurately localize a target in its field-of-view whereas the acoustic sensor could estimate the target location over a much larger space, but only with limited accuracy. A recursive Bayesian estimation framework where observations of the optical and acoustic sensors are probabilistically treated and fused is proposed in this paper. A technique to construct the observation likelihood when two microphones are used as the acoustic sensor is also described. The proposed technique derives and stores the interaural level difference of observations from the two microphones for different target positions in advance and constructs the likelihood through correlation. A parametric study of the proposed acoustic sensing technique in a controlled test environment, and experiments with an NFOV target in an actual indoor environment are presented to demonstrate the capability of the proposed technique.     

Kinematic Design and Analysis of a 7 Degree-of-Freedom Dual-Stage Inspection Manipulator for Dexterous Subsea Applications

This paper describes the design of a 7 degree-of-freedom (d.o.f) manipulator for underwater inspection applications. The functional requirements of an underwater manipulator for subsea inspection are discussed and the desired performance requirements identified. The inspection process of a weld joint using a manipulator is described and the desirable attributes of a 5 d.o.f manipulator for the inspection process established. A novel kinematic structure, for Underwater Robotic Vehicle (URV) operation, having a 2 d.o.f launching stages and a 5 d.o.f inspection stage is proposed for the manipulator. This configuration increases the dexterity, without compromising on the total reach of the manipulator. The kinematic structure of the 7 d.o.f, 2 stage, manipulator is presented. A hybrid power actuation is proposed for the manipulator to exploit the benefits of both hydraulic as well as electric actuators. Kinematic analysis of the manipulator is presented. The link dimensions of the inspection stage manipulator is done on the basis of kinematic performance indices of the manipulator. The novel kinematic structure and the hybrid power actuation strategy results in a power efficient, dexterous manipulator for underwater applications.     

Multistage bayesian autonomy for high‐precision operation in a large field

This paper presents a generalized multistage bayesian framework to enable an autonomous robot to complete high‐precision operations on a static target in a large field. The proposed framework consists of two multistage approaches, capable of dealing with the complexity of high‐precision operation in a large field to detect and localize the target. In the multistage localization, locations of the robot and the target are estimated sequentially when the target is far away from the robot, whereas these locations are estimated simultaneously when the target is close. A level of confidence (LOC) for each detection criterion of a sensor and the associated probability of detection (POD) of the sensor are defined to make the target detectable with different LOCs at varying distances. Differential entropies of the robot and target are used as a precision metric for evaluating the performance of the proposed approach. The proposed multistage observation and localization approaches were applied to scenarios using an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Results with the UGV in simulated environments and then real environments show the effectiveness of the proposed approaches to real‐world problems. A successful demonstration using the UAV is also presented.     

A comparative study of the dependency of colour measurement on surface temperature

In this paper, we evaluated in depth how the spectrophotometric colour measurement of an object will respond to surface temperature change. The colorimetric variations of eight coloured ceramic tiles against temperature changes were studied. Colorimetric data measured at specific temperature were compared with data measured at about 20 °C. For each coloured ceramic tile, reflectance curves and colorimetric differences resulting from temperature differences were examined to demonstrate the exact dependency of colorimetric properties across the temperature range studied. Experimental data showed that peaks and slopes on a reflectance curve are the major impact resulting from temperature variation. Colours with lower lightness and lower chroma showed smaller colorimetric changes with change in temperature, while colour with higher lightness and chroma exhibited a distinct thermochromism and linearity changes across the temperature range. A conspicuous correlation potential between surface temperature and CIE colorimetric coordinates was observed.     

Unraveling the Dynamic Nanoscale Reducibility (Ce4+ → Ce3+) of CeOx–Ru in Hydrogen Activation

The interaction of molecular hydrogen with ceria is of important relevance for heterogeneous catalysis related to green chemistry and renewable energy. Here, the complex structural transformations of a well‐defined cerium oxide model catalyst are followed in situ and in real time when exposed to a reactive H₂ environment. By using electron spectromicroscopy and diffraction with chemical and structural sensitivities, it is demonstrated that the transition from CeO₂ to crystalline Ce₂O₃ occurs through a mixture of transient, coexisting phases on the nanoscale. The findings establish a clear relationship between structure and functionality for hydrogen dissociation over ceria(111), bearing profound implications on the nature of the reduction (Ce⁴⁺ → Ce³⁺) and mechanism for H₂ scission.     

Oxidative stability of structured lipids produced from borage (<Emphasis Type="Italic">Borago officinalis</Emphasis> L.) and evening primrose (<Emphasis Type="Italic">Oenothera biennis</Emphasis> L.) oils with docosahexaenoic acid

This study utilized γ-linolenic acid (18∶3n−6; GLA)-rich borage oil (BO) and evening primrose oil (EPO) for the synthesis of structured lipids (SL) and compared the oxidative stability of the products with those of unmodified BO and EPO as controls. Immobilized Novozym 435 lipase from Candida antarctica was used as the biocatalyst for SL production. BO or EPO eas enzymatically modified with docosahexaenoic acid (22∶6n−3; DHA), as the acyl donor, to produce SI. The SI were characterized and their oxidative stabilities evaluated. Among the oils examined, SL gave rise to higher quantities (P≤0.05) of conjugated dienes, TBARS, and headspace volatiles as compared to their unmodified counterparts. Results indicated that modified oils were less stable than their unmodified counterparts. The double bond index (DBI) and methylene bridge index (MBI) of oils decreased (P<0.05) during oxidation in the more unsaturated oils. An attempt was made to correlate various parameters of oxidation with DBI and MBI of oils; correlation coefficients (−r) were within the range of 0.574–0.973. This suggests that indicators such as DBI and MBI can reflect oxidative stability of oils.