Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper.     

Structural analysis of Aleksinac oil shale kerogen by high-resolution solid-state C n.m.r. spectroscopy

A sample of kerogen from Aleksinac oil shale was examined by high-resolution solid-state ¹³C n.m.r. spectroscopy. The presence and relative proportions of kerogen structural units were estimated using a combination of NQS and T_1C methods with a peak-synthesis technique applied to the ¹³C CP—MAS spectrum. Relaxation parameters from these experiments were used to estimate differences in relative ‘mobility’ of various structural units. The kerogen was found to be highly aliphatic and to contain 79% long-chain aliphatic plus alicyclic structures, as well as 9% aromatic structures. These findings are in good agreement with the characterization of the same kerogen from its oxidation products.     

Mechanical properties of wollastonite‐reinforced polypropylene composites modified with SEBS and SEBS‐g‐MA elastomers

Mechanical properties of isotactic polypropylene/wollastonite/styrene rubber block copolymers (iPP/wollastonite/SRBC) composites were studied as a function of elastomeric poly(styrene‐b‐ethylene‐co‐butylene‐b‐styrene) triblock copolymer (SEBS) and SEBS grafted with maleic anhydride (SEBS‐g‐MA) content from 0 to 20 vol%. Microphase morphology was stronger influenced by SRBC elastomers than by different wollastonite types. Higher encapsulation ability of SEBS‐g‐MA than SEBS caused more expressive core‐shell morphology and consequently higher notched impact strength as well as yield parameters, but lower Young's modulus. Higher ductility of the composites with SEBS than with SEBS‐g‐MA has been primarily caused by better miscibility of the polypropylene chains with SEBS molecules. Surface properties of components and adhesion parameters also indicated that adhesion at SEBS‐g‐MA/wollastonite interface, which was stronger than the one at the SEBS/wollastonite interface, influenced higher encapsulation of wollastonite particles by SEBS‐g‐MA. POLYM. ENG. SCI., 47:1873–1880, 2007. © 2007 Society of Plastics Engineers     

Experimental observation of temperature gradients occurring in a single zeolite pellet

An experimental study has been made of temperature profiles incident within a zeolite adsorbent particle in the course of adsorption of n-heptan. Using thermocouple wires 0.1 mm in diameter it has been possible to measure simultaneously the temperatures of the surface and in the centre. It was observed that temperature differences between center of the pellet and ambient stagnant gas may be more than 20°C. The results of this work indicate that the overheating of an adsorbent particle is a very rapid process which is followed by a slow cooling of the hot particle. Experimental data are compared with predictions calculated from the theoretical model.     

Ring opening polymerization of 2,5-dihydro-2,5-dimethoxyfuran by electrochemical initiation

Summary 2,5-Dihydro-2,5-dimethoxyfuran (DHMF) was polymerized via constant current electrolysis (CCE), in CH₃CN-NaClO₄ solvent-electrolyte couple. Poly(DHMF) was obtained from the anolyte. The effect of current density, temperature, monomer and electrolyte concentrations on the polymer yield have been examined. The apparent activation energy for CCE of DHMF was found to be 37.2 kj/mol. The FTIR and ¹H-NMR analyses show that DHMF polymerizes by a ring opening. Molecular weight of poly(DHMF) was found by using cryoscopy.     

Synthesis, structure and magnetic properties of β-MnO 2 nanorods

We present synthesis, structure and magnetic properties of structurally well-ordered single-crystalline β-MnO₂ nanorods of 50–100 nm diameter and several μm length. Thorough structural characterization shows that the basic β-MnO₂ material is covered by a thin surface layer (∼2.5 nm) of α-Mn₂O₃ phase with a reduced Mn valence that adds its own magnetic signal to the total magnetization of the β-MnO₂ nanorods. The relatively complicated temperature-dependent magnetism of the nanorods can be explained in terms of a superposition of bulk magnetic properties of spatially segregated β-MnO₂ and α-Mn₂O₃ constituent phases and the soft ferromagnetism of the thin interface layer between these two phases.     

Solvent induced crystallization of syndiotactic poly(methyl methacrylate) relation to the formation of polymer aggregates in solution

Polymer Bulletin - Solutions of syndiotactic (s) poly (methyl methacrylate) (PMMA) and samples of solid s-PMMA prepared from these solutions were studied by NMR and infrared (IR) spectroscopy and...     

Negative electrodes for nickel-cadmium accumulators: their properties as determined by impregnation procedure

Sintered negative electrodes for nickel-cadmium secondary cells were studied. Model electrodes prepared by means of three different impregnation methods were evaluated. It was demonstrated that the impregnation procedure may affect properties of active mass and the service life of electrodes in a significant way.     

Optical and electrochemical study of underpotential deposition of bismuth on gold electrode

The underpotential deposition of Bi on Au has been investigated by specular reflectance spectroscopy and linear sweep voltammetry. The spectral dependance of ΔR/R caused by Bi adatoms has been determined and compared with the calculated spectrum. A satisfactory agreement between experimental and calculated spectra was found. ΔR/R values have been used to determine the surface concentration of Bi_ad which then has been used to calculate the electrosorption valence of Bi_ad. It has been found that γ_Bi = 2.6. The optical evidence of interaction of Bi ions with gold oxide has been obtained.     

Study of rotational mobility of stable nitroxide radicals in solid polymers

The rotational mobility of stable nitroxide radicals in PS, PMMA, PVC, PP and PE has been studied over a wide temperature range by the e.s.r. method. At temperatures T lower than T_g, spin probes act as kinetically independent particles, the rotational frequency of which is deter mined mainly by the micropore dimensions of the polymer and depends indirectly on the mobility of segments or side groups.