Adaptive continuous‐space informative path planning for online environmental monitoring

Autonomous mobile robots are increasingly employed to take measurements for environmental monitoring, but planning informative, measurement‐rich paths through large three‐dimensional environments is still challenging. Designing such paths, known as the informative path planning (IPP) problem, has been shown to be NP‐hard. Existing algorithms focus on providing guarantees on suboptimal solutions, but do not scale well to large problems. In this paper, we introduce a novel IPP algorithm that uses an evolutionary strategy to optimize a parameterized path in continuous space, which is subject to various constraints regarding path budgets and motion capabilities of an autonomous mobile robot. Moreover, we introduce a replanning scheme to adapt the planned paths according to the measurements taken in situ during data collection. When compared to two state‐of‐the‐art solutions, our method provides competitive results at significantly lower computation times and memory requirements. The proposed replanning scheme enables to build models with up to 25% lower uncertainty within an initially unknown area of interest. Besides presenting theoretical results, we tailored the proposed algorithms for data collection using an autonomous surface vessel for an ecological study, during which the method was validated through three field deployments on Lake Zurich, Switzerland. Spatiotemporal variations are shown over a period of three months and in an area of 350 m × 350 m × 13 m. Whereas our theoretical solution can be applied to multiple applications, our field results specifically highlight the effectiveness of our planner for monitoring toxic microorganisms in a pre‐alpine lake, and for identifying hot‐spots within their distribution.     

ORDERING FUZZY SETS BY CONSENSUS CONCEPT AND FUZZY RELATION EQUATIONS

A general class of consensus measures of fuzzy sets is introduced in this paper. It is shown that, while the consensus measures are valuations but neither isotone nor antitone with respect to the lattice structure induced by the pointwise maximum and minimum operations to the set of all the fuzzy sets on a nonempty crisp set, they are antitone valuations with respect to the lattice structure induced by the generalized sharpening relation to a quotient set of the set of fuzzy sets. It is also shown that the solutions of a finite fuzzy relation equation that have the maximum consensus measure can be characterized through the join operation of the latter lattice in terms of the maximum solution and some of the minimal solutions of the equation.     

Planning tool requirements for flexible manufacturing: an analytical approach

The problem of tool and fixture resources dimensioning is considered and examined for a productive environment with flexible features. With reference to previous studies, different tool management strategies are pointed out and commented upon; a further control policy based on workpiece batching is suggested and tested. In the second section of the paper, an analytical interpretation of the question in hand is presented and discussed; the effectiveness of the procedure itself is tested by comparing analytical data with results derived from the detailed simulation of a real tool management area. Results are shown in the last section     

ARTIFICIAL INTELLIGENCE GOES MOBILE

New mobile computing technologies require new paradigms for infrastructure and interaction with mobile and networked devices. For building smart mobile companions for new intelligent services, a number of challenges have to be addressed. We argue that artificial intelligence is a key to a new generation of mobile systems. In this introduction to AI in mobile systems, we present some of the challenges and solutions in this exciting field of research.     

Fatty acid profile of milk from goats fed diets with different levels of conserved and fresh forages

Aim of the study was to evaluate the effect of different proportions of hay and fresh grass in goats’ diet on milk fatty acid profile. Nine Camosciata goats were fed a fixed amount of concentrate (30% of total diet) and different percentages (40% vs 30%, 50% vs 20% and 60% vs 10%) of hay and fresh grass, respectively. Diminishing amounts of fresh grass percentages in the diet led to significant increases of lauric, myristic and palmitic acids (P ≤ 0.001) and to significant decreases of C18:1 t6‐11, rumenic and α‐linolenic acids (P ≤ 0.001) in milk, thus determining a worsening of the health value of milk fat.     

AN EXPERT SYSTEM FOR ACADEMIC COUNSELING

In recent years, high enrollment has greatly increased the counseling loads of academic advisors at American colleges and universities. Expert systems can assist academic counselors by solving a relatively easy class of problems which deal with the most encountered cases. In this paper, a prototype expert system, CLASS COUNSELOR, is presented. CLASS COUNSELOR recommends a set of courses after an interactive session with the student. It handles the upper division courses of the undergraduate program in the Department of Electrical Engineering, University of Florida. The program runs on IBM-AT personal computers and compatibles.     

A multi-year composite of GVI data as a clear reflectance database

A method is developed to generate a top of the atmosphere clear reflectance from the Global Vegetation Index (GVI) product. Our goal is to use this dataset as a threshold to be applied to the forthcoming POLDER observations, for operational cloud detection. The method is based on the hypothesis that clouds add a high frequency signal to the slow variations of the surface reflectance in clear conditions. The validity of our algorithm is verified through an analysis of the temporal profile of the reflectance that it generates. We show that these profiles are better than those resulting from the simpler Maximum Value Composite (MVC) method. The method is applied to five years of GVI products and the results are used to derive a reference database which accounts for the interannual variability of the surface reflectance.     

Evidence of multimicrometric coherent γ′ precipitates in a hot‐forged γ–γ′ nickel‐based superalloy

This paper demonstrates the existence of large γ’ precipitates (several micrometres in diameter) that are coherent with their surrounding matrix grain in a commercial γ–γ’ nickel‐based superalloy. The use of combined energy dispersive X‐ray spectrometry and electron backscattered diffraction (EBSD) analyses allowed for revealing that surprising feature, which was then confirmed by transmission electron microscopy (TEM). Coherency for such large second‐phase particles is supported by a very low crystal lattice misfit between the two phases, which was confirmed thanks to X‐ray diffractograms and TEM selected area electron diffraction patterns. Dynamic recrystallization of polycrystalline γ–γ’ nickel‐based superalloys has been extensively studied in terms of mechanisms and kinetics. As in many materials with low stacking fault energy, under forging conditions, the main softening mechanism is discontinuous dynamic recrystallization. This mechanism occurs with preferential nucleation on the grain boundaries of the deformed matrix. The latter is then being consumed by the growth of the newly formed grains of low energy and by nucleation that keeps generating new grains. In the case of sub‐solvus forging, large γ’ particles usually pin the migrating boundaries and thus limit grain growth to a size which is determined by the distribution of second‐phase particles, in good agreement with the Smith–Zener model. Under particular circumstances, the driving force associated with the difference in stored energy between the growing grains and the matrix can be large enough that the pinning forces can be overcome, and some grains can then reach much larger grain sizes. In the latter exceptional case, some intragranular primary γ’ particles can be observed, although they are almost exclusively located on grain boundaries and triple junctions otherwise. In both cases, primary precipitates have no special orientation relationship with the surrounding matrix grain(s). This paper demonstrates the existence of high fractions of large γ’ precipitate (several micrometres in diameter) that are coherent with their surrounding matrix grain, in a commercial γ–γ’ nickel‐based superalloy. Such a configuration is very surprising, because there is apparently no reason for the coherency of such particles.