Integrating skills into multi-agent systems

Currently, an important topic of robotic research is the design and development of multi-agent robot systems (MASs). In these a number of autonomous robots cooperate and coordinate themselves in order to pursue given goals. The agents of an MAS not only have to work autonomously or in cooperation with other agents, but in dynamic, relatively unstructured environments. Therefore, the agents require agent-specific but flexible skills to cope with their tasks and the environment's variability. On the other hand, the actions to be performed by agents in an MAS have to meet certain requirements imposed by the MAS's structure. The representation of actions has to support planning, inter-agent communication, task negotiation etc. In this paper, we describe a method of combining the agent-specific nature of skills with the requirements for a general action knowledge representation inherent to MASs, by presenting elementary operations (EOs) that provide an appropriate interface.     

Dye linked conjugated homopolymers: using conjugated polymer electroluminescence to optically pump porphyrin-dye emission

Zinc-porphyrin dye molecules were incorporated into the backbone of a conjugated polymer material by a method, which allowed for the incorporation of only one zinc-porphyrin dye molecule into the backbone of each conjugated polymer molecule. The electronic properties of the homopolymer were established using ultraviolet photoelectron spectroscopy (UPS) for the determination of the electronic energy levels and the injection barrier for holes into the valence band. Pulse radiolysis time resolved microwave conductivity (PR-TRMC) was used to determine the sum of charge carrier mobilities. Electroluminescent devices of the homopolymer itself and of the zinc-porphyrin containing polymer were prepared and the nature of the electroluminescence was characterized. The homopolymer segments were found to optically pump the emission of the zinc-porphyrin dye moities. The homopolymer exhibits blue-green emission and the zinc-porphyrin linked homopolymers emit near-infrared/infrared light. This was demonstrated to be due to electroluminescence pumping of the zinc-porphyrin moieties that were covalently linked to homopolymer material. When only one zinc-porphyrin dye was incorporated into the backbone of each homopolymer molecule complete suppression of homopolymer electroluminescence was observed with exclusive near-infrared emission.     

Electron energy loss spectroscopy for analysis of inhaled ultrafine particles in rat lungs

Epidemiologic studies have associated cardiovascular morbidity and mortality with ambient particulate air pollution. Particles smaller than 100 nm in diameter (ultrafine particles) are present in the urban atmosphere in very high numbers yet at very low mass concentration. Organs beyond the lungs are considered as targets for inhaled ultrafine particles, whereby the route of particle translocation deeper into the lungs is unclear. Five rats were exposed to aerosols of ultrafine titanium dioxide particles of a count median diameter of 22 nm (geometric standard deviation, GSD 1.7) for 1 hour. The lungs were fixed by intravascular perfusion of fixatives immediately thereafter. TiO(2) particles in probes of the aerosol as well as in systematic tissue samples were analyzed with a LEO 912 transmission electron microscope equipped with an energy filter for elemental microanalysis. The characteristic energy loss spectra were obtained by fast spectrum acquisition. Aerosol particles as well as those in the lung tissue were unambiguously identified by electron energy loss spectroscopy. Particles were mainly found as small clusters with a rounded shape. Seven percent of the particles in the lung tissue had a needle-like shape. The size distribution of the cluster profiles in the tissue had a count median diameter of 29 nm (GSD 1.7), which indicates no severe clustering or reshaping of the originally inhaled particles. Electron energy loss spectroscopy and related analytical methods were found to be suitable to identify and localize ultrafine titanium dioxide particles within chemically fixed and resin-embedded lung tissue.     

Effect of crystal habit and superstructure on modulus of elasticity of isotactic polypropylene by AFM nanoindentation

In this study the effects of crystal habit, crystallinity and superstructure on the modulus of elasticity of isotactic polypropylene films were analyzed by atomic force microscope (AFM) nanoindentation. The modulus of elasticity, evaluated on the nanometer scale by AFM, showed a qualitatively similar dependence on the crystal habit, crystallinity and superstructure as the modulus of elasticity measured by dynamic-mechanical analysis and tensile testing. The observed values of both the surface stiffness measured by AFM and the macroscopic/bulk stiffness were distinctly larger in the presence of non-isometric lamellae organized in spherulite than in the presence of isometric nodular crystals, not organized in a spherulitic superstructure. The experimental data showed that the modulus of elasticity is not primarily influenced by the presence or absence of spherulite but by the molecular-deformation constraint associated to the crystal habit.     

Tail Estimation for Window-Censored Processes

This article develops methods to estimate the tail and full distribution of the lengths of the 0-intervals in a continuous time stationary ergodic stochastic process that takes the values 0 and 1 in alternating intervals. The setting is that each of many such 0–1 processes has been observed during a short time window. Thus, the observed 0-intervals could be noncensored, right-censored, left-censored, or doubly-censored, and the lengths of 0-intervals that are ongoing at the beginning of the observation window have a length-biased distribution. We exhibit parametric conditional maximum likelihood estimators for the full distribution, develop maximum likelihood tail estimation methods based on a semiparametric generalized Pareto model, and propose goodness-of-fit plots. Finite sample properties are studied by simulation, and asymptotic normality is established for the most important case. The methods are applied to estimation of the length of off-road glances in the 100-car study, a big naturalistic driving experiment. Supplementary materials that include MatLab code for the estimation routines and a simulation study are available online.