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     

Polyesterification and isomerization of maleic anhydride and 1,6-hexane diol as studied by 1H and 13C n.m.r.

The polyesterification and isomerization reaction of 1,6-hexane diol and maleic anydride in a melt without catalyst was studied by ¹³C and ¹H n.m.r. spectroscopy. The structure and concentration of oligoester species during the polyesterification and isomerization were determined depending on the reaction temperature and time. According to the number and configuration of repeating units determined from ¹H n.m.r. spectra kinetics of both reactions were also considered. The degree of isomerization is continuously increasing in the investigated reaction range.     

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.     

Vapour liquid equilibrium with association in both phases: A model with the concentration-dependent liquid phase association constant applied to acetic acid—benzene, -toluene, -p- and -o-xylene

A model employing the correction factors of Marek and Standart, but using a concentration-dependent liquid phase association factor of Jenkins—Robinson, has been used to model vapour—liquid equilibrium data for mixtures of acetic acid with benzene, toluene, o-xylene and p-xylene. With the aim to use systems of acetic acid—benzene and acetic acid—toluene as the test mixtures for distillation columns, the examination of the systems of acetic acid—aromatic hydrocarbons was undertaken. The model promises to be useful in modelling isobaric and isothermal data of acetic acid—benzine, acetic acid—toluene, acetic acid-p-xylene and acetic acid-o-xylene systems. Deviation plots show that the isothermal and isobaric data are represented well.     

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.     

Plaster of Paris activated supersulfated slag cement

Hydration and strength behavior of supersulfated cement produced by activating a granulated Indian blastfurnace slag by plaster of Paris has been investigated. It is shown that plaster of Paris is a better activator than the conventional hard burnt gypsum (anhydrite) at least for a class of blastfurnace slags which are ordinarily considered less than ideal for this purpose. The setting characteristics of the plaster of Paris activated slag were controlled by small additions of a set retarder which does not adversely affect the strength properties of the cement. X-ray analysis and DTA have been used to identify the hydration products, interpret the strength data, and to compare the plaster of Paris activated cement with anhydrite activated slag cement.     

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...