Formation of a geometric pattern with a mobile wireless sensor network

Mobile wireless sensor networks (MWSNs) will enable information systems to gather detailed information about the environment on an unprecedented scale. These self‐organizing, distributed networks of sensors, processors, and actuators that are capable of movement have a broad range of potential applications, including military reconnaissance, surveillance, planetary exploration, and geophysical mapping. In many of the foreseen applications, the MWSN will need to form a geometric pattern without assistance from the user. In military reconnaissance, for example, the nodes will be dropped onto the battlefield from a plane and land at random positions. The nodes will be expected to arrange themselves into a predetermined formation in order to perform a specific task. Thus, we present algorithms for forming a line, circle, and regular polygon from a given set of random positions. The algorithms are distributed and use no communication between the nodes to minimize energy consumption. Unlike past studies of geometric problems where algorithms are either tested in simulations where each node has global knowledge of all the other nodes or implemented on a small number of robots, the robustness of our algorithms has been studied with simulations that model the sensor system in detail. The simulations demonstrate that the algorithms are robust against random errors in the sensors and actuators. © 2004 Wiley Periodicals, Inc.     

Trajectory segmentation for the autonomous control of backward motion for truck and trailer

For logistics centers the disposition and dispatch of goods has reached a high standard of automation. However, the trucks and trailers bringing and taking wares are driven manually. This offers a enormous potential for automation for the yards of logistics centers. The availability of this potential is correlated to the autonomous forward and backward motion control for standard transportation vehicles. By an experimental system it has been shown that truck and trailer can be maneuvered autonomously at a high degree of precision. For purposes of safety it is necessary to guarantee that at any instant of time the vehicle is within some predefined area. Therefore, this paper introduces the principle of safe cover segments which are never left by the vehicle in motion and defines rules for the connection of such segments forming a safe corridor.     

Repair of Cracked Aluminum Overhead Sign Structures with Glass Fiber Reinforced Polymer Composites

Transportation departments have been using aluminum overhead sign structures since the 1950s. It is well documented that cracks develop in the welds between diagonal and chord members due to fatigue stresses from wind-induced vibration of the slender members. The cracks propagate to complete failure of the members, which can cause collapse of the truss and inflict injuries. The original design of overhead sign structures did not consider fatigue as a limit state. In addition, field welding of aluminum structures for any possible repairs is prohibited. A repair method for the cracked aluminum welded connections between diagonals and chord members using glass fiber reinforced polymer composites (GFRPs) is proposed. The static load carrying capacity of the welded connection, and the cracked connection repaired with GFRP composites are established. The paper describes the surface preparation of the aluminum tubular members, and the architecture and application sequence of the GFRP composite to retrofit the connection. Experimental results are presented from static tests of welded aluminum connections, welded aluminum connections retrofitted with GFRP composites, and new aluminum connections that depend only on GFRP composite elements for their strength. The results from monotonic static tests carried out on cracked welded specimens from actual sign structures show that the retrofitted connection with GFRP reinforcement achieved 1.17 to 1.25 times the capacity of the welded aluminum connection without any visible cracks. This result, and the minimal traffic disruption anticipated in the actual field application, makes this retrofit method a good candidate for implementation.     

High‐Tg Carbazole Derivatives as Blue‐Emitting Hole‐Transporting Materials for Electroluminescent Devices

A series of dicarbazolyl derivatives bridged by various aromatic spacers and decorated with peripheral diarylamines were synthesized using Ullmann and Pd‐catalyzed C–N coupling procedures. These derivatives emit blue light in solution. In general, they possess high glass‐transition temperatures (T_g > 125 °C) which vary with the bridging segment and methyl substitution on the peripheral amine. Double‐layer organic light‐emitting devices were successfully fabricated using these molecules as hole‐transporting and emitting materials. Devices of the configuration ITO/HTL/TPBI/Mg:Ag (ITO: indium tin oxide; HTL: hole‐transporting layer; TPBI: 1,3,5‐tris(N‐phenylbenzimidazol‐2‐yl)benzene) display blue emission from the HTL layer. The EL spectra of these devices appear slightly distorted due to the exciplex formation at the interfaces. However, for the devices of the configuration ITO/HTL/Alq₃/Mg:Ag (Alq₃ = tris(8‐hydroxyquinoline)aluminum) a bright green light from the Alq₃ layer was observed. This clearly demonstrates the facile hole‐transporting property of the materials described here.     

Evaluation of polymer rheology from drop spreading experiments

In this paper, spreading experiments on “heavy” polymer drops are performed. “Heavy” refers to large polymer drops, i.e., the radius of the drop, R, is much larger than the capillary length, κ^-1, so that the spreading is dictated by gravity. The zero-shear viscosity can be found from measurements of the time-dependent drop radius or vice versa. Viscosity values found from spreading experiments compare well with the viscosity values found from dynamic rheological experiments.     

Complex refractive index,single scattering albedo,and mass absorption coefficient of secondary organic aerosols generated from oxidation of biogenic and anthropogenic precursors

Refractive index and optical properties of biogenic and anthropogenic secondary organic aerosol (SOA) particles were investigated. Aerosol precursors, namely longifolene, α-pinene, 1-methylnaphthalene, phenol, and toluene were oxidized in a Teflon chamber to produce SOA particles under different initial hydrocarbon concentrations and hydroxyl radical sources, reflecting exposures to different levels of nitrogen oxides (NO_x). The real and imaginary components (n and k, respectively) of the refractive index at 375?nm and 632?nm were determined by Mie theory calculations through an iterative process, using the χ² function to evaluate the fitness of the predicted optical parameters with the measured scattering, absorption, and extinction coefficients from a Photoacoustic Extinctiometer and Cavity Attenuated Phase Shift Spectrometer. Single scattering albedo (SSA) and bulk mass absorption coefficient (MAC) at 375?nm were calculated. SSA values of SOA particles from biogenic precursors (longifolene and α-pinene) were ～0.98–0.99 (～6.3% uncertainty), reflecting purely scattering aerosols regardless of the NO_x regime. However, SOA particles from aromatic precursors were more absorbing and displayed NO_x-dependent SSA values. For 1-methylnaphthalene SOA particles, SSA values of 0.92–0.95 and ～0.75–0.90 (～6.1% uncertainty) were observed under intermediate- and high-NO_x conditions, respectively, reflecting the absorbing effects of SOA particles and NO_x chemistry for this aromatic system. In mixtures of longifolene and phenol or longifolene and toluene SOA under intermediate- and high-NO_x conditions, k values of the aromatic-related component of the SOA mixture were higher than that of 1-methylnaphthalene SOA particles. With the increase in OH exposure, k_phenol decreased from 0.10 to 0.02 and 0.22 to 0.05 for intermediate- and high-NO_x conditions, respectively. A simple relative radiative forcing calculation for urban environments at λ?=?375?nm suggests the influence of absorbing SOA particles on relative radiative forcing at this wavelength is most significant for aerosol sizes greater than 0.4?µm.

Copyright © 2019 American Association for Aerosol Research     

Electrophilic Aromatic Functionalization of Phenolic Photoresist Polymers

Summary Functionalization of both linear poly(4-hydroxystyrene) (PHS) and branched poly(4-hydroxystyrene) (PHS-B) was accomplished via a Reimer-Tiemann electrophilic aromatic substitution reaction. Linear and branched poly(4-hydroxystyrene-co-5-vinylsalicylaldehyde) (pHS/5VSA and pHS-B/5VSA) copolymers were observed to undergo acid-catalyzed, novolac type self-crosslinking. Both the pHS/5VSA and pHS-B/5VSA copolymer systems possessed a lower deep ultra violet microlithographic sensitivity compared to linear PHS when formulated in negative photoresists. The sluggishness of the negative photoresists containing 5-vinylsalicylaldehyde functionalized copolymers was attributed to a combination of resonance stabilization and steric hindrance effects.     

Sequencing of multi‑robot behaviors using reinforcement learning

Given a collection of parameterized multi-robot controllers associated with individual behaviors designed for particular tasks, this paper considers the problem of how to sequence and instantiate the behaviors for the purpose of completing a more complex, overarching mission. In addition, uncertainties about the environment or even the mission specifications may require the robots to learn, in a cooperative manner, how best to sequence the behaviors. In this paper, we approach this problem by using reinforcement learning to approximate the solution to the computationally intractable sequencing problem, combined with an online gradient descent approach to selecting the individual behavior parameters, while the transitions among behaviors are triggered automatically when the behaviors have reached a desired performance level relative to a task performance cost. To illustrate the effectiveness of the proposed method, it is implemented on a team of differential-drive robots for solving two different missions, namely, convoy protection and object manipulation.