Terminal approach navigation for autonomous robots in a sensory network

In this paper we present a technique based on precision guidance approach for the sensor delivery and reception problem between two mobile robots. A slave robot is employed to collect sensors and slack them on a tray carried by the mobile master robot. We define the terminal attitude of the slave robot with respect to the master and present a LQR control approach to solving the problem of achieving a desired terminal approach angle necessary for the appropriate sensor delivery. The approach criteria is defined in terms of both minimizing the miss distance and controlling the slave robot's body attitude with respect to the master robot at the terminal point.

Robust terminal attitude navigation for autonomous vehicles

Here we define the terminal attitude of the pursuer with respect to a target and present a LQR and H¿ control approach to solving the problem of pursuer achieving a desired terminal attack/approach angle. The intercept or engagement criteria is defined in terms of both minimizing the miss distance and controlling the pursuer's body attitude with respect to the target at the terminal point. This approach in comparison to previous approaches consider the relativistic approach of the pursuer with respect to the target as opposed the absolute velocities of the two dynamic bodies, and have possible applications ranging from autonomous vehicle entry in to a mother craft to nossle engagements in on-flight refuelling or even in precision missile guidance. Here we also suitably formulate the H¿ control ideas directly applicable to the underlying problem and presents both state feedback and output feed back results for the case of finite horizon and non-zero initial conditions together with a optimal parameter value to achieve a desired terminal characteristic in terms of the original weighting parameters.

Fuzzy terminal attitude guidance controller with angle only measurements

This paper introduces the concept of terminal attitude guidance as an alternative to precision guidance and uses fuzzy control ideas in designing a control strategy for a pursuer in countering a manoeuvreing target. The fuzzy controller uses only angle measurements in the control strategy and produces satisfactory results in comparison to the LQR or H∞ type guidance controllers, although they were addressed in a precision guidance context. Both 2D and 3D cases have been considered.

Heating effects on water repellency in Australian eucalypt forest soils and their value in estimating wildfire soil temperatures

Wildfires can induce or enhance soil water repellency under a range of vegetation communities. According to mainly USA-based laboratory studies, repellency is eliminated at a maximum soil temperature (T) of 280–400°C. Knowledge of T reached during a wildfire is important in evaluating post-fire soil physical properties, fertility and seedbed status. T is, however, notoriously difficult to ascertain retrospectively and often based on indicative observations with a large potential error. Soils under fire-prone Australian eucalypt forests tend to be water repellent when dry or moderately moist even if long unburnt. This study aims to quantify the temperature of water repellency destruction for Australian topsoil material sampled under three sites with contrasting eucalypt cover (Eucalyptus sieberi, E. ovata and E. baxteri). Soil water repellency was present prior to heating in all samples, increased during heating, but was abruptly eliminated at a specific T between 260 and 340°C. Elimination temperature varied somewhat between samples, but was found to be dependent on heating duration, with longest duration resulting in lowest elimination temperature. Results suggest that post-fire water repellency may be used as an aid in hindcasting soil temperature reached during the passage of a fire within repellency-prone environments.

Receptor activation and 2 distinct COOH- terminal motifs control G-CSF receptor distribution and internalization kinetics.

We have studied the intracellular distribution and internalization kinetics of the granulocyte colony-stimulating factor receptor (G-CSF-R) in living cells using fusion constructs of wild-type or mutant G-CSF-R and enhanced green fluorescent protein (EGFP). Under steady-state conditions the G-CSF-R localized predominantly to the Golgi apparatus, late endosomes, and lysosomes, with only low expression on the plasma membrane, resulting from spontaneous internalization. Internalization of the G-CSF-R was significantly accelerated by addition of G-CSF. This ligand-induced switch from slow to rapid internalization required the presence of G-CSF-R residue Trp650, previously shown to be essential for its signaling ability. Both spontaneous and ligand-induced internalization depended on 2 distinct amino acid stretches in the G-CSF-R COOH-terminus: 749-755, containing a dileucine internalization motif, and 756-769. Mutation of Ser749 at position –4 of the dileucine motif to Ala significantly reduced the rate of ligand-induced internalization. In contrast, mutation of Ser749 did not affect spontaneous G-CSF-R internalization, suggesting the involvement of a serine-threonine kinase specifically in ligand-accelerated internalization of the G-CSF-R. COOH-terminal truncation mutants of G-CSF-R, found in severe congenital neutropenia, lack the internalization motifs and were completely defective in both spontaneous and ligand-induced internalization. As a result, these mutants showed constitutively high cell-surface expression.

Design of electrical infrastructure at container terminal and 'net metering'

Net metering is generally a consumer-based incentive for renewable sources such as wind or solar power systems also referred to as dasiacogenerationdasia. It is still a grey area for container terminals with large electric machines, such as quay cranes, automatic stacking cranes, that can operate in the regenerative mode and export electric energy to the grid. With actual measured electrical data presented for discussion, this paper provides information for the readers to provide a better understanding of their access to net metering, ultilizing their electrical equipment capabilities and be informed for their next negotiation with the power supply company.

Integral terminal sliding mode cooperative control of multi-robot networks

This paper studies the integral terminal sliding mode cooperative control of multi-robot networks. Here, we first propose an integral terminal sliding mode surface for a class of first order systems. Then, we prove that finite time consensus tracking of multi-robot networks can be achieved on this integral terminal sliding mode surface. Simulation results are presented to validate the analysis.

Plastic flow properties and microstructural evolution in an ultrafine-grained Al-Mg-Si alloy at elevated temperatures

An AA6082 alloy was subjected to eight passes of equal channel angular pressing at 100 °C, resulting in an ultrafine grain size of 0.2 to 0.4 µm. The tensile deformation behavior of the material was studied over the temperature range of 100 °C to 350 °C and strain rate range of 10¯⁴ to 10¯¹ s¯¹. The evolution of microstructure under tensile deformation was investigated by analyzing both the deformation relief on the specimen surface and the dislocation structure. While extensive microshear banding was found at the lower temperatures of 100 °C to 150 °C, deformation at higher temperatures was characterized by cooperative grain boundary sliding and the development of a bimodal microstructure. Dislocation glide was identified as the main deformation mechanism within coarse grains, whereas no dislocation activity was apparent in the ultrafine grains.

Stability of oxide films formed on mild steel in turbulent flow conditions of alkaline solutions at elevated temperatures

In the industries involving alkaline solutions in different process streams, the nature and stability of oxide films formed on the metallic surfaces determine the rates of erosion–corrosion of the equipment. In the present study the characteristics of the oxide films formed on AISI 1020 steel in a 2.75 M sodium hydroxide solution at temperatures up to 175°C, have been investigated by employing electrochemical techniques of cyclic voltammetry and chronoamperometry. The experiments were carried out in an autoclave system based upon a ‘rotating cylinder electrode’ geometry to determine the effects of turbulence on the stability of the films. The results suggest that little protection is afforded in the active region (at about −0.8 V_SHE). In the passive region at low potentials (−0.6 V to −0.4 V_SHE), it appears the films are compact and more stable, and therefore provide good protection. At higher potentials (>−0.4 V_SHE) in the passive region, the results suggest that film formation and dissolution occur simultaneously and the increase in temperature and turbulence causes a breakdown of the passive film resulting in a situation similar to nonprotective magnetite growth.

Effect of CHO ingestion on exercise metabolism and performance in different ambient temperatures

Two series of experiments were conducted to examine the effect of ingesting beverages with differing carbohydrate (CHO) concentrations and osmolalities on metabolism and performance during prolonged exercise in different environmental conditions. In series 1, 12 subjects performed three cycling exercise trials to fatigue at 70% ·VO_2peak in either 33°C(N = 6) (HT1) or 5°C (N = 6) (CT). Subjects ingested either a 14% CHO solution (osmolality = 390 mosmol·l^-1) (HCHO); a 7% CHO solution (330 mosmol·l^-1) (NCHO) or a placebo (90 mosmol·l^-1) (CON1). In series 2, six subjects performed the same three trials at 33°C (HT2), while ingesting either NCHO, a 4.2% CHO solution (240 mosmol·l^-1) (LCHO) or a placebo) (240 mosmol·l^-1) (CON2). Plasma glucose was higher (P < 0.05) in HCHO than NCHO, which in turn was higher (P < 0.05) than CON1 in both CT and HT1. Plasma glucose was lower (P < 0.05) in CON2 compared with NCHO and LCHO in HT2. The fall in plasma volume was greater(P < 0.05) in HCHO than other trials in both CT and HT1 but was not different when comparing the three trials in HT2. Exercise time was not different when comparing the trials in either HT1 or HT2 but was longer(P < 0.05) in NCHO compared with HCHO, which, in turn, was longer(P < 0.05) than CON1 in CT. These data demonstrate that, during prolonged exercise in the heat, fatigue is related to factors other than CHO availability. In addition, during exercise in 5°C a 7% CHO solution is more beneficial for exercise performance than a 14% CHO solution.