Cyclical bi-directional rotary actuator

A thermally powered rotary actuator is disclosed which is used for positioning a shaft in first and second positions which are disposed 180 deg apart. A pair of heat extensible springs are attached to the shaft and to the frame of the rotary actuator for selectively rotating the shaft from one of its two positions to the other position upon the application of heat to one of the heat extensible springs. The heat extensible springs are preferably constructed from the alloy 55-Nitinol. In the preferred embodiment, a detent mechanism is provided for locking the rotatable shaft in its two rotary positions

An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning

Bi-directional search is a widely used strategy to increase the success and convergence rates of sampling-based motion planning algorithms. Yet, few results are available that merge both bi-directional search and asymptotic optimality into existing optimal planners, such as PRM*, RRT*, and FMT*. The objective of this paper is to fill this gap. Specifically, this paper presents a bi-directional, sampling-based, asymptotically-optimal algorithm named Bi-directional FMT* (BFMT*) that extends the Fast Marching Tree (FMT*) algorithm to bi-directional search while preserving its key properties, chiefly lazy search and asymptotic optimality through convergence in probability. BFMT* performs a two-source, lazy dynamic programming recursion over a set of randomly-drawn samples, correspondingly generating two search trees: one in cost-to-come space from the initial configuration and another in cost-to-go space from the goal configuration. Numerical experiments illustrate the advantages of BFMT* over its unidirectional counterpart, as well as a number of other state-of-the-art planners.Comment: Accepted to the 2015 IEEE Intelligent Robotics and Systems Conference in Hamburg, Germany. This submission represents the long version of the conference manuscript, with additional proof details (Section IV) regarding the asymptotic optimality of the BFMT* algorith

Uni-directional polymerization leading to homochirality in the RNA world

The differences between uni-directional and bi-directional polymerization are considered. The uni-directional case is discussed in the framework of the RNA world. Similar to earlier models of this type, where polymerization was assumed to proceed in a bi-directional fashion (presumed to be relevant to peptide nucleic acids), left-handed and right-handed monomers are produced via an autocatalysis from an achiral substrate. The details of the bifurcation from a racemic solution to a homochiral state of either handedness is shown to be remarkably independent of whether the polymerization in uni-directional or bi-directional. Slightly larger differences are seen when dissociation is allowed and the dissociation fragments are being recycled into the achiral substrate.Comment: 9 pages, 4 figures, submitted to Astrobiolog

Effect of reinforcing submicron SiC particles on the wear of electrolytic NiP coatings Part 2: Bi-directional sliding

As-plated and heat-treated electrodeposited NiP and composite NiP-SiC coatings were investigated in bi-directional ball-on-disc sliding tests. All tests were performed under gross slip conditions. Heat treatment decreases the wear volume loss during fretting in ambient air for all coatings investigated. Heat-treated NiP coating has a lower wear volume loss compared to composite NiP-SiC coatings for all sliding tests. The wear rate at the bi-directional sliding test was found to be lower relative to the wear rate at uni-directional sliding test

Bi-directional route learning in wood ants

Some ants and bees readily learn visually guided routes between their nests and feeding sites. They can learn the appearance of visual landmarks for the food-bound or homeward segment of the route when these landmarks are only present during that particular segment of their round trip. We show here that wood ants can also acquire landmark information for guiding their homeward path while running their food-bound path, and that this information may be picked up, when ants briefly reverse direction and retrace their steps for a short distance. These short periods of looking back tend to occur early in route acquisition and are more frequent on homeward than on food-bound segments