Recognition of Intentional Violations of Active Constraints in Cooperative Manipulation Tasks

Active Constraints (ACs) are high-level control algorithms deployed to assist a human operator in man-machine cooperative tasks [1], and define regions within which it is safe for the robot to move and cut [2]. To enhance the performance in cooperative surgical tasks, adaptive constraints have been exploited to optimally adjust the provided level of assistance according to some knowledge of the task, hardware or user. In [3] Hidden Markov Models were used for the run-time detection of the user intention to leave a guidance constraint to circumvent an obstacle. In this work, we present a novel, Neural Network (NN)-based method for the runtime classification of intentional and unintentional violations of ACs, that is trained on either statistical or frequency features from the enforced constraint forces. We investigate which set of parameters yield faster and more reliable classification results, both for guidance and regional constraints

Nafion-TiO2 composite DMFC membranes: Physico-chemical properties of the filier versus electrochemical performance

TiO2 nanometric powders were prepared via a sol-gel procedure and calcined at various temperatures to obtain different surface and bulk properties. The calcined powders were used as fillers in composite Nafion membranes for application in high temperature direct methanol fuel cells (DMFCs). The powder physico-chemical properties were investigated by X-ray diffraction (XRD), transmission electron microscopy (TEM), X-ray photoelectron spectroscopy (XPS) and pH measurements. The observed characteristics were correlated to the DMFC electrochemical behaviour. Analysis of the high temperature conductivity and DMFC performance reveals a significant influence of the surface characteristics of the ceramic oxide, such as oxygen functional groups and surface area, on the membrane electrochemical behaviour. A maximum DMFC power density of 350 mW cm-2 was achieved under oxygen feed at 145°C in a pressurized DMFC (2.5 bar, anode and cathode) equipped with TiO2 nano-particles based composite membranes. © 2004 Elsevier Ltd. All rights reserved

Synthesis, Characterization and Electrocatalytic Activity of Bi- and Tri-metallic Pt-Based Anode Catalysts for Direct Ethanol Fuel Cells

Three Pt-based anode catalysts supported on Vulcan XC-72R (VC) were prepared by using a modified polyol process. These materials were characterized and tested by X-Ray Diffraction (XRD), X-Ray Fluorescence (XRF) and Transmission Electron Microscopy (TEM). XRD and TEM analysis indicated that especially the ternary anode catalysts consisted of uniform nanosized particles with sharp distribution. The Pt lattice parameter was smaller, in the ternary PtSnIr catalyst whereas it increased with the addition of Sn and Rh, in the corresponding binary and ternary catalysts. Cyclic voltammetry (CV) measurements showed that Sn, Ir and Rh may act as promoter of Pt enhancing ethanol electro-oxidation activity. It was found that the direct ethanol fuel cell (DEFC) performances were significantly improved with these modified anode catalysts. This effect on the DEFC performance is attributed to the so-called bi-tri-functional mechanism and to the electronic interaction between Pt and additives. The performance increased significantly with the temperature. However, it was also possible to observe some decay with time for all catalysts due to the formation of surface poisons, probably consisting in CO-like species. At 60 °C, the PtSnIr catalyst showed the best performance, as a result of a proper morphology and promoting effectFil: D'Urso, C.. Centro Nazionale della Ricerca. ITAE; ItaliaFil: Bonesi, Alejandro Roberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico la Plata. Instituto de Investigaciones Fisicoquímicas Teóricas y Aplicadas; Argentina. Universidad Nacional de La Plata; ArgentinaFil: Triaca, Walter Enrique. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico la Plata. Instituto de Investigaciones Fisicoquímicas Teóricas y Aplicadas; Argentina. Universidad Nacional de La Plata; ArgentinaFil: Castro Luna Berenguer, Ana Maria del Carmen. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico la Plata. Instituto de Investigaciones Fisicoquímicas Teóricas y Aplicadas; Argentina. Universidad Nacional de La Plata; ArgentinaFil: Baglio, V.. Centro Nazionale della Ricerca. ITAE; Italia; ItaliaFil: Aricò, A. S.. Centro Nazionale della Ricerca. ITAE; Italia; Itali

Synthesis, Characterization and Electrocatalytic Activity of Bi- and Tri-metallic Pt-Based Anode Catalysts for Direct Ethanol Fuel Cells

Three Pt-based anode catalysts supported on Vulcan XC-72R (VC) were prepared by using a modified polyol process. These materials were characterized and tested by X-Ray Diffraction (XRD), X-Ray Fluorescence (XRF) and Transmission Electron Microscopy (TEM). XRD and TEM analysis indicated that especially the ternary anode catalysts consisted of uniform nanosized particles with sharp distribution. The Pt lattice parameter was smaller, in the ternary PtSnIr catalyst whereas it increased with the addition of Sn and Rh, in the corresponding binary and ternary catalysts. Cyclic voltammetry (CV) measurements showed that Sn, Ir and Rh may act as promoter of Pt enhancing ethanol electro-oxidation activity. It was found that the direct ethanol fuel cell (DEFC) performances were significantly improved with these modified anode catalysts. This effect on the DEFC performance is attributed to the so-called bi-tri-functional mechanism and to the electronic interaction between Pt and additives. The performance increased significantly with the temperature. However, it was also possible to observe some decay with time for all catalysts due to the formation of surface poisons, probably consisting in CO-like species. At 60 °C, the PtSnIr catalyst showed the best performance, as a result of a proper morphology and promoting effectFacultad de Ciencias ExactasInstituto de Investigaciones Fisicoquímicas Teóricas y Aplicada

Synthesis, Characterization and Electrocatalytic Activity of Bi- and Tri-metallic Pt-Based Anode Catalysts for Direct Ethanol Fuel Cells

Three Pt-based anode catalysts supported on Vulcan XC-72R (VC) were prepared by using a modified polyol process. These materials were characterized and tested by X-Ray Diffraction (XRD), X-Ray Fluorescence (XRF) and Transmission Electron Microscopy (TEM). XRD and TEM analysis indicated that especially the ternary anode catalysts consisted of uniform nanosized particles with sharp distribution. The Pt lattice parameter was smaller, in the ternary PtSnIr catalyst whereas it increased with the addition of Sn and Rh, in the corresponding binary and ternary catalysts. Cyclic voltammetry (CV) measurements showed that Sn, Ir and Rh may act as promoter of Pt enhancing ethanol electro-oxidation activity. It was found that the direct ethanol fuel cell (DEFC) performances were significantly improved with these modified anode catalysts. This effect on the DEFC performance is attributed to the so-called bi-tri-functional mechanism and to the electronic interaction between Pt and additives. The performance increased significantly with the temperature. However, it was also possible to observe some decay with time for all catalysts due to the formation of surface poisons, probably consisting in CO-like species. At 60 °C, the PtSnIr catalyst showed the best performance, as a result of a proper morphology and promoting effectFacultad de Ciencias ExactasInstituto de Investigaciones Fisicoquímicas Teóricas y Aplicada

A Comparative Environmental Assessment for the Synthesis of 1,3-Oxazin-2-one by Metrics: Greenness Evaluation and Blind Spots

Alternative syntheses for the production of 3-benzyl-1,3-oxazinan-2-one are compared and evaluated employing green metrics. An environmental assessment has been performed using the algorithm recently developed by Andraos that takes into account the mass flows and the software EATOS that considers mass flows, environmental impacts of the substances involved, and waste produced. Strengths and critical spots of the environmental tools employed are also discussed. Data collected showed that the synthesis employing diethyl carbonate is the most promising one, having the lowest environmental impact

Chemical Behavior and Reaction Kinetics of Sulfur and Nitrogen Half-Mustard and Iprit Carbonate Analogues

Sulfur and nitrogen mustards are very toxic, yet versatile organic molecules with numerous applications. Herein, we report on a synthesis of a new class of green compounds, i.e., half-mustard and iprit carbonates, that result in new, unexplored, and safe molecules. Their chemical behavior with several nucleophiles and their reaction kinetics have been investigated

Assessing the effects of spatial discretization on large-scale flow model performance and prediction uncertainty

Large-scale physically-based and spatially-distributed models (>100 km2) constitute useful tools for water management since they take explicitly into account the heterogeneity and the physical processes occurring in the subsurface for predicting the evolution of discharge and hydraulic heads for several predictive scenarios. However, such models are characterized by lengthy execution times. Therefore, modelers often coarsen spatial discretization of large-scale physically-based and spatially-distributed models for reducing the number of unknowns and the execution times. This study investigates the influence of such a coarsening of model grid on model performance and prediction uncertainty. The improvement of model performance obtained with an automatic calibration process is also investigated. The results obtained show that coarsening spatial discretization mainly influences the simulation of discharge due to a poor representation of surface water network and a smoothing of surface slopes that prevents from simulating properly surface water-groundwater interactions and runoff processes. Parameter sensitivities are not significantly influenced by grid coarsening and calibration can compensate, to some extent, for model errors induced by grid coarsening. The results also show that coarsening spatial discretization mainly influences the uncertainty on discharge predictions. However, model prediction uncertainties on discharge only increase significantly for very coarse spatial discretizations.Peer reviewe