Topological robot localization in a large-scale water pipe network

Topological localization is well suited to robots operating in water pipe networks because the environment is well defined as a set of discrete connected places like junctions, customer connections, and access points. Topological methods are more computationally efficient than metric methods, which is important for robots operating in pipes as they will be small with limited computational power. A Hidden Markov Model (HMM) based localization method is presented here, with novel incorporation of measured distance travelled. Improvements to the method are presented which use a reduced definition of the robot state to improve computational efficiency and an alternative motion model where the probability of transitioning to each other state is uniform. Simulation in a large realistic map shows that the use of measured distance travelled improves the localization accuracy by around 70%, that the reduction of the state definition gives an reduction in computational requirement by 75% with only a small loss to accuracy dependant on the robot parameters, and that the alternative motion model gives a further improvement to accuracy

Origin of High Interfacial Resistances in Solid‐State Batteries: Interdiffusion and Amorphous Film Formation in Li 0.33 La 0.57 TiO 3 /LiMn 2 O 4 Half Cells

The large interfacial resistance between electrolyte and electrodes poses a significant roadblock for the application of all‐solid‐state batteries. The formation of interfacial phases (interphases) has been identified as one of the most significant sources for such high resistance. Therefore, studying the mechanism of interphase formation, along with investigating its effect on ionic conductivity, could lead to the discovery of avenues towards designing high‐performance all‐solid‐state batteries. In this work, we studied the interphase formation in the perovskite electrolyte Li0.33La0.57TiO3 (LLTO) and spinel cathode LiMn2O4 (LMO) pair by co‐sintering experiments via spark plasma sintering (SPS), as well as conventional sintering. Although the processing method has an influence on the electrode/electrolyte contact, the formation of an interphase could not be avoided. At the LLTO/ LMO interface, we observed both an interphase formed by interdiffusion, as well as a complexion‐like amorphous layer. We directly characterized the complexion layer morphology by using HRTEM. Analytical TEM and SEM were used to reveal the elemental composition of the interphase and the interdiffusion layer. Furthermore, we used impedance spectroscopy to measure the electrical properties of the LLTO/LMO interphase and identified the interfacial resistance from the interdiffusion induced interphase to be larger than the individual phases by a factor of 40, whereas the amorphous layer was not visible in the impedance