Behavior Mixing with Minimum Global and Subgroup Connectivity Maintenance for Large-Scale Multi-Robot Systems

In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call \textit{behavior mixing}. Behavior mixing is accomplished when different subgroups of the overall robot team change their controllers to collectively achieve given tasks while maintaining connectivity within and across subgroups in one connected communication graph. In this paper, we present a provably minimum connectivity maintenance framework to ensure the subgroups and overall robot team stay connected at all times while providing the highest freedom for behavior mixing. In particular, we propose a real-time distributed Minimum Connectivity Constraint Spanning Tree (MCCST) algorithm to select the minimum inter-robot connectivity constraints preserving subgroup and global connectivity that are \textit{least likely to be violated} by the original controllers. With the employed safety and connectivity barrier certificates for the activated connectivity constraints and collision avoidance, the behavior mixing controllers are thus minimally modified from the original controllers. We demonstrate the effectiveness and scalability of our approach via simulations of up to 100 robots with multiple behaviors.Comment: To appear in Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 202

Reconfigurable Robot Control Using Flexible Coupling Mechanisms

Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing capacity, or can only form rigid structures. In this paper, we present our low-cost soft anchor design that enables flexible coupling and decoupling between robots. Our asymmetric anchor requires minimal force to be pushed into the opening of another robot while having a strong pulling force so that the connection between robots can be secured. To maintain this flexible coupling mechanism as an assembled structure, we present our Model Predictive Control (MPC) frameworks with polygon constraints to model the geometric relationship between robots. We conducted experiments on the soft anchor to obtain its force profile, which informed the three-bar linkage model of the anchor in the simulations. We show that the proposed mechanism and MPC frameworks enable the robots to couple, decouple, and perform various behaviors in both the simulation environment and hardware platform. Our code is available at https://github.com/ZoomLabCMU/puzzlebot_anchor . Video is available at https://www.youtube.com/watch?v=R3gFplorCJg

Theoretical Study of Solvent Effects on the Platinum-Catalyzed Oxygen Reduction Reaction

We report here density functional theory (DFT) studies (PBE) of the reaction intermediates and barriers involved in the oxygen reduction reaction (ORR) on a platinum fuel cell catalyst. Solvent effects were taken into account by applying continuum Poisson−Boltzmann theory to the bound adsorbates and to the transition states of the various reactions on the platinum (111) surface. Our calculations show that the solvent effects change significantly the reaction barriers compared with those in the gas-phase environment (without solvation). The O_2 dissociation barrier decreases from 0.58 to 0.27 eV, whereas the H + O → OH formation barrier increases from 0.73 to 1.09 eV. In the water-solvated phase, OH formation becomes the rate-determining step for both ORR mechanisms, O_2 dissociation and OOH association, proposed earlier for the gas-phase environment. Both mechanisms become significantly less favorable for the platinum catalytic surface in water solvent, suggesting that alternative mechanisms must be considered to describe properly the ORR on the platinum surface

Two types of development application

Includes bibliographical references (p. 169-185).Thesis (B.Sc)--University of Hong Kong, 2009.published_or_final_versio

Human Mitochondrial tRNA Mutations in Maternally Inherited Deafness

AbstractMutations in mitochondrial tRNA genes have been shown to be associated with maternally inherited syndromic and non-syndromic deafness. Among those, mutations such as tRNALeu(UUR)3243A>G associated with syndromic deafness are often present in heteroplasmy, and the non-syndromic deafness-associated tRNA mutations including tRNASer(UCN)7445A>G are often in homoplasmy or in high levels of heteroplasmy. These tRNA mutations are the primary factors underlying the development of hearing loss. However, other tRNA mutations such as tRNAThr15927G>A and tRNASer(UCN)7444G>A are insufficient to produce a deafness phenotype, but always act in synergy with the primary mitochondrial DNA mutations, and can modulate their phenotypic manifestation. These tRNA mutations may alter the structure and function of the corresponding mitochondrial tRNAs and cause failures in tRNAs metabolism. Thereby, the impairment of mitochondrial protein synthesis and subsequent defects in respiration caused by these tRNA mutations, results in mitochondrial dysfunctions and eventually leads to the development of hearing loss. Here, we summarized the deafness-associated mitochondrial tRNA mutations and discussed the pathophysiology of these mitochondrial tRNA mutations, and we hope these data will provide a foundation for the early diagnosis, management, and treatment of maternally inherited deafness

Growth of Wide Band Gap II-VI Compound Semiconductors by Physical Vapor Transport

The studies on the crystal growth and characterization of II-VI wide band gap compound semiconductors, such as ZnTe, CdS, ZnSe and ZnS, have been conducted over the past three decades. The research was not quite as extensive as that on Si, III-V, or even narrow band gap II-VI semiconductors because of the high melting temperatures as well as the specialized applications associated with these wide band gap semiconductors. In the past several years, major advances in the thin film technology such as Molecular Beam Epitaxy (MBE) and Metal Organic Chemical Vapor Deposition (MOCVD) have demonstrated the applications of these materials for the important devices such as light-emitting diode, laser and ultraviolet detectors and the tunability of energy band gap by employing ternary or even quaternary systems of these compounds. At the same time, the development in the crystal growth of bulk materials has not advanced far enough to provide low price, high quality substrates needed for the thin film growth technology

A new impedance matching method for an ultra-wide band and dual circularly polarised feed

In traditional antenna design, metal components are not placed in the central part of the antenna as they change the characteristics of near field radiation. However, we show that placing a metal ring in the centre of the strip lines, which connect the ends of folded high-frequency dipoles, does not damage the performance of the feed. Instead it significantly improves the voltage standing wave ratio of the feed whilst other performance indicators are not compromised. Thus, our findings show an excellent way of improving the wide band feed. Based on this foundation, a new circularly polarised feed for operation between 0.4 to 2 GHz is introduced for the Chinese Spectral Radioheliograph in this paper. The issue of a feed impedance matching network is investigated. By optimising the impedance matching, the performance of the feed is enhanced with respect to the previous realisations of the Eleven feed. The simulation and experimental results show that the gain of the feed is about 10 dBi, and the VSWR is less than 2:1. In addition, the feed has a low axial ratio, fixed phase centre location, and constant beam width in the range of 0.4 to 2 GHz