Chaotic exploration and learning of locomotion behaviours

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage

Quantum Friction in Nanomechanical Oscillators at Millikelvin Temperatures

We report low-temperature measurements of dissipation in megahertz-range, suspended, single-crystal nanomechanical oscillators. At millikelvin temperatures, both dissipation (inverse quality factor) and shift in the resonance frequency display reproducible features, similar to those observed in sound attenuation experiments in disordered glasses and consistent with measurements in larger micromechanical oscillators fabricated from single-crystal silicon. Dissipation in our single-crystal nanomechanical structures is dominated by internal quantum friction due to an estimated number of roughly 50 two-level systems, which represent both dangling bonds on the surface and bulk defects.Comment: 5 pages, two-column format. Related papers available at http://nano.bu.ed

Nitrate removal using Purolite A520E ion exchange resin: batch and fixed-bed column adsorption modelling

© 2014, Islamic Azad University (IAU). Removing excessive nitrate from water is essential because it causes eutrophication which in turn has a harmful effect on aquatic life, resulting in a reduction in biodiversity and posing a danger to people’s health when the water is used for drinking. In this study, nitrate removal from aqueous solutions was studied using an ion exchange resin (Purolite A520E) in batch and fixed-bed column experiments. Batch adsorption kinetics was very well described by pseudo-first-order, pseudo-second-order and homogeneous surface diffusion models for resin doses 1.5 and 3.0 g/L at a nitrate concentration 20 mg N/L. Column kinetic data satisfactorily fitted to the empirical Thomas model and a numerical model based on advection–dispersion equation for filtration velocities 2.5 and 5.0 m/h at a column height of 12 cm and inlet concentration 20 mg N/L. The experimental and Thomas model predicted breakthrough adsorption capacity ranges for the two filtration rates were 12.0–13.5 and 8.2–9.7 mg N/g, respectively, whereas the maximum adsorption capacity determined using Langmuir adsorption isotherm model in the batch study was 32.2 mg N/g

Tunneling spectroscopy of spin-selective Aharonov-Bohm oscillations in a lateral triple quantum dot molecule

We present a theory of tunneling spectroscopy of spin-selective Aharonov-Bohm oscillations in a lateral triple quantum dot molecule. The theory combines exact treatment of an isolated many-body system with the rate equation approach when the quantum dot molecule is weakly connected to the leads subject to arbitrary source-drain bias. The tunneling spectroscopy of the many-body complex is analyzed using the spectral functions of the system and applied to holes in a quantum dot molecule. Negative differential conductance is predicted and explained as a result of the redistribution of the spectral weight between transport channels. It is shown that different interference effects on singlet and triplet hole states in a magnetic field lead to spin-selective Aharonov-Bohm oscillations.Comment: 33 pages, 9 figure

Mathematical modelling of nitrate removal from water using a submerged membrane adsorption hybrid system with four adsorbents

© 2018 by the authors. Excessive concentrations of nitrate in ground water are known to cause human health hazards. A submerged membrane adsorption hybrid system that includes a microfilter membrane and four different adsorbents (Dowex 21K XLT ion exchange resin (Dowex), Fe-coated Dowex, amine-grafted (AG) corn cob and AG coconut copra) operated at four different fluxes was used to continuously remove nitrate. The experimental data obtained in this study was simulated mathematically with a homogeneous surface diffusion model that incorporated membrane packing density and membrane correlation coefficient, and applied the concept of continuous flow stirred tank reactor. The model fit with experimental data was good. The surface diffusion coefficient was constant for all adsorbents and for all fluxes. The mass transfer coefficient increased with flux for all adsorbents and generally increased with the adsorption capacity of the adsorbents

Theory of electronic transport through a triple quantum dot in the presence of magnetic field

Theory of electronic transport through a triangular triple quantum dot subject to a perpendicular magnetic field is developed using a tight binding model. We show that magnetic field allows to engineer degeneracies in the triple quantum dot energy spectrum. The degeneracies lead to zero electronic transmission and sharp dips in the current whenever a pair of degenerate states lies between the chemical potential of the two leads. These dips can occur with a periodicity of one flux quantum if only two levels contribute to the current or with half flux quantum if the three levels of the triple dot contribute. The effect of strong bias voltage and different lead-to-dot connections on Aharonov-Bohm oscillations in the conductance is also discussed

Modelling equilibrium adsorption of single, binary, and ternary combinations of Cu, Pb, and Zn onto granular activated carbon

© 2018, Springer-Verlag GmbH Germany, part of Springer Nature. Elevated concentrations of heavy metals in water can be toxic to humans, animals, and aquatic organisms. A study was conducted on the removal of Cu, Pb, and Zn by a commonly used water treatment adsorbent, granular activated carbon (GAC), from three single, three binary (Cu-Pb, Cu-Zn, Pb-Zn), and one ternary (Cu-Pb-Zn) combination of metals. It also investigated seven mathematical models on their suitability to predict the metals adsorption capacities. Adsorption of Cu, Pb, and Zn increased with pH with an abrupt increase in adsorption at around pH 5.5, 4.5, and 6.0, respectively. At all pHs tested (2.5–7.0), the adsorption capacity followed the order Pb > Cu > Zn. The Langmuir and Sips models fitted better than the Freundlich model to the data in the single-metal system at pH 5. The Langmuir maximum adsorption capacities of Pb, Cu, and Zn (mmol/g) obtained from the model’s fits were 0.142, 0.094, and 0.058, respectively. The adsorption capacities (mmol/g) for these metals at 0.01 mmol/L equilibrium liquid concentration were 0.130, 0.085, and 0.040, respectively. Ideal Adsorbed Solution (IAS)-Langmuir and IAS-Sips models fitted well to the binary and ternary metals adsorption data, whereas the Extended Langmuir and Extended Sips models’ fits to the data were poor. The selectivity of adsorption followed the same order as the metals’ capacities and affinities of adsorption in the single-metal systems

Spin selective Aharonov-Bohm oscillations in a lateral triple quantum dot

We present a theory for spin selective Aharonov-Bohm oscillations in a lateral triple quantum dot. We show that to understand the Aharonov-Bohm (AB) effect in an interacting electron system within a triple quantum dot molecule (TQD) where the dots lie in a ring configuration requires one to not only consider electron charge but also spin. Using a Hubbard model supported by microscopic calculations we show that, by localizing a single electron spin in one of the dots, the current through the TQD molecule depends not only on the flux but also on the relative orientation of the spin of the incoming and localized electrons. AB oscillations are predicted only for the spin singlet electron complex resulting in a magnetic field tunable "spin valve".Comment: 4 pages, 4 figure