A Modular, Real-Time Fieldbus Architecture for Mobile Robotic Platforms

Cataloged from PDF version of article.The design and construction of complex and reconfigurable embedded systems such as small autonomous mobile robots is a challenging task that involves the selection, interfacing, and programming of a large number of sensors and actuators. Facilitating this tedious process requires modularity and extensibility both in hardware and software components. In this paper, we introduce the universal robot bus (URB), a real-time fieldbus architecture that facilitates rapid integration of heterogeneous sensor and actuator nodes to a central processing unit (CPU) while providing a software abstraction that eliminates complications arising from the lack of hardware homogeneity. Motivated by our primary application area of mobile robotics, URB is designed to be very lightweight and efficient, with real-time support for Recommended Standard (RS) 232 or universal serial bus connections to a central computer and inter-integrated circuit (I(2)C), controller area network, or RS485 bus connections to embedded nodes. It supports automatic synchronization of data acquisition across multiple nodes, provides high data bandwidth at low deterministic latencies, and includes flexible libraries for modular software development both for local nodes and the CPU. This paper describes the design of the URB architecture, provides a careful experimental characterization of its performance, and demonstrates its utility in the context of its deployment in a legged robot platform

Utilization of Boron Waste Borogypsum with Silica Fume as a Supplementary Cementitious Material in Mortar

In the current study, borogypsum and borogypsum with silica fume mixtures are added to cement clinker partially. Flexural tensile strength, compressive strength and water absorption tests are performed on mortar samples which contain borogypsum and silica fume and also high temperature effect on the mortars are investigated. As a result of the tests it is revealed that 5% addition of borogysum and borogypsum-silica fume mixtures to cement clinker are altered strength behaviors of the mortars

Application-Specific Heterogeneous Network-on-Chip Design

Cataloged from PDF version of article.As a result of increasing communication demands, application-specific and scalable Network-on-Chips (NoCs) have emerged to connect processing cores and subsystems in Multiprocessor System-on-Chips. A challenge in application-specific NoC design is to find the right balance among different tradeoffs, such as communication latency, power consumption and chip area. We propose a novel approach that generates latency-aware heterogeneous NoC topology. Experimental results show that our approach improves the total communication latency up to 27% with modest power consumption. © 2013 The Author 2013. Published by Oxford University Press on behalf of The British Computer Society

Robust Cassie State of Wetting in Transparent Superhydrophobic Coatings

Cataloged from PDF version of article.This paper investigates the stability of the Cassie state of wetting in transparent superhydrophobic coatings by comparing a single-layer microporous coating with a double-layer micro/nanoporous coating. Increasing pressure resistance of superhydrophobic coatings is of interest for practical use because high external pressures may be exerted on surfaces during operation. The Cassie state stability against the external pressure of coatings was investigated by squeezing droplets sitting on surfaces with a hydrophobic plate. Droplets on the single-layer coating transformed to the Wenzel state and pinned to the surface after squeezing, whereas droplets on the double-layer micro/nanoporous coating preserved the Cassie state and rolled off the surface easily. In addition, the contact angle and contact-line diameter of water droplets during evaporation from surfaces were in situ investigated to further understand the stability of coatings against Wenzel transition. A droplet on a microporous coating gradually transformed to the Wenzel state and lost its spherical shape as the droplet volume decreased (i.e., the internal pressure of the droplet increased). The contact line of the droplet during evaporation remained almost unchanged. In contrast, a water droplet on a double-layer surface preserved its spherical shape even at the last stages of the evaporation process, where pressure differences as high as a few thousand pascals were generated. For this case, the droplet contact line retracted during evaporation and the droplet recovered the initial water contact angle. The demonstrated method for the preparation of robust transparent superhydrophobic coatings is promising for outdoor applications such as self-cleaning cover glasses for solar cells and nonwetting windows

From Virtual to Physical: Integration of Chemical Logic Gates

Cataloged from PDF version of article.Integration by parts: Advanced information processing at the molecular level requires integrated logic gates, which has to date been possible only virtually. Now, two independently working AND molecular logic gates are brought together by "click" chemistry to form integrated logic gates which respond exactly as predicted from such an integration scheme (see picture, EET=excitation energy transfer). Copyright © 2011 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim

Expanded Bodipy Dyes: Anion Sensing Using a Bodipy Analog with an Additional Difluoroboron Bridge

Cataloged from PDF version of article.Oxalyl-tethered pyrroles can be doubly bridged with two difluoroboron chelating units to yield bright orange dyes. Interestingly, in polar organic solvents, the addition of fluoride and cyanide result in reversible detachment of the otherwise stable difluoroboron bridges, resulting in sharp changes in color. Thus, this novel compound behaves as a highly selective chromogenic sensor for fluoride and cyanide ions

Utilization of Colemanite waste in Concrete Design

Waste material is formed in enormous quantities during the beneficiation of raw ore. These wastes can cause both economic loss and environmental pollution. Thus, in this study, the effect of CW obtained from Eti Mine Establishments Kütahya-Emet Boron Plants on the compressive strength and cylinder splitting tensile strength of concrete and its USAbility as a concrete admixture is investigated. The results found show that utilization of Colemanite Waste is possible when it is used as additive in concrete

Plasma Levels of Tumor Necrosis Factor-Alpha and Interleukin-6 in Obsessive Compulsive Disorder

Aim. Recent research implicated place of an immune mechanism in the pathophysiology of obsessive-compulsive disorder (OCD). Despite increasing evidence involvement of cytokine release in OCD, results of the studies are inconsistent. The aim of this study was to evaluate the plasma levels of the cytokines; tumor necrosis factor-alpha (TNF-α) and interleukin-6 (IL-6) in OCD patients. Methods. Plasma concentrations of TNF-α and IL-6 were measured in 31 drug-free outpatients with OCD, and 31-year age and sex-matched healthy controls. TNF-α and IL-6 concentrations in blood were determined by enzyme-linked immunosorbent assay (ELISA). Results. Both TNF-α and IL-6 levels showed statistically significant increases in OCD patients compared to controls (P < .000, P < .001, resp.). In addition, the age of onset was negatively correlated with TNF-α level (r = −.402, P = .025) and duration of illness was weakly correlated with IL-6 levels (r : .357; P : .048) in patients group. Conclusion. OCD patients showed increases in TNF-α and IL-6 levels compared to the healthy controls. This study provides evidence for alterations in the proinflamatory cytokines which suggest the involvement of the immune system in the pathophysiology of OCD

Application-specific heterogeneous network-on-chip design

As a result of increasing communication demands, application-specific and scalable Network-on-Chips (NoCs) have emerged to connect processing cores and subsystems in Multiprocessor System-on-Chips. A challenge in application-specific NoC design is to find the right balance among different tradeoffs, such as communication latency, power consumption and chip area. We propose a novel approach that generates latency-aware heterogeneous NoC topology. Experimental results show that our approach improves the total communication latency up to 27% with modest power consumption. © 2013 The Author 2013. Published by Oxford University Press on behalf of The British Computer Society