Performance optimisation of mobile robots in dynamic environments

This paper presents a robotic simulation system, that combines task allocation and motion planning of multiple mobile robots, for performance optimisation in dynamic environments. While task allocation assigns jobs to robots, motion planning generates routes for robots to execute the assigned jobs. Task allocation and motion planning together play a pivotal role in optimisation of robot team performance. These two issues become more challenging when there are often operational uncertainties in dynamic environments. We address these issues by proposing an auction-based closed-loop module for task allocation and a bio-inspired intelligent module for motion planning to optimise robot team performance in dynamic environments. The task allocation module is characterised by a closed-loop bid adjustment mechanism to improve the bid accuracy even in light of stochastic disturbances. The motion planning module is bio-inspired intelligent in that it features detection of imminent neighbours and responsiveness of virtual force navigation in dynamic traffic conditions. Simulations show that the proposed system is a practical tool to optimise the operations by a team of robots in dynamic environments. © 2012 IEEE.published_or_final_versionThe IEEE International Conference on Virtual Environments Human-Computer Interfaces and Measurement Systems (VECIMS 2012), Tianjin, China, 2-4 July 2012. In Proceedings of IEEE VECIMS, 2012, p. 54-5

A dynamic priority-based approach to concurrent toolpath planning for multi-material layered manufacturing

This paper presents an approach to concurrent toolpath planning for multi-material layered manufacturing (MMLM) to improve the fabrication efficiency of relatively complex prototypes. The approach is based on decoupled motion planning for multiple moving objects, in which the toolpaths of a set of tools are independently planned and then coordinated to deposit materials concurrently. Relative tool positions are monitored and potential tool collisions detected at a predefined rate. When a potential collision between a pair of tools is detected, a dynamic priority scheme is applied to assign motion priorities of tools. The traverse speeds of tools along the x-axis are compared, and a higher priority is assigned to the tool at a higher traverse speed. A tool with a higher priority continues to deposit material along its original path, while the one with a lower priority gives way by pausing at a suitable point until the potential collision is eliminated. Moreover, the deposition speeds of tools can be adjusted to suit different material properties and fabrication requirements. The proposed approach has been incorporated in a multi-material virtual prototyping (MMVP) system. Digital fabrication of prototypes shows that it can substantially shorten the fabrication time of relatively complex multi-material objects. The approach can be adapted for process control of MMLM when appropriate hardware becomes available. It is expected to benefit various applications, such as advanced product manufacturing and biomedical fabrication. © 2010 Elsevier Ltd. All rights reserved.postprin

An auction-based approach with closed-loop bid adjustment to dynamic task allocation in robot teams

Dynamic task allocation is among the most difficult issues in multi-robot coordination, although it is imperative for a multitude of applications. Auction-based approaches are popular methods that allocate tasks to robots by assembling team information at a single location to make practicable decisions. However, a main deficiency of auction-based methods is that robots generally do not have sufficient information to estimate reliable bids to perform tasks, particularly in dynamic environments. While some techniques have been developed to improve bidding, they are mostly open-looped without feed-back adjustments to tune the bid prices for subsequent tasks of the same type. Robots' bids, if not assessed and adjusted accordingly, may not be trustworthy and would indeed impede team performance. To address this issue, we propose a closed-loop bid adjustment mechanism for auction-based multi-robot task allocation, with an aim to evaluate and improve robots' bids, and hence enhance the overall team performance. Each robot in a team maintains and uses its own track record as closed-loop feedback information to adjust and improve its bid prices. After a robot has completed a task, it assesses and records its performance to reflect the discrepancy between the bid price and the actual cost of the task. Such performance records, with time-discounting factors, are taken into account to damp out fluctuations of bid prices. Adopting this adjustment mechanism, a task would be more likely allocated to a competent robot that submits a more accurate bid price, and hence improve the overall team performance. Simulation of task allocation of free-range automated guided vehicles serving at a container terminal is presented to demonstrate the effectiveness of the adjustment mechanism.postprintThe World Congress on Engineering (WCE 2011), London, U.K., 6-8 July 2011. In Proceedings of WCE, 2011, v. 2, p. 1061-106

A multi-material virtual prototyping system for biomedical applications

This paper describes a multi-material virtual prototyping (MMVP) system for modelling and digital fabrication of discrete and functionally graded multi-material objects for biomedical applications. The MMVP system consists of a DMMVP module, an FGMVP module, and a virtual reality (VR) simulation module. The DMMVP module is used for design and process planning of discrete multi-material (DMM) objects, while the FGMVP module is for functionally graded multimaterial (FGM) objects. The VR simulation module integrates these two modules to perform digital fabrication of multimaterial objects, which can be subsequently visualized and analyzed in a virtual environment to optimize MMLM processes for fabrication of product prototypes. Using the MMVP system, two biomedical objects, including a human dextrocardic heart made of discrete multi-materials and a hip joint assembly of FGM are modelled and digitally fabricated for visualization and analysis in a VR environment. These studies show the MMVP system is a practical tool for modelling, visualization, process planning, and subsequent fabrication of biomedical objects of discrete and functionally graded multi-materials for biomedical applications. ©2009 IEEE.published_or_final_versionThe IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurements Systems (VECIMS) 2009, Hong Kong, 11-13 May 2009. In Proceedings of the IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurements Systems, 2009, p. 73-7

Distributed cooperative data transfer for UWB adhoc network

Published versio

Atomic layer deposition of ZnS nanotubes

We report on growth of high-aspect-ratio ($\gtrsim300$) zinc sulfide nanotubes with variable, precisely tunable, wall thicknesses and tube diameters into highly ordered pores of anodic alumina templates by atomic layer deposition (ALD) at temperatures as low as 75 $^{\circ}$C. Various characterization techniques are employed to gain information on the composition, morphology, and crystal structure of the synthesized samples. Besides practical applications, the ALD-grown tubes could be envisaged as model systems for the study of a certain class of size-dependent quantum and classical phenomena.Comment: 1 LaTeX source file, 8 eps figures, and the manuscript in PDF forma

Deletion within the Src homology domain 3 of Bruton's tyrosine kinase resulting in X-linked agammaglobulinemia (XLA).

The gene responsible for X-linked agammaglobulinemia (XLA) has been recently identified to code for a cytoplasmic tyrosine kinase (Bruton's agammaglobulinemia tyrosine kinase, BTK), required for normal B cell development. BTK, like many other cytoplasmic tyrosine kinases, contains Src homology domains (SH2 and SH3), and catalytic kinase domain. SH3 domains are important for the targeting of signaling molecules to specific subcellular locations. We have identified a family with XLA whose affected members have a point mutation (g-->a) at the 5' splice site of intron 8, resulting in the skipping of coding exon 8 and loss of 21 amino acids forming the COOH-terminal portion of the BTK SH3 domain. The study of three generations within this kinship, using restriction fragment length polymorphism and DNA analysis, allowed identification of the mutant X chromosome responsible for XLA and the carrier status in this family. BTK mRNA was present in normal amounts in Epstein-Barr virus-induced B lymphoblastoid cell lines established from affected family members. Although the SH3 deletion did not alter BTK protein stability and kinase activity of the truncated BTK protein was normal, the affected patients nevertheless have a severe B cell defect characteristic for XLA. The mutant protein was modeled using the normal BTK SH3 domain. The deletion results in loss of two COOH-terminal beta strands containing several residues critical for the formation of the putative SH3 ligand-binding pocket. We predict that, as a result, one or more crucial SH3 binding proteins fail to interact with BTK, interrupting the cytoplasmic signal transduction process required for B cell differentiation

Two-dimensional elemental operator for modeling the vectorial hysteresis of soft magnetic composite material

© 2015 IEEE. This paper presents a two-dimensional elemental operator with biaxial anisotropy based on the physical mechanisms of the cubic textured magnetic materials, and deduces an analytical expression of the direct relationship between magnetic field strength H and magnetization M for a single elemental operator by the partial approximate substitutions. To verify the proposed model, the magnetic hysteresis of a soft magnetic composite material SOMALOYTM 500 under alternating excitations was simulated and compared with the experimental results obtained by a 3D magnetic property tester. The results suggest that the proposed approach can be a useful tool in the modeling of vectorial magnetic hysteresis and the calculation of iron loss in practical engineering electromagnetic field analysis

Modeling the stress dependence of magnetic hysteresis based on Stoner-Wohlfarth theory

© 2015 IEEE. This paper presents an improved approach for simulating magnetic hysteresis, which takes into account the effect of applied stress, based on an extended Stoner-Wohlfarth (S-W) model. Meanwhile, the S-W asteroid rotates and shrinks, and the stable direction of magnetization of the particle can be calculated from the new energy minimum conditions. This developed model is applied to analyze the magnetic hysteresis phenomenon of a soft magnetic composite (SMC) material under different compaction process, and the results of simulations are in good quantitative agreement with experimental data

The technology of large-scale pharmaceutical plasmid purification by cetyltrimethylammonium bromide and Tritonx-114

Many methods for plasmid purification have been developed, and the whole process must be designed to remove the host RNA, protein, genomic DNA and endotoxin. Currently, plasmid is mostly purified by time-consuming chromatographies. As an alternative, a new plasmid purification technology with cetyltrimethylammonium bromide (CTAB) is described. After lysis with alkali, the CTAB was directly titrated into the supernatant for plasmid precipitation, then the coprecipitated pellets were dealt with 3 M KAc and TritonX-114. Quality detection showed that the purified plasmids were free from the contamination of host RNA. In 1 mg purified plasmid, the bacterial genomic DNA, host endotoxin and protein were less than 10 g/ mg, 50 EU/ mg and 10 g/mg, respectively. The ratio of OD260/OD280 was between 1.75 - 1.85, more than 90% of the prepared plasmid presented in the supercoiled form. Further test demonstrated that the pcDNAlacZ purified with CTAB and authoritative endotoxin-free plasmid Kit had the similar transfection efficiency in vivo and in vitro. CTAB can be used for plasmid purification; the main advantages of the DNAs purified with CTAB include the avoidance of animal-derived enzymes, toxic substance like chloroform and phenol. More attractive is that the whole process has the predominance of low cost