An Architecture for Multilevel Learning and Robotic Control based on Concept Generation

Robot and multi-robot systems are inherently complex systems, for which designing the programs to control their behaviours proves complicated. Moreover, control programs that have been successfully designed for a particular environment and task can become useless if either of these change. It is for this reason that this thesis investigates the use of machine learning within robot and multi-robot systems. It explores an architecture for machine learning, applied to autonomous mobile robots based on dividing the learning task into two individual but interleaved sub-tasks. The first sub-task consists of finding an appropriate representation on which to base behaviour learning. The thesis explores the viability of using multidimensional classification techniques to generalise the original sensor and motor representations into abstract hierarchies of 'concepts'. To construct concepts the research used standard classification techniques, and experimented with a novel method of multidimensional data classification based on 'Q-analysis'. Results suggest that this may be a powerful new approach to concept learning. The second sub-task consists of using the previously acquired concepts as the representation for behaviour learning. The thesis explores whether it is possible to learn robotic behaviours represented using concepts. Results show that is possible to learn low-level behaviours such as navigation and higher-level ones such as ball passing in robot football. The thesis concludes that the proposed architecture is viable for robotic behaviour learning and control, and that incorporating Q-analysis based classification results in a promising new approach to the control of robot and multi-robot systems

Anodic stripping voltammetric determination of zinc at a 3-D printed carbon nanofiber–graphite–polystyrene electrode using a carbon pseudo-reference electrode

© 2018 Elsevier B.V. The application of a novel fully 3-D printed carbon nanofiber–graphite–polystyrene electrode has been investigated for the trace determination of Zn2+ by differential pulse anodic stripping voltammetry. The possibility of utilising a carbon pseudo-reference electrode was found to be successful. The effect of accumulation potential and time were investigated and optimised. Using an accumulation potential of −2.9 V (vs. C) and an accumulation time of 75 s a single sharp anodic stripping peak was recorded exhibiting a linear response from 12.7 μg/L to 450 μg/L. The theoretical detection limit (3σ) was calculated as 8.6 μg/L. Using the optimised conditions a mean recovery of 97.8%, (%CV = 2.0%, n = 5) for a tap water sample fortified at 0.990 μg/mL was obtained indicating the method holds promise for the determination of Zn2+ in such samples

Effects of off-plane deformation and biased bi-axial pre-strains on a planar contractile dielectric elastomer actuator

Dielectric elastomers are in a special class of electro-active polymers known for generating expansion in plane and contraction in thickness under voltage application. This paper advances the understanding of a planar contractile dielectric elastomer actuator (cDEA) that is distinct from conventional multi-layer cDEAs but generates comparable contractile strains. Its structure has a rod-constrained rhombus-shaped electrode region, which undergoes simultaneous in-plane contraction and extension during actuation depending on the configuration of the rod-constraining. It is demonstrated that when the planar cDEA is driven by high voltages, off-plane deformation (i.e., wrinkling) in the direction of contraction causes the rod-constrained electrode region to lose tension and extend in the lateral direction, resulting in a significant increase in contraction strain. It also demonstrates that the contraction strain can be increased further by having biased bi-axial pre-strains. By incorporating both effects, the new cDEA generates a maximum contraction strain of 13%, twice that reported previously for planar cDEAs. A modified planar cDEA, having an additional rigid frame to maintain the pre-strain in the lateral direction to contraction was also developed to demonstrate contractile force actuation. Finally, a stability study shows that the planar cDEA has a primary failure mode of electrical breakdown close to the corners of the rod-constrained electrode region. Having inactive regions around the active cell is essential for generating contraction and eliminating buckling of the planar cDEA in the lateral direction