End-to-end neural network based optimal quadcopter control

Developing optimal controllers for aggressive high-speed quadcopter flight poses significant challenges in robotics. Recent trends in the field involve utilizing neural network controllers trained through supervised or reinforcement learning. However, the sim-to-real transfer introduces a reality gap, requiring the use of robust inner loop...

Elucidating the large variation in ion diffusivity of microelectronic packaging materials

The risk of corrosion poses a challenge to meet the stringent reliability requirements of microelectronic devices that are used in harsh environments. Microelectronic devices are often encapsulated in polymer packaging materials, which protect them from corrosion. These polymers are, however, not completely hermetic and thus allow small...

Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning

This article presents an efficient learning-based method to solve the <italic>inverse kinematic</italic> (IK) problem on soft robots with highly nonlinear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address...

Do chemistry and rheology follow the same laboratory ageing trends in bitumen?

The ageing of bitumen has received great attention both from a chemical and rheological perspective due to its direct impact on asphalt performance. However, open questions with respect to the convergence of the synchronous ageing changes in rheology and chemistry of bitumen still exist. This paper addresses these alterations of chemistry and...

Engineering of the spin on dopant process on silicon on insulator substrate

We report on a systematic analysis of phosphorus diffusion in silicon on insulator thin film via spin-on-dopant process (SOD). This method is used to provide an impurity source for semiconductor junction fabrication. The dopant is first spread into the substrate via SOD and then diffused by a rapid thermal annealing process. The dopant...

Visualisation of amphetamine contamination in fingerprints using tof-sims technique

Time-of-flight secondary ion mass spectrometry (TOF-SIMS) was applied to detect traces of amphetamine on fingerprints. In the present study, three different lift tapes and latent powder fingerprints were tested. The obtained results show that it is possible to identify traces of a drug as well as its distribution over the tested fingerprint...

Exploring the oxidative mechanisms of bitumen after laboratory short- and long-term ageing

Understanding the fundamental mechanisms of oxidative ageing in bitumen is considered of paramount importance in order to take steps towards durable binders able to tackle distresses related to this phenomenon which deteriorates the asphalt performance. This paper focuses on the identification of the intermediate and final oxygenated products...

Experimental Validation of the Dual-Oxidation Routes in Bituminous Binders

Oxidative ageing in bituminous materials is considered to be one of the most important factors for distress types in road applications. The increasing interest in oxidative ageing has highlighted the need for a thorough understanding of the oxidation mechanisms at molecular level. This paper offers some insight in the validity of the proposed...

Cross-sectional characterization of the conversion layer formed on AA2024-T3 by a lithium-leaching coating

This work focuses on the cross-sectional characterization of the protective conversion layer formed on AA2024-T3 by lithium-leaching from a polyurethane coating in a corrosive environment. The layer shows a multi-layered arrangement comprising nanoscopic local phases. Transmission electron microscopy (TEM) and complementary high-resolution...

Preliminary Validation of an Editable Virtual Reality Simulator for Minimally Invasive Surgical Training

MIS-SIM is a virtual reality (VR) environment designed and developed for the creation of virtual scenarios that can be used to train and acquire basic and advance laparoscopic skills. The environment is composed by a task editor where a content creator design and develop tasks for the simulator to play. Once they are completed, objective...

Experimental investigation of the oxidative ageing mechanisms in bitumen

Oxidative ageing in bituminous materials is considered one of the most important factors for distress types in road applications. This paper aims to offer insights into the validity of commonly held beliefs regarding the oxidation phases of ageing in bitumen, the fast- and the slow-rate phase, and explore the main oxidation products formed...

Interaction of ocean wave energy converters

It is expected that several identical Point Absorber Wave Energy Converters (PAWECs) will be arranged in arrays to form a Wave Energy Farm. One of the key challenges in designing such a WEC array is their spatial configuration, as the WECs in the farm interact hydrodynamically with each other. This study focuses on different potential PAWEC...

Unsupervised machine learning for exploratory data analysis in imaging mass spectrometry

Imaging mass spectrometry (IMS) is a rapidly advancing molecular imaging modality that can map the spatial distribution of molecules with high chemical specificity. IMS does not require prior tagging of molecular targets and is able to measure a large number of ions concurrently in a single experiment. While this makes it particularly suited...

The chemical throwing power of lithium-based inhibitors from organic coatings on AA2024-T3

Chemical throwing power, being the distance over which an inhibitor is able to protect a defect effectively, is an important parameter for active protective coatings. This study investigates the chemical throwing power of lithium-based leachable corrosion inhibitors exhibiting different leaching kinetics, from coatings at different inhibitor...

Alpha particle spectroscopy using FNTD and SIM super-resolution microscopy

Structured illumination microscopy (SIM) for the imaging of alpha particle tracks in fluorescent nuclear track detectors (FNTD) was evaluated and compared to confocal laser scanning microscopy (CLSM). FNTDs were irradiated with an external alpha source and imaged using both methodologies. SIM imaging resulted in improved resolution, without...

Compositional study of a corrosion protective layer formed by leachable lithium salts in a coating defect on AA2024-T3 aluminium alloys

Organic primer coatings loaded with environmentally harmful Cr(VI) corrosion inhibitive pigments still play an important role in corrosion protection of aluminium alloys for the aerospace industry. A potential “green” alternative coating system has recently been developed, loaded with lithium salt corrosion inhibitors. Under exposure to...

Iterative separation of blended marine data: Discussion on the coherence-pass filter

n conventional marine acquisition surveys the time intervals between the firing of successive sources are large enough to avoid interference in time. To obtain an efficient survey, the spatial source sampling is therefore often (too) large. How- ever, much attention has been drawn recently to blended ac- quisition designs, where sources are shot...

Universal Processor Architecture for Biomedical Implants: The SiMS Project

HEALTHCARE in the 21st century is changing rapidly. In advanced countries, in particular, healthcare is moving from a public to a more personalized nature. However, the costs of healthcare worldwide are increasing every year. Better use of technology can and should be used to get control of these costs. At the same time, implants have clearly...