Rough terrain autonomous navigation continues to pose a challenge to the robotics community. Robust navigation by a mobile robot depends not only on the individual performance of perception and planning systems, but on how well these systems are coupled. When traversing complex unstructured terrain, this coupling (in the form of a cost function) has a large impact on robot behavior and performa...

Background Bright ghosting due to long-T1 species (e.g. cerebrospinal fluid, pericardial or pleural effusion, fig. 1) often hampers the identification of infarcted myocardium on delayed enhancement CMR. The artifacts are caused by signal oscillations of the long-T1 species due to the periodic application of IR pulses. Previous methods use a dummy heartbeat (+HB, sequence run without data acquis...

This paper focuses on the sequencing and scheduling problem of open pit mining, with the allocation of loading equipment considering a medium-term horizon. This study considers the existence of a heterogeneous loading equipment fleet and two types of mineable material, namely ore or waste rock. For the mining of ore, the following requirements are taken under consideration: the mixture quality,...

Crushing and screening processes are often regulated using relay-based on/off controls or, when controlled by PID controllers, the control design is limited to a single crusher and its proximity. The design does not necessarily consider process interactions, load disturbances and, in a wider perspective, does not treat a crushing and screening plant as an entity from feeding to product piles. T...

Recently, a novel biomass pulverization technology was proposed by our group. In this paper, further detailed studies of this technology were carried out. The effects of feed moisture and crusher operational parameters (rotor speed and blades gap) on product particle size distribution and energy consumption were investigated. The results showed that higher rotor speed and smaller blades gap cou...

Background P-MRS provides direct insights into myocardial energy supply (ATP, ADP, phosphocreatine (PCr) and inorganic phosphate). An initial study demonstrated that 7T cardiac P-MRS has 2.8x greater SNR than at 3T. However, the translation of more sophisticated P-MRS protocols to 7T is particularly challenged by increased RF heating of tissue at 7T. Chen and Ackerman introduced the surface spo...

A time vs. volatile decomposition studY was made on commercially available soYbean oil aaed d • '" un er normal laboratory room conditions. Samples were taken at weekly intervals for peroxide v.alue (PV) determinations, organoleptic evaluatIOns and volatile analyses. Volatiles, stripped from the oil samples in an all-glass system devoid of connecting joints, were collected and sealed in attache...

Plastic waste pollution is an issue not only on land, but also at sea. It takes 20 to 500 years for the plastic garbage produced decompose fully. The aim of this community engagement program assist partners in dealing with problem waste. Socialization, use appropriate technology processing waste, help, and assessment are stages action implementation partnership program. program's outcomes inclu...

A robust controller is developed for the trajectory tracking control of a 6-DOF robotic crusher in task space. Firstly, dynamic model including mantle assembly and actuators derived by Lagrange method according to virtual work principle. In order simulate crushing behavior cone chamber, achieved ADAMS. Then, which contains compensation designed, convergence stability strictly proved based on Ly...