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  • 1
    Electronic Resource
    Electronic Resource
    Connectivity graphs on two-dimensional surfaces and their application in robotics (1995)
    Chichester, West Sussex : Wiley-Blackwell
    Mathematical Methods in the Applied Sciences 18 (1995), S. 67-82 
    Details
    ISSN: 0170-4214
    Keywords: Mathematics and Statistics ; Applied Mathematics
    Source: Wiley InterScience Backfile Collection 1832-2000
    Topics: Mathematics
    Notes: The problem of robot motion planning in an environment with obstacles can often be reduced to the study of connectivity of the robot's free configuration space. In turn, space connectivity can be analysed via the corresponding connectivity graph. For two-degree-of-freedom robots, the free configuration space presents a two-dimensional (2D) surface - a compact subspace of a 2D orientable compact manifold. This paper addresses the following abstract problem: given a compact 2D surface bounded by simple closed curves and lying in an orientable 2D manifold (a sphere, a torus, etc.) and given two points in the subspace, suggest a systematic way of defining the connectivity graph in the subspace, based on its topological properties. The use of space topology results in powerful, from the robotics standpoint, provable algorithms capable of on-line motion planning in an environment with unknown obstacles of arbitrary shapes. This makes the method distinct from other techniques, which require complete information, algebraic representation of space geometry, and off-line computation.
    Additional Material: 13 Ill.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1002/mma.1670180105
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  • 2
    Electronic Resource
    Electronic Resource
    Preparation and thermal characterization of the glass transition temperatures of sulfonated polystyrene-metal ionomers (1990)
    Bognor Regis [u.a.] : Wiley-Blackwell
    Journal of Polymer Science Part B: Polymer Physics 28 (1990), S. 1685-1697 
    Details
    ISSN: 0887-6266
    Keywords: Chemistry ; Polymer and Materials Science
    Source: Wiley InterScience Backfile Collection 1832-2000
    Topics: Chemistry and Pharmacology , Physics
    Notes: The glass transition temperatures and heat capacity changes in the transition region are reported for six sulfonated linear polystyrenes in the hydrogen form, H-SPS, in the 3.4-20.1 mol % sulfonation range and 76 metal SPS ionomers in the 3.4-12.8 mol % range. The metals are those which interact predominantly ionically and include +1, +2, and +3 ions of the alkali metal, alkaline earth, and rare earth (lanthanide) series. The results show the effect of H2O or coordinating ligands on glass transition temperatures (Tg) and the importance of eliminating it to obtaining reproducible values for Tg and ΔCp. The Tg values of dry M-SPS ionomers depend only on the sulfonation level despite wide variation in metal ion charge and size. The variation of ΔCp with sulfonation level is interpreted as showing that at high levels a few unsulfonated styrene units adjacent to sulfonated ones are constrained, presumably by clustering, from participation in the polystyrene-like cooperative rearrangements in the transition region.
    Additional Material: 5 Ill.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1002/polb.1990.090281004
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