Autonomous mobile sensor networks are employed to measure large-scale environmental fields. Yet an optimal strategy for mission design addressing both the cooperative motion control and the cooperative sensing is still an open problem. We develop strategies for multiple sensor platforms to explore a noisy scalar field in the plane. Our method consists of three parts. First, we design provably convergent cooperative Kalman filters that apply to general cooperative exploration missions. Second, we present a novel method to determine the shape of the platform formation to minimize error in the estimates and design a cooperative formation control law to asymptotically achieve the optimal formation shape. Third, we use the cooperative filter estimates in a provably convergent motion control law that drives the center of the platform formation to move along level curves of the field. This control law can be replaced by control laws enabling other cooperative exploration motion, such as gradient climbing, without changing the cooperative filters and the cooperative formation control laws. Performance is demonstrated on simulated underwater platforms in simulated ocean fields.

The glider coordinated control system (GCCS) uses a detailed glider model for prediction and a simple particle model for planning to steer a fleet of underwater gliders to a set of coordinated trajectories. The GCCS also serves as a simulation testbed for the design and evaluation of multivehicle control laws. In this brief, we describe the GCCS and present experimental results for a virtual deployment in Monterey Bay, CA and a real deployment in Buzzards Bay, MA.

Ultrasmall palladium nanoparticles (1.5–2.5 nm) encapsulated in metal–organic frameworks (MOFs) have been prepared by introducing a palladium precursor into a highly porous and hydrothermally stable amine-functionalized UiO-66 (NH₂-UiO-66) via a direct anionic exchange and subsequent H₂ reduction. The prepared Pd@NH₂-UiO-66 catalyst was then applied in the hydrodeoxygenation of vanillin (a typical model compound of lignin) at a low H₂ pressure in aqueous media. Excellent catalytic results (100% conversion of vanillin with exclusive selectivity for 2-methoxy-4-methylphenol) could be achieved over the developed 2.0 wt% Pd@NH₂-UiO-66 catalyst under mild conditions. Furthermore, the catalytic activity and selectivity were not affected after six reaction cycles indicating excellent stability and reproducibility of this catalyst system. It was found that the presence of free amine groups in the framework of NH₂-UiO-66 plays a key role in the formation of uniform, well-dispersed and leaching resistant palladium nanoparticles within the MOF host. Moreover, the developed Pd@NH₂-UiO-66 exhibits a novel synergetic catalysis in the hydrodeoxygenation due to the cooperation between the well-dispersed metallic Pd sites and the amine-functionalized MOF support, in which Pd offers hydrogenation activity and the MOF support facilitates hydrogenolysis of the intermediate vanillin alcohol to the 2-methoxy-4-methylphenol product.