A practical 2D/3D SLAM using directional patterns of an indoor structure

This paper presents a practical two-dimensional (2D)/three-dimensional (3D) simultaneous localization and mapping (SLAM) algorithm using directional features for ordinary indoor environments; this algorithm is adaptable to various conditions, computationally inexpensive, and accurate enough to use for practical applications. The proposed algorithm uses odometry acquired from other sensors or other algorithms as the initial estimate and the directional features of indoor structures as landmarks. The directional features can only correct the rotation error of the odometry. However, we show that the greater part of the translation error of the odometry can also be corrected when the directional features are detected at almost positions accurately. In that case, there is no need to use other kinds of features to correct translation error. The directions of indoor structures have two advantages as landmarks. First, the extraction of them is not affected by obstacles. Second, the number of them is small regardless of the size of the building. Because of these advantages, the proposed SLAM algorithm shows robustness for parameters and lightweight properties. From extensive experiments with 2D/3D datasets taken from different buildings, we show the practicality of the proposed algorithm. We also demonstrate that the 2D algorithm runs in real time on a low-end smartphone.     

Pressure Effect on the Coexistence of Magnetism and Superconductivity in Ho1−x Dy x Ni2B2C

We have measured the transport properties of Ho_(1–x)Dy _x Ni₂B₂C (x=0.1, 0.4) single crystals to study the effects of high pressure conditions on the superconductivity and magnetism. The pressure affects the pair-breaking interaction by changing the magnetic exchange integral J _sf. In the case of x=0.1, the superconducting transition temperature T _c is higher than the Néel temperature T _N and decreases as the pressure increases. On the other hand, for x=0.4, when have lower T _N than T _c, T _c does not change with increasing pressure. These results are due to the effect of the pressure on J _sf.     

Anomaly detection of smart metering system for power management with battery storage system/electric vehicle

A novel smart metering technique capable of anomaly detection was proposed for real-time home power management system. Smart meter data generated in real-time were obtained from 900 households of single apartments. To detect outliers and missing values in smart meter data, a deep learning model, the autoencoder, consisting of a graph convolutional network and bidirectional long short-term memory network, was applied to the smart metering technique. Power management based on the smart metering technique was executed by multi-objective optimization in the presence of a battery storage system and an electric vehicle. The results of the power management employing the proposed smart metering technique indicate a reduction in electricity cost and amount of power supplied by the grid compared to the results of power management without anomaly detection.     

Harnessing the Formation of Natural Killer–Tumor Cell Immunological Synapses for Enhanced Therapeutic Effect in Solid Tumors

The formation of an immunological synapse (IS) on recognition of a cancer cell is the main mechanism underlying the natural killer (NK)-cell-mediated killing of tumor cells. Herein, an integrative strategy for cancer therapy against solid tumors is reported, in which alterations in the cleft of IS, following the secretion of acidic granular content, are utilized as a trigger for the delivery of chemotherapeutic drugs. NK cells are decorated with the IS-environment-responsive micellar system to ensure the release of the payload when they attack cancer cells. Using this strategy, the immunological cytotoxic killing effect of NK cells against solid tumors is reinforced with the site-specific diffusion of chemotherapeutic agents. Harnessing the intrinsic mechanism for the recognition of abnormal cells and the tumor-homing effect of NK cells limit the adverse systemic effects of chemotherapeutic drugs. This approach may provide a pragmatic platform for the universal and effective utilization of IS formation.     

Strategies for changing temperature from mesophilic to thermophilic conditions in anaerobic CSTR reactors treating sewage sludge

Thermophilic anaerobic digestion presents an advantageous way for stabilization of sludge from wastewater treatment plants. Two different strategies for changing operational process temperature from mesophilic (37 degrees C) to thermophilic (55 degrees C) were tested using two continuous flow stirred tank reactors operated at constant organic loading rate of 1.38 g VS/l reactor/day and hydraulic retention time of 20 days. In reactor A, the temperature was increased step-wise: 37 degrees C-->42 degrees C-->47 degrees C-->51 degrees C-->55 degrees C. While in reactor B, the temperature was changed in one-step, from 37 degrees C to the desired temperature of 55 degrees C, The results showed that the overall adaptation of the process for the step-wise temperature increment took 70 days in total and a new change was applied when the process was stabilized as indicated by stable methane production and low volatile fatty acids concentrations. Although the one-step temperature increase caused a severe disturbance in all the process parameters, the system reached a new stable operation after only 30 days indicating that this strategy is the best in changing from mesophilic to thermophilic operation in anaerobic digestion plants.     

Development of photocatalytic TiO2 nanofibers by electrospinning and its application to degradation of dye pollutants

We have developed photocatalytic TiO2 nanofibers for the treatment of organic pollutants by using electrospinning method. We found that the optimized electrospinning conditions (electric field and flow rate) were 0.9 kV cm(-1) and 50 microL min(-1). After annealing at 550 degrees C for 30 min, we fabricated TiO2 nanofibers (average 236 nm thick) with anatase crystalline phase. To increase photocatalytic activity and effective surface area, we coated photocatalytic TiO2 particles on the TiO2 nanofibers by using sol-gel method. The degradation rate (k'=85.4x10(-4) min(-1)) of composite TiO2 was significantly higher than that (15.7x10(-4) min(-1)) of TiO2 nanofibers and that (14.3x10(-4) min(-1)) of TiO2 nanoparticles by the sol-gel method. Therefore, we suggested that the composite TiO2 of nanofibers and nanoparticles be suitable for the degradation of organic pollutants.     

Characterization of the small molecule based organic thin film fabricated by electrospray deposition technique

A novel route for the fabrication of the SM based 2,9-dimethyl-4,7-diphenyl-1,10-phenanthroline (BCP) organic thin film by electrospray deposition (ESD) technique has been presented in this paper. The tailoring of the film thickness was also performed by varying the number of deposition passes at a constant substrate speed. The structural and optical characterizations of the fabricated BCP thin film were thoroughly investigated. The energy gap of the fabricated thin film was measured to be 3.5 eV. Furthermore, the electrical performance of the BCP thin film was verified by performing current–voltage measurement of the prototype organic diode device having fabricated BCP film as a buffer layer. The current density–voltage characteristic curve of the organic device showed non linear diode like behavior, thereby confirming the proper interference established between organic diode adjacent layers. At low voltage, the device showed ohmic conduction, where as the space charged limited current and trap charge limited current mechanism have been found to be dominant in the fabricated organic device at higher voltage. Overall, the results suggest that the ESD approach will be promising for organic semiconductor device fabrication at low cost and with low material loss.     

Properties and consolidation of nanocrystalline WSi2-SiC composite from mechanically activated powders by pulsed current activated combustion synthesis

Dense nanostructured WSi₂-SiC composite was synthesized by pulsed current activated combustion synthesis method within 2 min in one step from mechanically activated powders of WC and 3Si. Simultaneous combustion synthesis and consolidation were accomplished under the combined effects of a pulsed current and mechanical pressure. Highly dense WSi₂-SiC with relative density of up to 99.8% was produced under simultaneous application of a 80 MPa pressure and the pulsed current. The average grain size and mechanical properties of the composite were investigated.     

Synthesis and characterization of Fe doped titanium dioxide nanopowders

Titanium dioxide nanopowders, doped with different amounts of Fe³⁺ ions (0.3-5 mass%), were synthesized by acid-catalyzed sol-gel method in a non-aqueous medium. The obtained powders were characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), Raman spectroscopy and determination of izoelectric points as well as particle diameters. Careful investigation of porous structure was provided by application of nitrogen adsorption-desorption method. Structure analysis showed that the obtained nanopowders exhibited the anatase crystal structure, independent of the amount of iron dopants. The presence of Fe³⁺ ions in anatase decreases the value of isoelectric point of undoped TiO₂. Unlike crystal structure, porosity parameters are strongly affected by the amount of iron ions incorporated in TiO₂ lattice. The mesoporosity of TiO₂ can be successfully controlled by changing the amount of iron dopants.     

Development of a concentration measurement technique for steady state solid-liquid mixing using a neural network

A measurement technique that can measure the concentration of the solid particles in liquid flow was developed.The measurement system consists of a color camera and three LCD displays.The solid particles were put at the bottom of a cylindrical mixing tank in which JetA1 oil was filled.Transient mixing of the solid particles was performed by rotating a propeller type agitator with three different rotation speed(500,600,700 r/min).Mixing state was visualized by the LCD displays and a color camcorder.The color intensity of the glass particles changes with their concentration.The color information was decoded into three principle colors R,G,and B so that,the calibration curve of color-to-concentration was performed using these information.A neural network was used for this calibration.The transient concentration field of the solid particles was quantitatively visualized.