Autonomous robot navigation in outdoor cluttered pedestrian walkways

This paper describes an implementation of a mobile robot system for autonomous navigation in outdoor concurred walkways. The task was to navigate through nonmodified pedestrian paths with people and bicycles passing by. The robot has multiple redundant sensors, which include wheel encoders, an inertial measurement unit, a differential global positioning system, and four laser scanner sensors. All the computation was done on a single laptop computer. A previously constructed map containing waypoints and landmarks for position correction is given to the robot. The robot system's perception, road extraction, and motion planning are detailed. The system was used and tested in a 1‐km autonomous robot navigation challenge held in the City of Tsukuba, Japan, named “Tsukuba Challenge 2007.” The proposed approach proved to be robust for outdoor navigation in cluttered and crowded walkways, first on campus paths and then running the challenge course multiple times between trials and the challenge final. The paper reports experimental results and overall performance of the system. Finally the lessons learned are discussed. The main contribution of this work is the report of a system integration approach for autonomous outdoor navigation and its evaluation. © 2009 Wiley Periodicals, Inc.     

High-speed InGaAlAs-InAlAs MQW directional coupler waveguide switchmodules integrated with a spotsize converter having a lateral taper,thin-film core, and ridge

Fully packaged 2×2 and 4×4 semiconductor optical switch modules are successfully developed by integrating spotsize converters (SSCs) consisting of lateral tapers, thin-film cores, and ridges in InGaAlAs-InAlAs multiple quantum-well (MQW) directional coupler waveguide switches in the 1.55-μm wavelength region. Good reproducibility is obtained for the perfect coupling length of the directional coupler by appropriately designing the ridge width and gap of strip-loaded optical waveguides and by making use of the Cl₂ reactive-ion-beam-etching and successive wet-etching. Since the switching time is sufficiently short (<70 ps, which is limited by the driver speed) for the 4×4 switch module, no bits are lost during a 10-Gb/s switching experiment at a wavelength of 1.55 μm     

Development of a new sensorless vector‐controlled and transmissionless electric vehicle using a permanent‐magnet synchronous motor

One of the most important technologies for electric vehicles (EVs) will be drive control technology for the main motor. It is desired that the drive control technology have the following characteristics. (1) It does not require a position/speed sensor for controlling motor drive, which has been mounted on the rotor shaft. (2) It has vector controls that can produce torque quickly, efficiently, and/or precisely. (3) It has wide driving‐range and allows developing EVs with no variable transmission. This paper proposes new drive control technologies for such EVs using a permanent‐magnet synchronous motor as a main motor, and verifies its usefulness through development of an actual EV that can drive on public roads. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 165(3): 83–94, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20459     

Predictors of help seeking for emotional distress among Chinese Americans: Family matters.

Using data from the Chinese American Psychiatric Epidemiological Study, the authors examined longitudinal predictors of help seeking for emotional distress in a community sample of 1,503 Chinese Americans. Specifically, they assessed the relative contribution of family relational variables (e.g., levels of family support and family conflict) in predicting help seeking for medical, mental health, and informal services. After traditional need, predisposing, and enabling factors were controlled for in hierarchical logistic regression analyses, family conflict predicted both mental health and medical service use, whereas family support was not predictive of help seeking. In addition to family conflict, mental health service use was predicted by negative life events, emotional distress, and insurance coverage. Implications of the findings for assessing and treating Asian American clients are explored. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Structurally Diverse Polyamines: Solid‐Phase Synthesis and Interaction with DNA

A versatile solid‐phase approach based on peptide chemistry was used to construct four classes of structurally diverse polyamines with modified backbones: linear, partially constrained, branched, and cyclic. Their effects on DNA duplex stability and structure were examined. The polyamines showed distinct activities, thus highlighting the importance of polyamine backbone structure. Interestingly, the rank order of polyamine ability for DNA compaction was different to that for their effects on circular dichroism and melting temperature, thus indicating that these polyamines have distinct effects on secondary and higher‐order structures of DNA.     

In-situ measurement of microwave absorption properties at 2.45 GHz for the polycondensation of lactic acid

For the construction of a microwave-assisted organic synthesis plant, it is necessary to know the dielectric properties of the reaction system. Measurements of the dielectric properties of lactic acid aqueous solution, anhydrated lactic acid, oligo(lactic acid) and water, which are constituent materials in the polycondensation of lactic acid, confirm that dielectric properties decrease as reaction progresses. Calculated microwave penetration depths, obtained from the dielectric properties, show that microwaves penetrate deeply into the reaction system. This work should be useful for the development of microwave-assisted organic syntheses in the chemical industry.     

Contribution of high p34cdc2 kinase activity to premature chromosome condensation of injected somatic cell nuclei in rat oocytes

The present study was undertaken to clarify the relationship between the p34cdc2 kinase activity of in vitro-aged or enucleated rat oocytes and the premature chromosome condensation (PCC) of microinjected cumulus cell nuclei. Wistar rat oocytes were placed in vitro up to 120 min after the animal was killed. The p34cdc2 kinase activity of the oocytes decreased in a time-dependent manner. The incidence of PCC was higher when nuclear injection into intact oocytes was completed in 15-45 min rather than 46-120 min. When rat oocytes were enucleated for subsequent nuclear injection, the p34cdc2 kinase activity transiently increased soon after enucleation but drastically decreased after 30 min. Removal of the cytoplasm instead of the meta-phase-plate did not affect the p34cdc2 kinase activity even after 60 min. PCC occurred in intact and cytoplasm-removed oocytes but not in enucleated oocytes. In contrast, oocytes from BDF1 mice exhibited a p34cdc2 kinase level twice that of rat oocytes and supported PCC despite enucleation. The p34cdc2 kinase level of intact rat oocytes was reduced to the equivalent level of aged (120 min) or enucleated (+60 min) oocytes by a 45 min treatment with roscovitine, an inhibitor of p34cdc2 kinase. None of the roscovitine-treated oocytes supported PCC while half of the control oocytes did. When rat oocytes were treated with MG132, a proteasome inhibitor, delayed inactivation of the p34cdc2 kinase was observed in the MG132-treated oocytes. A significantly higher proportion of the MG132-treated oocytes supported PCC when compared with the control oocytes. Moreover, a higher proportion of MG132-treated and enucleated oocytes carried two pseudo-pronuclei after cumulus cell injection and developed to the two-cell stage when compared with the enucleated oocytes at the telophase-II stage. These results suggest that the decreased level of p34cdc2 kinase activity in aged or enucleated rat oocytes is responsible for their inability to support PCC of microinjected donor cell nuclei and that inhibition of p34cdc2 kinase inactivation by chemicals such as MG132 is in part effective for rat oocytes to promote PCC and further development.     

Digital fault location for high resistance grounded transmissionlines

This paper demonstrates that the presence of multiple load taps cannot be neglected for single-phase-to-ground fault location. A new method has been developed taking this into consideration, that can be applied to correct the location error due to intermediate power sources. Then fault location methods for parallel double-circuit two-terminal transmission lines are discussed. Finally, a new fault location method is proposed for high-resistance grounded double-circuit transmission lines with three terminals