Construction Robot Path-Planning for Earthwork Operations

In developing an intelligent mobile construction robot, a navigation system that can provide an effective and efficient path-planning algorithm is a very important element. The purpose of a path-planning method for a mobile construction robot is to find a continuous collision-free path from the initial position of the construction robot to its target position. This paper presents an improved Bug-based algorithm, called SensBug, which can produce an effective path in an unknown environment with both stationary and movable obstacles. The contributions, which make it possible to generate an effective and short path, are an improved method to select local directions, a reverse mode, and a simple leaving condition. Some emerging technologies that can be used for implementing an intelligent construction robot are introduced in this paper.     

Multi-antenna scheme for high capacity transmission in the digital audio broadcasting

In this paper, we apply multi-antenna scheme to DAB system for high-rate transmission. In the MIMO-DAB system with a number of transmitting and receiving antennas increases the transmission rate efficiently with low multiplication operations. For channel estimation in the MIMO-DAB system, we propose a new PRS structure and evaluate the channel estimation performance. The proposed PRS structure can estimate multi-channel information based on the semi-blind processing. The performance of proposed PRS is compared with that of conventional training sequence employing Tarokh's transmission matrix. And also we investigate the performance limitation due to the imperfect channel estimation in a MIMO-DAB receiver. It has been shown that the MIMO-DAB system with multi-antennas can achieve the high-rate transmission for multimedia broadcasting and the performance of MIMO-DAB system is impaired by imperfect channel information.     

Fatigue Behavior and Retrofit Investigation of Distortion-Induced Web Gap Cracking

This paper studies a Kansas Department of Transportation welded plate girder bridge that developed fatigue cracks at small web gaps close to the girder top flange. Repair had been previously performed by softening the connection plate end with a slot retrofit, but cracks were recently found to have reinitiated at some of the repaired details and are again propagating. A comprehensive finite-element method study was performed to investigate the cracking behavior observed in the bridge and to recommend appropriate measures for future bridge retrofit. The analytical results show that stresses developed at the top flange web gaps could exceed yielding under the loading of an HS15 fatigue truck. The current slot repair used in the bridge was found to have introduced higher magnitude fatigue stresses in the web gap. To achieve a permanent repair of the bridge, it is recommended that a welded connection plate to flange attachment be used during future bridge retrofit. The web gap details should be able to withstand unlimited number of load cycles once this additional repair is performed.     

Design of software systems based on axiomatic design

The ability to utilize fully automated flexible manufacturing systems (FMS) or develop reliable computer-integrated manufacturing (CIM) systems will depend on our ability to develop reliable and reusable software for large complex systems on a timely basis. To date, software design has not gone very far beyond the ad hoc trial-and-error stage. Consequently, the development of software is slow, expensive, unreliable, and unmanageable. The purpose of this paper is to provide a scientific basis for designing software. The approach used here is that of axiomatic design, which is based on two design axioms: the Independence Axiom and the Information Axiom. The axiomatic approach is based on the recognition of the following common elements in design: the existence of independent domains (i.e. the consumer domain, the functional domain, the physical domain, and the process domain); the need to map between various domains during the design process; the decomposition of the characteristic vectors (i.e. functional requirements, design parameters, and process variables) in their respective domains; the zig-zagging required between the domains for decomposition; and the need to satisfy the design axioms during the design process. The axiomatic approach discussed in this paper provides decision making tools for software design in addition to systematic means of knowledge and data representation, synthesis and analysis of software, and the construction of the module-junction structure diagram.     

Nucleation of solidification in liquid droplets

Analytical and numerical methods have been developed to analyze the solidification kinetics of a mass of liquid droplets dispersed in a fluid or solid matrix using classical nucleation theory. The resulting analytical expressions and numerical calculations can be compared directly with calorimetric measurements of the droplet solidification exotherms to obtain information about the nucleation mechanism. With increasing contact angle at the solid-liquid-matrix triple point, the solidification onset, peak, and end temperatures and exothermic peak height all decrease sharply and the droplet solidification exotherms become broader. Decreasing either the droplet radius or the number of potential catalytic nucleation sites produces a similar but smaller effect. Distributions in droplet radius, contact angle, and nucleation sites have no effect on the solidification peak temperature, but the droplet solidification exotherms become broader and more symmetric. The solidification onset temperature is independent of cooling rate in the calorimeter, but the solidification peak and end temperatures decrease and the exothermic peak height increases with increasing cooling rate. Predicted droplet solidification exotherms are in excellent agreement with detailed experimental measurements on 10-nm-radius Cd droplets embedded in a solid Al matrix. Analytical predictions give best-fit values of 43 deg and 430 for the contact angle and the number of potential catalytic nucleation sites per droplet, respectively; numerical predictions give best-fit values of 43 deg and 750 for the contact angle and the number of potential catalytic nucleation sites per droplet, respectively.     

Use and Disuse of Contextual Primes in Dynamic News Environments

This study reexamines the news priming effects of the 1991 Persian Gulf War. Suggesting an alternative approach to those used in previous studies, this study assesses individuals' use and disuse of a contextual prime (i.e., the air war) in dynamic news environments. With a short-term, quasi-experimental approach considering the air war as a prime stimulus, a path analysis suggests robust evidence of the short-term accessibility effects of priming. More importantly, as suggested in Martin's (1986) set/reset model, this study extends priming effects beyond the simple hydraulic patterns of accessibility effects. It reveals that both attitudes toward military action and attitudes toward a diplomatic solution were used in subsequent judgments of the president's job performance and handling of the war. The associations between attitudes toward a diplomatic solution and subsequent judgments were even stronger than those between attitudes toward military action and the same subsequent judgments, despite the clear prowar primes of news discourse in the air-war context. This pattern was more greatly intensified among those in the high news attention group than those in the low news attention group     

Fast DCT algorithm with fewer multiplication stages

A novel fast DCT scheme with reduced multiplication stages and fewer additions and multiplications is proposed. The proposed algorithm is structured so that most multiplications tend to be performed at the final stage, which reduces the propagation error that could occur in the fixed-point computation. Minimisation of the multiplication stages can further decrease the error     

Virtual circuit connection method for RSVP multicasting supportingheterogeneous receivers on the ATM network

The authors suggest a novel virtual circuit connection method based on the reverse traversing technique to minimise the waste of network bandwidth resources, when the Internet protocol multicast is interoperated using the resource reservation protocol over an asynchronous transfer mode network. Simulation results show that, as the number of receivers increases, the bandwidth requirements on all links of the network of the proposed scheme become more advantageous than those of other conventional methods     

ERCP and CT findings of ectopic drainage of the common bile duct into the duodenal bulb

OBJECTIVE: The purpose of this study was to evaluate ERCP and CT findings of ectopic drainage of the common bile duct into the duodenal bulb. CONCLUSION: Although rare, the diagnosis of ectopic drainage of the common bile duct into the duodenal bulb is important to prevent inadvertent damage during biliary tract or gastric surgery and to clarify the cause of chronic peptic ulcers.     

1.04 GBd low EMI digital video interface system using small swingserial link technique

In a high-resolution flat panel system, a conventional interface that directly connects a liquid crystal display (LCD) controller to a flat panel cannot overcome the problems of excess EMI (electromagnetic interference) and power caused by full-swing transmission signals in parallel lines. This paper presents a high-speed digital video interface system implemented with a low-cost standard CMOS (complimentary metal-oxide-semiconductor) technology that can mitigate EMI and power problems in high-resolution flat panel display systems. The combined architecture of the high-speed, small number of parallel lines and low-voltage swing serial interface can support resolutions from VGA (640×480 pixels) up to XGA (1024×768 pixels) with significant power improvement and drastic EMI reduction. To support high-speed, low-voltage swing signaling and overcome channel-to-channel skew problems, a robust data recovery system is required. The proposed digital phase-locked loop enables robust skew-insensitive data recovery of up to 1.04 GBd