3D Scan matching for mobile robot localization over rough terrain

In order to enable an autonomous mobile robot to travel over rough terrain, it necessitates the capability to detect self‐position accurately even when the odometry errors are increased in traveling. The conventional method can keep high speed and precise localization using iterative closest point algorithms or feature matching techniques. However, effects of steep changes of a mobile robot position are not considered when it travels over rough terrain. In this article, we propose the method for efficient real‐time 6D pose tracking using a rotating 2D laser scanner in traveling over rough terrain. For adaptation to steep changes of the position, weighted point clouds are generated based on the angular and the linear velocity measured by sensors mounted on the robot. And the position and posture of the robot are sequentially optimized by the scan matching in increments of 10 scans. In indoor experiments, we evaluated accuracy of our method when the robot passes on rugged floor. As a result, our method was performed with less than 0.078 m RMS positional error in real time.     

Relationship between the gas transport properties and the refractive index in high‐free‐volume fluorine‐containing polyimide membranes

The refractive index and gas transport properties (i.e., permeability, diffusivity, and solubility) in the 2,2′‐bis(3,4‐dicarboxyphenyl) hexafluoropropane dianhydride (6FDA)‐based polyimides were systematically investigated in terms of their polymer fractional free volumes (FFVs). The permeability and diffusion coefficients of the 6FDA‐based polyimide membranes to hydrogen, oxygen, nitrogen, methane, and carbon dioxide were correlated with their FFVs, which were estimated with van Krevelen's group contribution method. Linear correlations were also observed between the gas transport properties and the refractive index of these polyimides. We described FFV as a function of the refractive index based on the Lorentz–Lorenz equation. Linear correlations were observed between their refractive‐index‐based FFVs and the gas permeability, diffusivity, and solubility coefficients of these 6FDA‐based polyimides membranes. However, the FFVs of the 6FDA‐based polyimides calculated from refractive index were 1.16–1.37 times larger than their FFV values. This FFV was dependent on the free‐volume space and optical factors, such as the refractive index and molar refraction, which affected the electronic structure and the interactions between the gas molecules and the polymer segments. © 2011 Wiley Periodicals, Inc. J Polym Sci Part A: Polym Chem, 2011     

Nuclear Data Sheets for A = 123

The experimental results from various decays and reactions for the A=123 mass chain have been compiled and evaluated. Adopted values for the level and decay properties are tabulated. Inconsistencies and discrepancies are noted.     

The region responsible for stroke on chromosome 4 in the stroke-prone spontaneously hypertensive rat

To detect genetic loci responsible for stroke susceptibility, we produced 107 male F2 progenies crossed between stroke-prone spontaneously hypertensive rats (SHRSP/Izm) and normotensive Wistar Kyoto rats (WKY/Izm) and followed them up until they developed cerebral stroke. One hundred and twenty-five simple sequence repeat (SSR) markers were analyzed in these F2 rats. Nine of 107 F2 rats suffered from macroscopically overt stroke. In these 9 rats, the segregation ratio of 3 genotypes at 6 SSR marker loci on chromosomes 2, 4, 9, and 10 was highly distorted from the expected value (the observed sp/sp:sp/wky:wky/ wky ratio was either 6:3:0 or 6:2:1, while the expected was 1:2:1, p < 0.01 by chi 2 test). Further, the brain weight was significantly heavier (p < 0.001) in the F2 rats suffering from stroke, suggesting that the brain weight was a parameter for stroke. The brain weight of F2 rats cosegregated with D4Mit19, D4Mgh7, and D4Mgh8 (p = 0.0015, 0.0014, and 0.0040 by ANOVA, respectively) on chromosome 4 supporting genetic effects of this genetic loci on the pathogenesis of cerebral stroke. Blood pressure did not cosegregate with these markers on chromosome 4. These results suggest that a region on chromosome 4, independently of hypertension, determines genetic susceptibility to cerebral stroke.     

Prediction of corrosion products of iron at a low-level radioactive waste disposal facility in Japan

Estimation of the volumetric expansion ratio due to the corrosion of metals is an essential part of the safety assessment of low-level radioactive waste disposal facilities in Japan, because such volumetric expansion can disrupt the barrier function of these facilities. In the present study, the corrosion products of iron were predicted from potential–pH diagrams and the results of a synthesis test, and the volumetric expansion ratios of the corrosion products were evaluated. Under a basic set of conditions expected at a disposal facility over a storage period of a thousand to tens of thousands of years, Fe₃O₄, Fe₂O₃, and FeOOH were predicted as the major stable corrosion products of iron. The maximum volumetric expansion ratio determined from the true density of these products was 2.9, and the maximum volumetric expansion ratio, assuming the generation of voids in the corrosion products, was 3.7, which is the Pilling–Bedworth ratio of Fe(OH)₂. The volumetric expansion ratio may increase in the presence of carbonate ions in a long-term environment with a reduced pH.     

Nuclear data sheets for A = 121

The experimental results from various decays and reactions for the A = 121 mass chain have been compiled and evaluated. Adopted values for level and decay properties are tabulated. Inconsistencies and discrepancies are noted.     

Recovery of spectral reflectances of objects being imaged by multispectral cameras

Acquisition of spectral information of objects being imaged through the use of sensor responses is important to reproduce color images under various illuminations. In the past several models have been proposed to recover the spectral reflectances from sensor responses. The accuracy of the spectral reflectances recovered by five different models is compared by using multispectral cameras. It is shown that the Wiener estimation that uses the noise variance estimated as proposed in IEEE Trans. Image Process.15, 1848 (2006) recovers the spectral reflectances more accurately than the others when the test samples are different from learning samples.