A distant-learning training module on the environmental design of urban buildings

The present paper aims to present a distant-learning training module that concerns the environmental design of urban buildings. The whole approach attempts to integrate topics that concern the design of urban buildings from various points of views, e.g. active and passive systems, automation systems, indoor air quality, economic aspects, energy and resources management. The package offers both printed and electronic material that gives the possibility to the students to study the various topics by using different educational methods. Additionally, the present package contains software tools that permit the students to examine real or hypothetical situations and to study further the influence of various parameters that concern the environmental building design.     

VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change

International Journal of Computer Vision - Visual place recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance...     

Chitosan/clay nanocomposite film preparation and characterization

Nanocomposites of chitosan and nanoclays (MMT‐Na⁺ and Cloisite 30B) were prepared by solvent casting. The structural properties, thermal behaviors, and mechanical properties were characterized using X‐ray diffraction (XRD), transmission electron microscopy (TEM), atomic force microscopy, differential scanning calorimetry, thermogravimetry analyses, and an Instron universal testing machine. XRD and TEM results indicated that an exfoliated structure was formed with addition of small amounts of MMT‐Na⁺ to the chitosan matrix. Intercalation along with some exfoliation occurred with up to 5 wt % MMT‐Na⁺. Micro‐scale composite (tactoids) formed when Cloisite 30B was added to the chitosan matrix. Surface roughness increased with addition of a small amount of clay. Tensile strength of a chitosan film was enhanced and elongation‐at‐break decreased with addition of clay into the chitosan matrix. Melt behavior and thermal stability did not change significantly with addition of clays. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 99: 1684–1691, 2006     

What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles

Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.     

Effect of eggshell powder as nucleating agent on the structure,morphology and functional properties of normal corn starch foams

Corn starch and eggshell powder (with particle sizes of 4–5µm and 8–10µm) composite foams were prepared by extrusion. Effects of eggshell on the structure, morphology, physical properties (unit density and expansion ratio), mechanical properties (spring index and compressibility) and thermal behaviour (thermal transition and stability) of the foams were investigated. Foam cell size decreased and cell population increased with addition of eggshell into starch matrix. The foam unit density, expansion ratio and compressibility decreased significantly (p < 0.05), while the spring index increased significantly (p < 0.05) as the eggshell content increased from 0 to 6wt%. Further increasing eggshell content to 10wt% increased the unit density and compressibility and decreased the expansion ratio and spring index. The thermal transition and stability increased with the addition of eggshell. The optimum eggshell content was 6wt% and the smaller‐sized eggshell powder had a favourable effect on the functional properties of the foams. Copyright © 2006 John Wiley & Sons, Ltd.     

HLA gene and haplotype frequencies in the North American population: the National Marrow Donor Program Donor Registry

BACKGROUND: As of May 1, 1995, the National Marrow Donor Program had a donor registry consisting of over 1.35 million HLA-typed volunteers recruited from most major cities and states in the United States. This registry represents the largest single HLA-typed pool of normal individuals in the world. METHODS: We analyzed the HLA-A, -B, -DR locus phenotypes of the National Marrow Donor Program donors in order to estimate gene and haplotype frequencies for major racial groups of the United States: Caucasian American, Asian American, African American, Latin American, and Native American. The large size of the database allowed us to calculate the frequencies of relatively rare antigens and haplotypes with more accuracy than previous studies. RESULTS: We observed 89,522 distinguishable HLA-A, -B phenotypes in 1,351,260 HLA-A, -B-typed donors and 302,867 distinguishable HLA-A, -B, -DR phenotypes in 406,503 HLA-A, -B, -DR-typed donors. Gene and haplotype frequencies differed remarkably among the five racial groups, with African Americans and Asian Americans having a large number of haplotypes that were specific to their racial groups, whereas Caucasian Americans, Latin Americans, and Native Americans shared a number of common haplotypes. CONCLUSIONS: These data represent an important resource for investigators in the fields of transplantation and population genetics. The gene and haplotype frequencies can be used to aid clinicians in advising patients about the probability of finding a match within a specific ethnic group, or to determine donor recruitment goals and strategies. The information is also a valuable resource for individuals who are interested in population genetics, selection and evolution of polymorphic human genes, and HLA-disease association.     

Reliability of optimal control strategies for photochemical air pollution

This study illustrates how consideration of modeling uncertainties can affect optimal control strategies for urban ozone. Control strategies are investigated for illustrative cases of air parcel trajectories ending at Azusa, CA, and Riverside, CA, on August 28, 1987. The control strategies are designed to achieve a specified air quality target with a given reliability, considering uncertainties in the California Institute of Technology's trajectory model and its inputs, including uncertainties in emissions and in the SAPRC-97 chemical mechanism. A decoupled stochastic optimization scheme is used to solve the chance-constrained programming problem. Least-cost control strategies derived using nominal model inputs and parameter values have low reliability for some target O3 concentrations when uncertainties are taken into account. For the case considered, reducing volatile organic compound (VOC) emissions from motor vehicles is identified as the least-cost approach to meeting O3 targets at Azusa. However, the optimal control strategies for Riverside depend on the target O3 concentrations and the level of reliability required. Consideration of model uncertainty is found to shift the focus from VOC controls to nitrogen oxide controls for the Riverside trajectory.     

Real-time road edge following for mobile robot navigation

The authors describe the ongoing research at the University of Bristol to explore mobile robot road-following algorithms and suitable hardware architectures to run these algorithms. The prototype hardware, designed and built at the University, is a real-time frame grabber system based on transputers. Two approaches to real-time road edge following that have been tested to guide a small tracked vehicle around the paths of the University gardens are described