Mobile robot control by neural networks using self-supervisedlearning

A reinforcement learning algorithm based on supervised learning is described. It uses associative search to discover and learn actions that make the system perform a desired task. One problem with associative search is that the system's actions are often inconsistent. In the searching process, the system's actions are always decided stochastically, so the system cannot perform learned actions more than once, even if they have been determined to be suitable actions for the desired task. To solve this problem, a neural network that can predict an evaluation of an action and control the influence of the stochastic element is used. Results from computer simulations using the algorithms to control a mobile robot are described     

Heat transfer and flow of He II in narrow channels

Heat transfer and fluid flow of He II in a long, narrow channel connected to a bath that supplies a constant supply of heat have been investigated by numerical simulations by using the simplified model of Kitamura et al. [Cryogenics 37 (1) (1997) 1]. Such channels are used to cool compact, stable, low-temperature magnets. The fluid flow is driven by natural convection and the mutual friction between the normal fluid and the superfluid.In this model, the thermomechanical effect and the Goter-Mellink mutual friction balance each other. A consequence of this balance is that the velocity and temperature distributions of He II can be characterized by a dimensionless, dependent parameter equal to the ratio of the fluid speeds of internal convection to the total fluid flow. After a sudden application of heat flux, the internal convection dominates over the total fluid flow until the establishment of steady-state temperature gradients. This predicts that the time required to set up the steady-state total fluid flow is proportional to the total heat capacity in the channel.     

Aging and availability of binocular disparity and pictorial depth cues in 3D graphics contents

Some stereoblind observers do not perceive depth of 3D stimuli that depends on binocular disparity. These individuals, who have no disabilities, comprise over 5% of the general population. In addition, 17–30% of nonstereoblind young and young–middle people do not use disparity information in certain 3D environments, a phenomenon known as pseudo‐stereoblindness. This study aimed to investigate the relationship between aging and the proportion of pseudo‐stereoblindness in the general population. In an experiment, 134 nonstereoblind participants, ranging in age from 17 to 83 years, judged subjective depth of 3D stimuli containing binocular disparity and pictorial depth cues. Results showed that the proportion of pseudo‐stereoblindness among young (17–24 years old) and young–middle aged observers (25–39 years old) was 29%, in both cases. However, the proportion of pseudo‐stereoblind observers increased in older populations: 65% and 82% in the middle (40–54 years old) and senior (55–83 years old) age groups, respectively. These results suggest that a number of people, especially in elderly populations, have trouble perceiving depth from binocular disparity in 3D graphic contents despite their essential ability to use disparity information.     

The effect of inorganic additives on the formation,composition, and combustion of cellulosic char

At temperature above 300°C the glycosyl units of cellulose are simultaneously depolymerized to a tar and decomposed to a char by evolution of H₂O, CO, and CO₂. When the glycosyl units are depleted, a stable char is formed containing about 30% aliphatic and 70% aromatic components. The aliphatic component is formed first, but on further heating is converted to polycyclic aromatic structures. The chars formed at lower temperatures are more combustible because the aliphatic component of the char is highly pyrophoric and is oxidized almost at the same temperature at which it is formed (～360°C). The aromatic component, however, is less reactive and is oxidized at ～520°C. Consequently, the chars formed at higher temperatures are less combustible. It has been shown that (NH₄)₂HPO₄, which is a well-known flame retardant and smoldering inhibitor, lowers the pyrolysis temperature and increases the char yield by accelerating the decomposition reactions. This affects the composition of the intermediate chars but the final products have about the same composition irrespective of additives. (NH₄)₂HPO₄ also lowers the rate of oxidation of the aromatic component and the corresponding heat release. NaCl, which is an enhancer of smoldering combustion, has a slight stabilizing effect on pyrolysis of cellulose. It lowers the oxidation temperature of the aromatic component and dramatically increases its rate. The corresponding heat release is also increased due to complete oxidation to CO₂. The rate of oxidation calculated from the dynamic thermal analysis data is more than tripled by NaCl and significantly reduced by (NH₄)₂HPO₄.     

Active sensing control improving SLAM accuracy for a vehicle robot

Artificial Life and Robotics - This study considers an autonomous mobile vehicle using SLAM technology in an unknown environment. The focused problem is the decrease of trajectory following...     

Fabrication of piezoelectric multilayer thin-film actuators

In this study, we fabricated multilayer ceramics (MLCs) composed of multilayered Pb(Zr,Ti)O₃ (PZT) piezoelectric thin films with internal electrodes and evaluated their dielectric and piezoelectric properties. The stack of PZT ferroelectric layers (550 nm) and SrRuO₃ (SRO, 80 nm) electrodes were alternatively deposited on Pt/Ti-coated silicon-on-insulator substrates by radio-frequency magnetron sputtering. The MLCs composed of one, three, and five PZT layers were fabricated by the alternate sputtering deposition of PZT ferroelectric layers and SRO electrodes through the movable shadow mask. The capacitances of MLCs were proportionally increased with the number of PZT layers, while their relative dielectric constants were almost same among the each MLC. The MLCs exhibited symmetric and saturated P–E hysteresis loops similar to the conventional PZT thin films. We estimated that the piezoelectric properties of MLCs by FEM simulation, and confirmed that the effective transverse piezoelectric coefficients (d _31,eff ) increased with the number of PZT layers. The piezoelectric coefficients calculated to be d _31,eff  = ?2964 pC/N at 25 PZT layers, which is much higher than those of conventional single-layer piezoelectric thin films.     

Motion mapping and mode decision for MPEG-2 to H.264/AVC transcoding

This paper describes novel transcoding techniques aimed for low-complexity MPEG-2 to H.264/AVC transcoding. An important application for this type of conversion is efficient storage of broadcast video in consumer devices. The architecture for such a system is presented, which includes novel motion mapping and mode decision algorithms. For the motion mapping, two algorithms are presented. Both efficiently map incoming MPEG-2 motion vectors to outgoing H.264/AVC motion vectors regardless of the block sizes that the motion vectors correspond to. In addition, the algorithm maps motion vectors to different reference pictures, which is useful for picture type conversion and prediction from multiple reference pictures. We also propose an efficient rate-distortion optimised macroblock coding mode decision algorithm, which first evaluates candidate modes based on a simple cost function so that a reduced set of candidate modes is formed, then based on this reduced set, we evaluate the more complex Lagrangian cost calculation to determine the coding mode. Extensive simulation results show that our proposed transcoder incorporating the proposed algorithms achieves very good rate-distortion performance with low complexity. Compared with the cascaded decoder-encoder solution, the coding efficiency is maintained while the complexity is significantly reduced.