Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

Stromal CCL5 Promotes Breast Cancer Progression by Interacting with CCR3 in Tumor Cells

Chemokines secreted from stromal cells have important roles for interactions with carcinoma cells and regulating tumor progression. C-C motif chemokine ligand (CCL) 5 is expressed in various types of stromal cells and associated with tumor progression, interacting with C-C chemokine receptor (CCR) 1, 3 and 5 expressed in tumor cells. However, the expression on CCL5 and its receptors have so far not been well-examined in human breast carcinoma tissues. We therefore immunolocalized CCL5, as well as CCR1, 3 and 5, in 111 human breast carcinoma tissues and correlated them with clinicopathological characteristics. Stromal CCL5 immunoreactivity was significantly correlated with the aggressive phenotype of breast carcinomas. Importantly, this tendency was observed especially in the CCR3-positive group. Furthermore, the risk of recurrence was significantly higher in the patients with breast carcinomas positive for CCL5 and CCR3 but negative for CCR1 and CCR5, as compared with other patients. In summary, the CCL5-CCR3 axis might contribute to a worse prognosis in breast cancer patients, and these findings will contribute to a better understanding of the significance of the CCL5/CCRs axis in breast carcinoma microenvironment.     

A new method of automatic polishing on curved aluminium alloy surfaces at constant pressure

This paper presents original research results of automatic polishing on curved surfaces of aluminium alloy moulds at constant pressure. The automatic polishing of aluminium alloy material is achieved. A parameter S is defined, which can express the comprehensive influential factors in the automatic polishing process and give a relationship among the polishing quality and the various machining variables. Based on this, a new method for comprehensive control of polishing quality is suggested.     

Magnesium interlayered diamond coating on silicon

Diamond thin films have been deposited using hot filament chemical vapour deposition technique on manually scratched p-Si(1 0 0) substrate, with and without magnesium interlayer. In spite of magnesium melting point being lower (T_m = 649 °C) than the growth temperature of the substrate (T_s  750 °C) used in these experiments, it was found that high quality diamond films could be grown on Mg covered substrate. A liquid substrate is probably generated during the diamond film growth. Raman spectroscopy analysis exhibited only the triply degenerate, zone centre optical phonon peak at 1333 cm⁻¹ indicating that nearly stress free crystallites were present. Broadening of the Raman peak (11.76 cm⁻¹) indicates that some small crystallites also are present. Scanning electron and atomic force microscopy accompanied by X-ray diffraction analysis where used to compare the details of diamond film growth directly on scratched Si(1 0 0) and Mg interlayered scratched Si(1 0 0) substrates.     

Measurement of self-diffusion coefficients in Li ionic conductors by using the short-lived radiotracer of 8Li

For the effective use of short-lived radioactive beams, soon to be available at the Tokai Radioactive Ion Accelerator Complex, the authors have developed a radiotracer method for diffusion studies in solids. The experimental test was performed by the measurement of the diffusion coefficients of Li in a sample of the compound βLiAl using an α-emitting radiotracer of ⁸Li (T_1/2=0.84 s). It was found that the time-dependent yields of the α particles from the diffusing ⁸Li that was initially implanted in the sample could be used as a measure of the diffusivity of the tracer in a nondestructive way. The method was applied to measure the self-diffusion coefficients of Li in βLiGa, and for investigating how the Li diffusion in the Li ionic conductors is affected by the concentration of atomic defects (i.e., the existence of the atomic vacancies of Li and the defects in Ga sites that are replaced by Li).     

Computational design of iris folding patterns

Computational Visual Media - Iris folding is an art-form consisting of layered strips of paper, forming a spiral pattern behind an aperture, which can be used to make cards and gift tags. This...     

3D interactive topology optimization on hand-held devices

This educational paper describes the implementation aspects, user interface design considerations and workflow potential of the recently published TopOpt 3D App. The app solves the standard minimum compliance problem in 3D and allows the user to change design settings interactively at any point in time during the optimization. Apart from its educational nature, the app may point towards future ways of performing industrial design. Instead of the usual geometrize, then model and optimize approach, the geometry now automatically adapts to the varying boundary and loading conditions. The app is freely available for iOS at Apple’s App Store and at http://www.topopt.dtu.dk/TopOpt3D for Windows and OSX.     

An Example-based Procedural System for Element Arrangement

We present a method for synthesizing two dimensional (2D) element arrangements from an example. The main idea is to combine texture synthesis techniques based‐on a local neighborhood comparison and procedural modeling systems based‐on local growth. Given a user‐specified reference pattern, our system analyzes neigh‐borhood information of each element by constructing connectivity. Our synthesis process starts with a single seed and progressively places elements one by one by searching a reference element which has local features that are the most similar to the target place of the synthesized pattern. To support creative design activities, we introduce three types of interaction for controlling global features of the resulting pattern, namely a spray tool, a flow field tool, and a boundary tool. We also introduce a global optimization process that helps to avoid local error concentrations. We illustrate the feasibility of our method by creating several types of 2D patterns.     

The ISSP Tokyo rotating cryostat

The rotating dilution refrigerator has been built up and tested to study topology and dynamics of vortices in thin helium films in porous glasses. The torsional oscillator method is considered as the basic technique to be used. We are able to rotate the cryostat with angular velocity up to 6.3 rad/s and resolve changes of about 0.3 mrad/s. The 40mK minimum temperature of the cryostat does not change up to the highest angular velocities.     

A two-step surface-based 3D deep learning pipeline for segmentation of intracranial aneurysms

Computational Visual Media - The exact shape of intracranial aneurysms is critical in medical diagnosis and surgical planning. While voxel-based deep learning frameworks have been proposed for this...