Topological localization with kidnap recovery using sonar grid map matching in a home environment

This paper presents a method of topological localization with kidnap recovery capability in a home environment using only low-cost sonar sensors. The proposed method considers both pose tracking and relocation problems. The pose tracking is achieved by calculating node probability using grid-map matching and relative motion model. The relocation method detects the kidnap automatically and recovers it using multiple hypothesis tracking. After kidnap recovery, it also provides a criterion for selecting a reasonable hypothesis for returning to the pose tracking stage autonomously. Experimental results in a real home environment verify that the proposed localization method provides a reliable and convergent node probability when the robot is kidnapped.     

A task‐based and resource‐aware approach to dynamically generate optimal software architecture for intelligent service robots

Intelligent service robots provide various services to users by understanding the context and goals of a user task. In order to provide more reliable services, intelligent service robots need to consider various factors, such as their surrounding environments, users' changing needs, and constrained resources. To handle these factors, most of the intelligent service robots are controlled by a task‐based control system, which generates a task plan that represents a sequence of actions, and executes those actions by invoking the corresponding functions. However, the traditional task‐based control systems lack the consideration of resource factors even though intelligent service robots have limited resources (limited computational power, memory space, and network bandwidth). Moreover, system‐specific concerns such as the relationships among functional modules are not considered during the task generation phase. Without considering both the resource conditions and interdependencies among software modules as a whole, it will be difficult to efficiently manage the functionalities that are essential to provide core services to users. In this paper, we propose a mechanism for intelligent service robots to efficiently use their resources on‐demand by separating system‐specific information from task generation. We have defined a sub‐architecture that corresponds to each action of a task plan, and provides a way of using the limited resources by minimizing redundant software components and maintaining essential components for the current action. To support the optimization of resource consumption, we have developed a two‐phase optimization process, which is composed of the topological and temporal optimization steps. We have conducted an experiment with these mechanisms for an infotainment robot, and simulated the optimization process. Results show that our approach contributed to increase the utilization rate by 20% of the robot resources. Copyright © 2011 John Wiley & Sons, Ltd.     

Thermal and dielectric properties of ZnO-B2O3-MO3glasses (M = W, Mo)

Glasses in the ZnO-B₂O₃-MO₃(M = W, Mo) ternary were examined as potential replacements to PbO-B₂O₃-SiO₂-ZnO glass frits with the low firing temperature (500–600^∘C) for the dielectric layer of a plasma display panels (PDPs). Glasses were melted in air at 950–1150^∘C in a narrow region of the ternary using standard reagent grade materials. The glasses were evaluated for glass transition temperature (T _g ), softening temperature (T _d ), the coefficient of thermal expansion (CTE), dielectric constant (ε _r ), and optical property. The glass transition temperature of the glasses varied between 470 and 560^∘C. The coefficient of thermal expansion and the dielectric constant of the glasses were in the range of 5–8 × 10^{− 6}/^∘C and 8–10, respectively. The addition of MO₃to ZnO-B₂O₃binary could induce the expansion of glass forming region, the reduction of T _g and the increase in the CTE and the dielectric constant of the glasses. Also, the effect of the addition of MO₃to ZnO-B₂O₃binary on the transmittance in the visible-light region (350–700 nm) was investigated.     

Effect of noise imbalance on dual-MRC over Rayleigh fading channels

The performance analysis of dual (two-branch) maximal ratio combining (MRC) under imperfect weight, named imperfect MRC, due to the noise imbalance is derived over independent but non-identical Rayleigh fading channels. Considering the system (or channel) conditions that the noise level of each branch is different, we present the accurate performance analysis of imperfect dual MRC in terms of average combined signal-to-noise ratio (SNR), outage probability and average symbol error rate for a large class of modulations in closed-form and compare them with the performance of the perfect MRC and the perfect selection combining (SC) over non-identical but independent Rayleigh fading channels based on the interesting statistical results on the combined SNR. From the performance results we provide the criterion in choosing the imperfect MRC, perfect MRC, or SC depending on the degree of the difference of the noise level between branches.     

Performance analysis of channel estimation for OFDM systems with residual timing offset

The authors present an analysis of the effect of timing offset on channel estimation for comb-type pilot-aided orthogonal frequency division multiplexing (OFDM) systems. Residual timing offset does not negatively affect the channel estimation of the pilot subcarrier, but does corrupt the channel information obtained via interpolation. This paper provides the mean square error (MSE) channel estimation performance when a linear interpolation technique is used in a comb-type pilot-aided OFDM system. Analysis shows that the performance degradation of the channel estimator due to imperfect frame synchronization is dependent on the frequency correlation of the channels and the amount of timing offset     

H.264/AVC baseline profile to MPEG‐4 visual simple profile transcoding to reduce the spatial resolution

In this study, we propose a heterogeneous transcoding method of converting an H.264/Advanced video coding (AVC) Baseline profile (BP) video bitstream into an MPEG‐4 Visual simple profile (VSP) video bitstream. The proposed method reduces the spatial resolution for mobile terminals, which support only low resolution video bitstreams. When the H.264/AVC BP video bitstream is transformed into the MPEG‐4 VSP video bitstream, the conversions between the H.264/AVC BP block types and the MPEG‐4 VSP block types are performed by analyzing the macroblocks (MBs) conversion probability and calculating the difference values of motion vector. The proposed transcoding method runs on average 5.5 times faster than the cascaded transcoding methods, for a degradation of the PSNR (peak‐signal‐to ratio) of less than 0.5 dB. © 2006 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 16, 24–33, 2006     

Effect of Hot Band Annealing on Magnetic Properties in 3% Si Grain‐oriented Electrical Steels

Hot band annealing is known to be a prerequisite for good magnetic properties irrespective of manufacturing methods in grain‐oriented Fe‐3 wt.% Si electrical steels. In this study, the effects of hot band annealing on magnetic properties were investigated in 3% grain‐oriented electrical steels of low soluble AI contents and one‐stage cold rolling. Microstructure and precipitate distribution were compared with hot band annealing conditions. Secondary recrystallization behaviour with hot band annealing condition was also discussed.     

Dielectric characteristics of Pb(Zn<Subscript>1/3</Subscript>Ta<Subscript>2/3</Subscript>)O<Subscript>3</Subscript>-BaTiO<Subscript>3</Subscript> ceramics with/without PbTiO<Subscript>3</Subscript> modification

Stabilization tendencies of the perovskite structure in a Pb(Zn_1/3Ta_2/3)O₃-BaTiO₃ pseudobinary system with/without compositional modification by 20 mol% PbTiO₃ introduction were compared. In order to promote perovskite phase formation, the B-site precursor method (which is conceptually similar to the columbite process) was employed in this study. Dielectric properties of sintered samples were investigated as functions of composition and measurement frequency. Dielectric constant spectra, in the paraelectric temperature region, were further analyzed in terms of diffuseness. Microstructures of sintered specimens were also investigated and correlated with perovskite stabilization.     

Wear and dynamic properties of piezoelectric ultrasonic motor with frictional materials coated stator

Piezoelectric ultrasonic motors have been studied, developed and utilized by researchers and companies all over the world. Ultrasonic motors (USM) produce rotational motion based on traveling waves made by the resonant vibrations of piezoceramic. These motors have been recently developed and utilized in practical applications. The dynamic properties and life of piezoelectric ultrasonic motors are strongly related to the frictional material Fused on the sliding surface. In this study, effects of frictional material properties on the performances of piezoelectric ultrasonic motors are investigated. It was possible to improve the torque of a traveling wave type ultrasonic motor by stator's coating.