Minimum-Energy Translational Trajectory Generation for Differential-Driven Wheeled Mobile Robots

Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning. Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery energy up to 10% compared with loss-minimization control. Categories (3): Robot control, (5): RobotMotion Planning     

Polarity control of GaN epilayers grown on ZnO templates

We report the successful growth of Ga-polar GaN epilayers on O-polar ZnO templates pre-deposited on c-sapphire. Prior to GaN growth, NH₃ is exposed onto the ZnO template. The polarity of the GaN layers is confirmed by etching of the surface and by conversion beam electron diffraction (CBED), while the O-polar ZnO is confirmed by CBED. It is suggested that the NH₃ pre-exposure helps form a Zn₃N₂ layer, which possesses inversion symmetry and inverts the crystal from anion polar to cation polar.     

Dynamic RSVP protocol

RSVP is a resource reservation setup protocol that can be used by a host to request specific QoS for multicast multimedia flows on the Internet. Multiprotocol label switching (MPLS) architecture also needs RSVP. The fact that the resolutions of the display system used in different receiver nodes might have different, multi-resolution characteristics is supported in the MPEG-4 standard, and the EZW compression algorithm can cease decoding at any point in the bitstream. However, RSVP does not provide a more flexible mechanism. In this article we propose an extension of RSVP to provide the needed mechanism, coined dynamic RSVP (DRSVP), to dynamically adjust reserved resources on nodes without much effort. It provides different video resolutions to different receiver nodes with different needed reserved resources. Therefore, it does not waste precious Internet resources to transmit unnecessary multimedia packets.     

Reinjection experiment at the matsukawa vapor-dominated geothermal field: Increase in steam production and secondary heat recovery from the reservoir

A reinjection experiment has been conducted in an attempt to sustain reservoir pressure and steam production and to extract remaining heat energy in the superheated reservoir in the Matsukawa vapor-dominated geothermal field. This experiment was undertaken because the increase in superheat of produced steam and the decline of steam production are the current major issues for stable operation of the power plant. Almost all the reinjected fluid into well MR 1 was recovered from well M5, and the steam production of well M5 has increased by approximately 67%.     

Computation of the average power pattern of a reflector antennawith random surface errors and misalignment errors

To specify manufacturing tolerances of a reflector antenna, various errors such as random surface errors and misalignment errors must be considered at one time because superposition of the effects of those errors may not hold. Based on the Rahmat-Samii's formulation (1983), a method for computing efficiently the average power pattern of a reflector antenna with those errors is presented. Simulation results show that superposition of the effects of errors does not generally hold and demonstrate how those errors degrade the peak-gain and sidelobe levels     

Transient behavior of subthreshold characteristics of fullydepleted SOI MOSFETs

It has been found that the subthreshold currents of fully depleted silicon-on-insulator (SOI) MOSFETs show a transient behavior under certain front-gate and back-gate voltage conditions. The cause of this anomaly is explained, and applications for the phenomenon are pointed out. Particularly, a simple way to measure the silicon film thickness is suggested     

Energy release rates of crack kinking by boundary condition sensitivity analysis

The energy release rate, which is the total derivative of the energy with respect to crack length, is recognized as corresponding to the shape sensitivity analysis with the crack length change represented by the tangential component of design velocity. In this paper the sensitivity formula recently developed for a changing boundary condition has been further extended to cover crack kinking under mixed mode loading. Due to difficulty in defining the velocity field at the corner, the energy release rate at the onset of crack kinking is obtained by extrapolating the energy release rates for finite length kinked cracks. A rectangular plate with a single edge slant crack under uniform tension is taken as a numerical example. The multi-region technique in the numerical implementation of the boundary integral equation is adopted to consider the asymmetry of the problem. Excellent accuracy is observed as compared with reference analytic solutions.     

Laboratory aid and ultrasonography in the diagnosis of appendicitis in children

The purpose of this study was to evaluate the relationship between the number of yolk sacs and amnionicity in monochorionic twin pregnancies scanned early in the first trimester. We retrospectively reviewed images of all monochorionic twins scanned between 6 and 9.5 weeks' gestation and with pathologic or sonographic confirmation of chorionicity-amnionicity. Each film was reviewed for the number of yolk sacs present, as well as for the gestational age at which the amniotic membrane was first visualized. Twenty monochorionic-diamniotic pregnancies and two monochorionic-monoamniotic pregnancies met the criteria for inclusion in the study. In diamniotic pregnancies scanned at less than 8 weeks' gestation, only the yolk sacs were identified; none of the dividing amniotic membranes were detected. Two yolk sacs were identified in all but one case. In this case, although one yolk sac was seen at 6 weeks, follow-up scanning at 8 weeks revealed two yolk sacs. In each of the monochorionic-monoamniotic twin pregnancies, one yolk sac was seen at 9 weeks and a single amnion encircled both embryos. We conclude that the sonographic identification of two yolk scas in monochorionic twins enables us to make the diagnosis of diamniotic twins early in the first trimester, before the amniotic membrane can be imaged. The presence of one yolk sac should prompt a follow-up ultrasonogram to assign amnionicity definitively.