Navigation system for an autonomous robot using an ocellus camera in an indoor environment

Autonomous and mobile robots are being expected to provide various services in human living environments. However, many problems remain to be solved in the development of autonomous robots that can work like humans. When a robot moves, it is important that it be able to have self-localization abilities and recognize obstacles. For a human, the present location can be correctly checked through a comparison between memorized information assuming, it is correct, and the present situation. In addition, the distance to an object and the perception of its size can be estimated by a sense of distance based on memory or experience. Therefore, the environment for robotic activity assumed in this study was a finite-space such as a family room, an office, or a hospital room. Because an accurate estimation of position is important to the success of a robot, we have developed a navigation system with self-localization ability which uses only a CCD camera that can detect whether the robot is moving accurately in a room or corridor. This article describes how this system has been implemented and tested with our developed robot.     

Detection of environmental changes from network structure

We studied the networks of the temperature record in the atmosphere. They are made by the strength of the synchronization, including the delay between temperatures at locations on Earth. We consider these locations as nodes, and we consider a pair of locations as a link if the synchronization between them is stronger than a threshold. The network is scale-free, which is thought to contribute to the stability of the climate. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

A counterexample to a proposed dynamic programming algorithm for optimal bid construction in an auction-based fully distributed manufacturing system

The paper by Veeramani and Wang (Int J Adv Manuf Technol 28:541–550, 2006) published in this journal offers a general bid construction scheme for minimizing the job flow time in auction-based manufacturing control and claims the optimality of the procedure. The purpose of this note is to provide a small example, in which their proposed new method fails to produce an optimal solution. We also address efficient correct algorithms so as to protect the readers from mistakenly believing that their new procedure is a better way of computing solutions.     

感应电机无速度传感器矢量控制系统的定子电阻在线辨识

该文针对利用磁通观测器推算转子磁通的感应电机无速度传感器矢量控制系统，提出了定子电阻在线辨识法。在利用q轴磁通推算转速的基础上，该系统利用d轴磁通误差实现定子电阻在线辨识，该方案的优点是系统简单，解决了低速运行时电压模型的定子电阻变化对系统稳定性和速度控制精度的影响问题。数字仿真和实验结果验证了定子电阻在线辨识的必要性和该方案的有效性。     

Impact of Multimedia Traffic Characteristics on ATM Network Configuration

This paper proposes a new topological designmethod, named BXCQ, which optimizes logical networkconfiguration while guaranteeing Quality-of-Service(QoS) requirements for each service class in an ATMnetwork. The BXCQ method determines the optimum logicalnetwork topology associated with each service class soas to minimize network cost. In our previously proposedFull-Net architecture these different logical topologies can be suitably mapped at the sametime on the same ATM physical network by using theVirtual Channel Handler (VCH) to create differentlogical interconnection networks. The BXCQ method allows us to clarify the relations between multimediatraffic characteristics and desirable logical networkconfigurations in Full-Net. Evaluation results suggestthat a service class that is bursty, delay tolerant, and cell loss sensitive with small demandshould be supported by a loop-like topology. This studywill be useful for designing flexible and cost-effectivemultimedia networks that can also adapt to not-yet-known services.     

Feasibility of a 1,400 m Span Steel Cable-Stayed Bridge

This paper describes the feasibility of 1,400 m steel cable-stayed bridges from both structural and economic viewpoints. Because the weight of a steel girder strongly affects the total cost of the bridge, the writers present a procedure to obtain a minimum weight for a girder that ensures safety against static and dynamic instabilities. For static instability, elastoplastic, finite-displacement analysis under in-plane load and elastic, finite-displacement analysis under displacement-dependent wind load are conducted; for dynamic instability, multimodal flutter analysis is carried out. It is shown that static critical wind velocity of lateral torsional buckling governs the dimension of the girder. Finally, the writers briefly compare a cable-stayed bridge with suspension bridge alternatives.     

Robustness of linearly solvable Markov games employing inaccurate dynamics model

As a model-based reinforcement learning technique, linearly solvable Markov decision process (LMDP) gives an efficient way to find an optimal policy by making the Bellman equation linear under some assumptions. Since LMDP is regarded as model-based reinforcement learning, the performance of LMDP is sensitive to the accuracy of the environmental model. To overcome the problem of the sensitivity, linearly solvable Markov game (LMG) has been proposed, which is an extension of LMDP based on the game theory. This paper investigates the robustness of LMDP- and LMG-based controllers against modeling errors in both discrete and continuous state-action problems. When there is a discrepancy between the model used for building the control policy and dynamics of the tested environment, the LMG-based control policy maintained good performance while that of the LMDP-based control policy deteriorated drastically. Experimental results support the usefulness of LMG framework when acquiring an accurate model of the environment is difficult.     

Visualization and concentration measurement of a direct-injection hydrogen jet in a constant-volume vessel using spark-induced breakdown spectroscopy

In this work, spark-induced breakdown spectroscopy (SIBS) was employed to investigate the mixing process of a hydrogen jet in a constant-volume vessel. The local fuel concentration of the hydrogen jet was measured at several locations, using a SIBS sensor. A high-speed camera was used to visualize spark discharge fluctuations, and hydrogen jet concentration measurements were conducted simultaneously. Spectrally resolved atomic emissions from the plasma generated by the spark plug were examined to determine the local equivalence ratio. Direct visualization of the spark discharge provided useful information about the influence of spark discharge characteristics related to the spark timing. Using the developed SIBS sensor, atomic emission spectra were obtained from hydrogen H_α at 656 nm and nitrogen N (I) at 501 nm. Comparison of the intensity peaks of atomic emissions from hydrogen and nitrogen allows the local hydrogen concentration in a measured volume to be determined, and hence also the local equivalence ratio. The measurement results demonstrate the local variation in the equivalence ratio throughout the jet and along its axis. From the results, the spatial structure of the hydrogen jet affects the hydrogen/nitrogen mixing and could be clarified with SIBS technique when the spark is discharged.     

Shape memory properties of polypeptide hydrogels having hydrophobic alkyl side chains

Polypeptide hydrogels were prepared by cross-linking of hydrophobically-modified poly[N⁵-(2-hydroxyethyl) l-glutamine] having alkyl side chains –C_nH_2n+1. Chain length of the alkyl group was n = 8, 16, and 18, and their mole fractions in the polypeptide were varied in the range of 0.05–0.16. Shape memory ability of the prepared polypeptide hydrogels was investigated. After deformation at 60 °C, the hydrogel was cooled in order to fix the temporary deformed shape. It was found that crystallization of the alkyl side chains did not occur, and the fixation ability of the hydrogel at 0 °C was low. In the subsequent heating process, the deformed temporary shape spontaneously recovered to the original shape gradually with increasing temperature, in other words, the shape recovery ratio varied with depending on the recovery temperature. From these observations, it was proposed that the shape fixation of the polypeptide hydrogel was achieved by strong segregation of the hydrophobic alkyl chains at low temperature, and the shape recovery of the deformed hydrogel was accompanied by the gradual decrease of the segregation strength with the temperature increase.