Development of an indoor navigation system for a monocular-vision-based autonomous mobile robot

We have developed a technology for a robot that uses an indoor navigation system based on visual methods to provide the required autonomy. For robots to run autonomously, it is extremely important that they are able to recognize the surrounding environment and their current location. Because it was not necessary to use plural external world sensors, we built a navigation system in our test environment that reduced the burden of information processing mainly by using sight information from a monocular camera. In addition, we used only natural landmarks such as walls, because we assumed that the environment was a human one. In this article we discuss and explain two modules: a self-position recognition system and an obstacle recognition system. In both systems, the recognition is based on image processing of the sight information provided by the robot’s camera. In addition, in order to provide autonomy for the robot, we use an encoder and information from a two-dimensional space map given beforehand. Here, we explain the navigation system that integrates these two modules. We applied this system to a robot in an indoor environment and evaluated its performance, and in a discussion of our experimental results we consider the resulting problems.     

Radiation crosslinking of propylene-vinylsilane copolymer

Summary It has been found that a propylene-vinylsilane copolymer (a few mole % of vinlysilane) is crosslinked by radiation (-ray or electron beam) effectively. The mixture of the copolymer and a propylene homopolymer has been also crosslinked by radiation. It is proposed that the crosslinking reaction is due to the coupling of silyl-radical of vinylsilane unit with carbon-radical of propylene unit.     

Interactions oftrans-cinnamic acid,its related phenolic allelochemicals,and abscisic acid in seedling growth and seed germination of lettuce

Phenolic compounds have been identified as the most common allelochemicals produced by higher plants. Inhibitions of cinnamic acid, its related phenolic derivatives, and abscisic acid (ABA) on seedling growth and seed germination of lettuce were studied.trans-Cinnamic acid, ando-,m-, andp-coumaric acids inhibited the growth of etiolated seedlings of lettuce at concentrations higher than 10^–4 M and seed germination above 10^–3 M. Coumarin inhibited seedling growth and seed germination at 10^–5 M or above. Chlorogenic acid inhibited seedling growth above 10^–4 M, but did not inhibit seed germination at 10^–5–5×10^–3 M. Low concentrations (below 10^–3 M) of caffeic and ferulic acids promoted the elongation of hypocotyls, but higher concentrations (over 10^–3 M) inhibited seedling growth and seed germination. These phenolic compounds and abscisic acid had additive inhibitory effects both on seedling growth and seed germination. The inhibition on lettuce was reversed by caffeic and ferulic acids at concentrations lower than 10^–3 M except for the inhibition of germination by coumarin. These results suggest that in naturetrans-cinnamic acid,o-, m-, p-coumaric acids, coumarin, and chlorogenic acid inhibit plant growth regardless of their concentration. However, caffeic and ferulic acids can either promote or inhibit plant growth according to their concentration.     

Syntheses and conformational studies of poly(S-menthyloxycarbonylmethyl l- and d-cysteines)

S-menthyloxycarbonylmethyl l- and d-cysteines were prepared by the reaction of l- or d-cysteine and (?)-menthyl chloroacetate in liquid ammonia and were then polymerized to poly(S-menthyloxycarbonylmethyll- and d-cysteines) by the N-carboxyanhydride (NCA) method. From the results obtained by means of infra-red spectra, X-ray diffractions, optical rotatory dispersions (o.r.d.), and circular dichroisms (c.d.), $\text{poly}\text{(S-}\text{menthyloxycarbonylmethyl-}\text{l}\text{-cysteine}\text{)}$ was found to be a right-handed α-helix in the solid state and in ethyl ether/chloroform and chloroform solutions. Similarly, $\text{poly}\text{(S-}\text{menthyloxycarbonylmethyl-}\text{d}\text{-cysteine}\text{)}$ was a left-handed α-helix. The helix-coil transition of these polymers was observed in the vicinity of 3–4% trifluoroacetic acid (TFA) in chloroform/TFA mixtures.     

Physicochemical properties of monosodium glutamate-compounded tapioca starch exceeds those of simple heat-moisture treated starch

Monosodium glutamate (GluNa)-compounded starch was prepared by heat-moisture treating a mixture of tapioca starch and GluNa. GluNa-compounded starch exhibited a higher gelatinization temperature and reduced swelling and solubility, essentially lower hardness of the granule center, and paste viscosity than those of the heat-moisture treated tapioca starch and the untreated starch. However, its appearance, unit chain length distribution, and α-amylase digestibility were similar to those of the heat-moisture treated tapioca. It is thus concluded that GluNa compounding is useful for providing a unique type of starch that possesses a less swollen and viscous texture than that produced with simple heat-moisture treatment.     

Proportional hazards models with random effects to examine centre effects in multicentre cancer clinical trials

In randomized clinical trials comparing treatment effects on diseases such as cancer, a multicentre trial is usually conducted to accrue the required number of patients within a reasonable period of time. The fundamental point of conducting a multicentre trial is that all participating investigators must agree to follow the common study protocol. However, even with every attempt having been made to standardize the methods for diagnosing severity of disease and evaluating response to treatment, for example, they might be applied differently at different centres, and these may vary from comprehensive cancer centres to university hospitals to community hospitals. Therefore, in multicentre trials there is likely to be some degree of variation (heterogeneity) among centres in both the baseline risks and the treatment effects. While we estimate the overall treatment effect using a summary measure such as hazard ratio and usually interpret it as an average treatment effect over the centre, it is necessary to examine the homogeneity of the observed treatment effects across centres, that is, treatment-by-centre interaction. If the data are reasonably consistent with homogeneity of the observed treatment effects across centres, a single summary measure is adequate to describe the trial results and those results will contribute to the scientific generalization, the process of synthesizing knowledge from observations. On the other hand, if heterogeneity of treatment effects is found, we should carefully interpret the trial results and investigate the reason why the variation is seen. In the analyses of multicentre trials, a random effects approach is often used to model the centre effects. In this article, we focus on the proportional hazards models with random effects to examine centre variation in the treatment effects as well as the baseline risks, and review the parameter estimation procedures, frequentist approach-penalized maximum likelihood method--and Bayesian approach--Gibbs sampling method. We also briefly review the models for bivariate responses. We present a few real data examples from the biometrical literature to highlight the issues.     

Binding of organic anions by synthetic supramolecular metallopores with internal Mg2+-aspartate complexes

We report that cation-selective transmembrane pores formed by synthetic p-octiphenyl beta barrels with internal aspartate residues can be transformed into anion-permeable metallopores with internal Mg(2+)-aspartate complexes. These metallopores are shown to be useful for fluorimetric sensing of a broad variety of organic anions of biological relevance such as phytate, heparin, thiamine phosphates, and adenosine triphosphate. The negligible flippase activity measurable for Mg(2+)-free pores indicates that transmembrane p-octiphenyl beta barrels do not disturb the lipid bilayer suprastructure, in other words, they form barrel-stave rather than toroidal pores.     

Massive ascites as an initial sign, plasmacytoma of the cervical supine, and hyperammonemic consciousness disturbance in a patient with biclonal type multiple myeloma

Etomidate-induced suppression of cortisol biosynthesis is a result of a blockade of 11-beta-hydroxylation in the adrenal gland, mediated by the imidazol radical of etomidate. Since the generation of steroids requires reductive and energy rich equivalents, the present study examined whether supplementation with ascorbic acid or xylitol, a major source of NADPH, could attenuate adrenal suppression by etomidate in human subjects by promoting the turnover rate of 11-beta-hydroxylase. During continuous etomidate/alfentanil anaesthesia for pelviscopic surgery 30 female patients received either Ringer's lactate, xylitol (0.25 g kg-1 h-1) or ascorbic acid (0.5 g h-1) intravenously (i.v.). The plasma concentrations of cortisol, aldosterone and dehydroepiandrosterone (DHEA) were recorded for 5 h after end of surgery and a stimulation with synthetic ACTH was performed. The results showed no evidence of a clinically relevant attenuating effect of ascorbic acid or xylitol on etomidate-induced adrenocortical suppression. However, the observed suppression of cortisol levels was not enough to allow an attenuating affect to be measured.     

Input system for part model in CAD from coloured hand-written illustration with use of ITV

An input system for CAD is developed to construct a part model within a computer from a hand-written sketch. The sketch is drawn based on the technical illustration method. The shape of the input part is constructed by the combination of cuboids and cylinders at present. A coloured illustration is adopted for the ease of the shape recognition and for the input of the technological information.

The illustration is fed into the computer via a black and white ITV. Colours are identified referring to the brightness of the input image. The constitutive bodies, the geometric element with the technological information and the content of the technological information are recognized through image processing such as noise filtering, thinning of the contours, detection of lines and so on. The input system outputs a set of commands to the modelling system. The integrated part model which includes not only the geometrical information but also the technological information of the part is constructed by the connected modelling system CIMS/MODE.

The combination of the input system and the modelling system can support the designer to construct the detailed part model within the computer effectively. It is expected to extend the ability of the input system to identify general hand-written illustrations so that the input method will be more practical and useful.     

Quasicrystals as cluster aggregates

Quasicrystals are solids that exhibit symmetries long thought forbidden in nature. Since their discovery in a rapidly solidified Al-Mn alloy in 1984, the central issue in the field has been to understand why they form. Are they energetically stable compounds or stabilized by entropy? In recent years, major strides have been made in determining atomic structure, largely by direct imaging using advanced electron microscopy. One system is now known to be energetically stabilized, and quasicrystals are therefore firmly established as a new physical state of matter. They represent a unique packing of atomic clusters some tens of atoms in size, with substantial localized fluctuations, referred to as phasons. Understanding phasons may in future allow their unique macroscopic properties to be tailored for useful materials applications.