Lateral control of autonomous vehicle by yaw rate feedback

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.     

Stimuli‐Responsive Materials for Controlled Release of Theranostic Agents

Stimuli‐responsive materials are so named because they can alter their physicochemical properties and/or structural conformations in response to specific stimuli. The stimuli can be internal, such as physiological or pathological variations in the target cells/tissues, or external, such as optical and ultrasound radiations. In recent years, these materials have gained increasing interest in biomedical applications due to their potential for spatially and temporally controlled release of theranostic agents in response to the specific stimuli. This article highlights several recent advances in the development of such materials, with a focus on their molecular designs and formulations. The future of stimuli‐responsive materials will also be explored, including combination with molecular imaging probes and targeting moieties, which could enable simultaneous diagnosis and treatment of a specific disease, as well as multi‐functionality and responsiveness to multiple stimuli, all important in overcoming intrinsic biological barriers and increasing clinical viability.     

Rotation moment invariants for recognition of symmetric objects.

In this paper, a new set of moment invariants with respect to rotation, translation, and scaling suitable for recognition of objects having N-fold rotation symmetry are presented. Moment invariants described earlier cannot be used for this purpose because most moments of symmetric objects vanish. The invariants proposed here are based on complex moments. Their independence and completeness are proven theoretically and their performance is demonstrated by experiments.     

Noncontact conveyance of conductive plate using omni-directional magnet wheel

A magnet wheel is chosen as the driving method to transfer a conductive plate without mechanical contact in space, due to its high force density. When permanent magnets (hereafter PMs) constituting the magnet wheel rotate below the conductive plate, not only a repulsive type of normal force but also a traction torque is generated on the plate. To utilize the torque as a thrust force, the magnetic fields from PMs are covered partially using a magnetic shield plate. So, in-plane positions of the conductive plate are controlled by turning the shield plate opened partially. In this paper, the operating principle of the noncontact conveyance system using a magnet wheel is discussed, including experimental verification. Specially, the resulting force from the suggested magnet wheel is AC force with oscillation, but it can be minimized through varying entry or exit shape of the open area of the magnetic shield plate.     

Load balancing and its performance evaluation for layer 3 and IEEE 802.21 frameworks in PMIPv6‐based wireless networks

Mobile IP (MIP) requires mobile nodes (MNs) to register with the home agents (HAs) whenever the MNs change their point of attachment (PoA: access point (AP) or base station (BS)) in different subnets. Thus, such registrations cause excessive signaling overhead and long service delay. To solve this problem, proxy mobile IPv6 (PMIPv6) has been proposed by the IETF NETLMM working group. In PMIPv6, a new entity called mobile access gateway (MAG) performs the mobility‐related signaling with the local mobility anchor (LMA) on behalf of the MN and establishes a tunnel with the LMA. However, a number of MNs must be associated with an MAG, which means that the MAG can be easily overloaded. Therefore, in this paper, we propose a load balancing mechanism among the MAGs in the PMIPv6 network. The PMIPv6 handover signaling procedure is extended to support the proposed load balancing mechanism. We also discuss using IEEE 802.21 Media Independent Handover (MIH) protocol for load balancing to determine the load status at the candidate PoAs, in addition to the load status at the candidate MAGs. To evaluate the performance, we analyze the average waiting time in the queue at the MAG. Through simulations and numerical analysis, we show that the proposed load balancing mechanism can produce less queueing delay at the MAG and a higher data transmission rate at the PoA than when a load balancing operation is not performed in the PMIPv6 network. Copyright © 2009 John Wiley & Sons, Ltd.     

Analysis of the effects of main design parameters variation on the vibration characteristics of a vehicle sub-frame

In the design process of an automobile part, several analysis methods are usually used to evaluate the performance of the part. However, most automobile design engineers do not directly use CAE (computer aided engineering) tools since specific skills are required to obtain practical results. Moreover, CAE requires a huge amount of computation time and cost. To resolve these problems, a new design approach, termed first order analysis (FOA), has been proposed. In this paper, the FOA technique is employed to design a vehicle sub-frame. An equivalent model of the vehicle subframe which only consists of beam elements is proposed and the modal properties obtained with the model are compared to those obtained with a full scale finite element model. The effects of some parameter variations on the modal characteristics of the vehicle sub-frame are investigated by employing the FOA equivalent model. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Hong Hee Yoo graduated from the Department of Mechanical Design and Production Engineering at Seoul National University in 1980 and received his Master’s degree from the same department in 1982. He received his Ph.D. degree in 1989 from the Department of Mechanical Engineering and Applied Mechanics at the University of Michigan at Ann Arbor, U.S.A. He is currently working as a professor in the School of Mechanical Engineering in Hanyang University, Seoul, Korea.     

Fracture Mechanics of Solder Bumps During Ball Shear Testing: Effect of Bump Size

This paper examines the mechanics of ball shear testing with the objective of understanding the mechanism by which the maximum shear force and the rate of crack growth is dependent on the solder bump size. For this, Pb-Sn solder bumps with diameters between 460 μm and 760 μm are soldered to 400 μm-diameter Cu pads and subjected to ball shear testing. In spite of the constant interface area, the bump size significantly impacts the measured shear fracture force and the crack growth rate. Both the fracture force and the crack growth rate increase with bump size, and in the case of the fracture force, the increase is almost linear. Our analysis finds that the linear increase in the fracture force is a result of the bump deformation force, which increases with bump size. A simple model that accounts for the deformation force component is developed and used to extract the true interface fracture force. The estimated true interface fracture force is found to vary little with bump size, tightly converging to the 40 MPa to 48 MPa range. On the other hand, the dependence of crack growth rate on bump size is found to result from the higher degree of rotational moment associated with larger bumps.     

Radioprotection of mice by dietary squalene

Male C3H mice were fed a diet containing 2% squalene for 14 d prior to and 30 d subsequent to exposure to 6, 7 or 8 Gy of whole body γ-irradiation (Cesium-137). After 14 d on squalene-supplemented diet, plasma and jejunal tissue squalene levels were 2X and 15X that of controls. Seven days after irradiation, total white cell counts and total lymphocyte counts were substantially depressed in a radiation dose-dependent manner. Although counts in the squalene group were consistently (18–119%) higher than those in the corresponding dietary control group, the differences between dietary groups at any single dose were not significant. Nuclear area of villus cells in the jejunum of both dietary groups was significantly reduced (20%) by day 11 post-irradiation but the nuclear area in squalene-fed mice was significantly greater (15%) than in controls, before and after irradiation. There were no differences in body weight as a function of either diet or radiation dose prior to the first observations of animal lethality. Animal survival was decreased from 100 to 0% at 30 d post-irradiation by radiation doses of 6–8 Gy, with the greatest difference between dietary groups being observed at 7 Gy (median survival times of 12 and 16 d for control and squalene groups, respectively). Overall, survival of squalene-fed mice was significantly prolonged compared with control-fed mice (P=0.0054 by censored multiple regression analysis). It is concluded that squalene conferred some cellular and systemic radioprotection to mice receiving these lethal whole-body radiation doses.     

Projective moment invariants

The paper is devoted to the moment invariants with respect to projective transform. It has been a common belief that such invariants do not exist. We show that projective moment invariants exist in a form of infinite series containing moments with positive as well as negative indices.