Lyapunov function-based obstacle avoidance scheme for a two-wheeled mobile robot

An obstacle avoidance scheme of a two-wheeled mobile robot is shown by selecting an appropriate Lya- punov function. When considering the obstacle, the Lyapunov function may have some local minima. A method which erases the local minima is proposed by using a function which covers the minima with a plane surface. The effectiveness of the proposed method is verified by numerical simulations.     

Dependence of self-heating effects on operation conditions and device structures for polycrystalline silicon TFTs

Self-heating, a degradation mechanism of n-channel poly-Si thin-film transistors (TFTs) due to bias stress, has been investigated. The aim of this work is to study this effect in depth to be able to propose a device structure designed to reduce it. The variation of the threshold voltage (V/sub t/) shift with the stress-pulsewidth is related to the temperature rise due to the self-heating effect that depends on the stress-pulsewidth. Electron trapping in the oxide caused by the bias stress is considered to be enhanced by the TFT temperature rise owing to the self-heating. We show that copper-film-based TFTs, which have a substrate made of an extremely thin glass layer and a copper film exhibit much reduced self-heating and thus a decrease of V/sub t/ shift caused by the bias stress. These observations are interpreted using numerical simulations to estimate the temperature rise in the poly-Si channel region due to Joule heating.     

Low threshold current operation of self-assembled InAs/GaAs quantum dot lasers by metal organic chemical vapour deposition

Low threshold current operation of self-assembled InAs/GaAs quantum dot lasers grown by metal organic chemical vapour deposition is reported. Continuous-wave lasing at room temperature with low threshold current (6.7 mA) was achieved at the wavelength of 1.18 /spl mu/m. The threshold current of 6.7 mA is the lowest value so far achieved in quantum dot lasers grown by metal organic chemical vapour deposition. Comparison with photoluminescence spectra indicates that the observed lasing originates from the ground state of InAs quantum dots.     

A Method for Reducing the Dead‐Time Voltage and Impedance Voltage in a Series Voltage Compensator

Many research groups are developing series voltage compensators. In a series converter, since a transformer is used in series in the power system, the power system current flows into the voltage source inverter through the transformer. The inverter current, which is determined by the transformation ratio, gives rise to an error voltage that consists of a dead‐time voltage and an impedance voltage. The error voltage is generated even when the reference voltage is zero. This paper describes the mechanism by which the error voltage occurs and proposes a method for reducing the error voltage. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(3): 85–93, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22333     

Path resolution for nested recursive modules

The ML module system facilitates the modular development of large programs, through decomposition, abstraction and reuse. To increase its flexibility, a lot of work has been devoted to extending it with recursion, which is currently prohibited. The introduction of recursion adds expressivity to the module system. However it also creates problems that a non-recursive module system does not have. In this paper, we address one such problem, namely resolution of path references. Paths are how one refers to nested modules in ML. Without recursion, well-typedness guarantees termination of path resolution, in other words, we can statically determine the module that a path refers to. This does not always hold with recursive module extensions, since the module system then can encode a lambda-calculus with recursion, whose termination is undecidable regardless of well-typedness. We formalize this problem of path resolution by means of a rewrite system on paths and prove that the problem is undecidable even without higher-order functors, via an encoding of the Turing machine into a calculus with just recursive modules, first-order functors, and nesting. Motivated by this result, we introduce a further restriction on first-order functors, limiting polymorphism on functor parameters by requiring signatures for functor parameters to be non-recursive, and show that this restriction is decidable and admits terminating path resolution.     

Occurrence of phthalate metabolites in human urine from several Asian countries

The occurrence of 14 phthalate metabolites was found in human urine samples collected from seven Asian countries: China, India, Japan, Korea, Kuwait, Malaysia, and Vietnam. Phthalate metabolites were found in all samples, indicating widespread exposure of humans to phthalates in these Asian countries. The highest total (the sum of 14 phthalates) phthalate metabolite concentrations were found in samples collected from Kuwait (median: 1050 ng/mL), followed in decreasing order by samples from India (389 ng/mL), China (234 ng/mL), Vietnam (133 ng/mL), Japan (120 ng/mL), Korea (117 ng/mL), and Malaysia (94.9 ng/mL). The creatinine-adjusted median concentrations of total phthalates for urine samples from Kuwait, India, China, Vietnam, Japan, Korea, and Malaysia were 692, 506, 289, 119, 103, 104, and 169 μg/g creatinine, respectively. Monomethyl phthalate (mMP), monoethyl phthalate (mEP), mono (2-isobutyl phthalate) (miBP), mono-n-butyl phthalate (mBP), and metabolites of di-(2-ethylhexyl) phthalate (DEHP) were the dominant compounds, collectively accounting for >95% of the total concentrations in the samples from the seven countries. The profiles of urinary phthalate metabolite concentrations varied among the samples collected from the seven countries. Urine samples from Kuwait contained the highest concentrations of mEP (median: 391 ng/mL), mBP (94.1 ng/mL), and the metabolites of DEHP (202 ng/mL), whereas samples from China and Japan contained the highest concentrations of miBP (50.8 ng/mL) and mMP (17.5 ng/mL), respectively. mEP was the predominant metabolite in urine samples from India and Kuwait (accounting for 49% of the total), mBP and miBP were the predominant compounds in samples from China (52%), and DEHP metabolites were the predominant compounds in samples from Korea (46%) and Vietnam (52%). Based on the urinary concentrations of mEP, mBP, miBP, and DEHP metabolites of the samples from the seven Asian countries, we estimated daily intake rates of diethyl phthalate (DEP), dibutyl phthalate (DBP), and DEHP. The results indicated that people in the seven Asian countries are exposed to DEP, DBP, and DEHP at levels well below the reference doses (RfD) suggested as unsafe by the U.S. Environmental Protection Agency (EPA). The estimated exposure doses to DEHP in Kuwait, however, were above the RfD recommended by the EPA.     

Quantitative analysis of energy-efficiency strategy on CO2 emissions in the residential sector in Japan – Case study of Iwate prefecture

This study examines the economics of energy-efficiency strategies for reducing CO₂ emissions in the residential sector in Japan from the perspective of regional characteristics. For this study, the residential sector in Iwate prefecture was selected as representative of rural areas in Japan. In order to promote purchases of energy-efficient consumer appliances, the prefectural government is presumed to reimburse purchasers a part of the cost difference between energy efficient and conventional appliances. This paper begins with a discussion of the prefecture’s financial support for purchasers of energy efficient appliances and assumes that the payments come from prefectural government funds. This paper then looks at the effect of a carbon-tax refund on the reduction of CO₂ emissions. The results show that, if half of the households use energy-efficient appliances, then CO₂ emissions in the residential sector in the year 2020 will decreases from the BAU scenario, 0.726 Mt-C to 0.674 Mt-C. However, the Iwate prefectural government expends $105 million annually, which is 1.5% of the total tax revenue in the year 2003. The carbon-tax refund effectively encourages further reductions in CO₂ emissions. Under the $20/tC carbon tax, proposed by the Ministry of the Environment, the carbon-tax refund leads to a reduction in residential CO₂ emissions from 0.726 Mt-C to 0.712 Mt-C.     

Brain Mechanisms of Exercise-Induced Hypoalgesia: To Find a Way Out from “Fear-Avoidance Belief”

It is well known that exercise produces analgesic effects (exercise-induced hypoalgesia (EIH)) in animal models and chronic pain patients, but the brain mechanisms underlying these EIH effects, especially concerning the emotional aspects of pain, are not yet fully understood. In this review, we describe drastic changes in the mesocorticolimbic system of the brain which permit the induction of EIH effects. The amygdala (Amyg) is a critical node for the regulation of emotions, such as fear and anxiety, which are closely associated with chronic pain. In our recent studies using neuropathic pain (NPP) model mice, we extensively examined the association between the Amyg and EIH effects. We found that voluntary exercise (VE) activated glutamate (Glu) neurons in the medial basal Amyg projecting to the nucleus accumbens (NAc) lateral shell, while it almost completely suppressed NPP-induced activation of GABA neurons in the central nucleus of the Amyg (CeA). Furthermore, VE significantly inhibited activation of pyramidal neurons in the ventral hippocampus-CA1 region, which play important roles in contextual fear conditioning and the retrieval of fear memory. This review describes novel information concerning the brain mechanisms underlying EIH effects as a result of overcoming the fear-avoidance belief of chronic pain.     

Temperature imaging of sub-millimeter-thick water using a near-infrared camera

This paper presents a method of imaging temperature distributions of sub-millimeter-thick water using a near-infrared camera and optical narrow-bandpass filter. The principle is based on the temperature dependence of the ν₁ + ν₃ absorption band of water. Temperature images are constructed by measuring the absorbance of water at the wavelength of 1412 nm through the filter for all pixels of the camera. From calibration measurements on 0.5-mm thick water at temperatures from 26.0 °C to 40.0 °C, the temperature coefficient was 6.3 × 10^?4 K^?1 and the standard deviation of absorbance was 1.9 × 10^?4. Thermal diffusion in 0.5-mm thick water caused by a thin heating wire was visualized with this method. The obtained images were verified against temperature distributions calculated by solving a two-dimensional thermal conduction model. This method would be useful for temperature measurement applications and control of aqueous solutions in microchips.