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A four-wheel steered mobile robot is fit for a higher power or improvement in the movement speed of a robot than a two-independent wheeled one. Since a steered mobile robot that slips very often cannot apply a popular dead-reckoning method using rotary encoders, it is desirable to use external sensors such as cameras. This paper describes a method to trace a straight line for four-wheel steered mobile robots using an image-based control method. Its controller is designed as a fuzzy controller and evaluated through some simulations and real robot. 相似文献
64.
Stable accumulation of seed storage proteins containing vaccine peptides in transgenic soybean seeds
65.
Tohari Adrin Wibawa Sunarya Koizumi Keigo Oda Kazuhiro Komatsu Mitsuru 《Bulletin of Engineering Geology and the Environment》2021,80(3):2101-2116
Bulletin of Engineering Geology and the Environment - An effort to implement a siphon drainage system requires a comprehensive knowledge of the factor affecting the performance of the drainage... 相似文献
66.
Yanaka N Ohata T Toya K Kanda M Hirata A Kato N 《Molecular nutrition & food research》2011,55(4):635-643
Scope: Previous reports in the areas of animal studies and, recently epidemiology, have linked anti‐tumorigenic and anti‐inflammatory effects to dietary vitamin B6. This study investigated the molecular mechanism of these effects of vitamin B6. Methods and results: DNA microarray analysis was used to obtain information on changes in colon gene expression from vitamin B6 (pyridoxine) repletion in vitamin B6‐deficient rats. Pyridoxine supplementation down‐regulated the inflammatory molecule, serine protease inhibitor clade A member 3 (SPI‐3) mRNA expression in the colon. This study also showed that tumor necrosis factor α (TNF‐α) induced SPI‐3 mRNA expression in HT‐29 human colon cancer cells, and vitamin B6 (pyridoxal hydrochloride) pretreatment of HT‐29 cells inhibited TNF ‐induced mRNA expression of SPI‐3. Vitamin B6 inhibited TNF‐α‐induced NF‐κB activation via suppression of IκBα degradation in HT‐29 cells. HT‐29 cells stably expressing epitope‐tagged ubiquitin were generated and vitamin B6 pretreatment was shown to inhibit ubiquitination of the IkB protein in response to TNF‐α‐i. Conclusion: Vitamin B6 suppressed SPI‐3 expression in the colon of rats and in TNF‐α‐stimulated HT‐29 cells. Further, this study showed a possible role of vitamin B6 in the regulation of protein ubiquitination. 相似文献
67.
The objective of this study is to present a method for identifying the elastic moduli of ground rock via the first- and second-order adjoint methods using blast vibration measurements during tunnel excavation. For identifying these parameters, the magnitudes of the blast force should be identified beforehand. Parameter identification is a minimization problem of the square sum of the discrepancy between the computed and observed velocities. The magnitudes of the three components of borehole pressure are assumed to be independent in each direction. The propagation of an elastic wave is assumed because the amplitude of such a wave is infinitesimal. The three-dimensional finite element method and the linear acceleration method are used effectively. The extended performance function can be expanded into a series of small constants to derive the necessary condition of minimization. The adjoint equation and the dynamic equation of motion can be used to obtain the gradient and the Hessian product of the extended performance function with respect to the parameters. The weighted gradient method and Broyden–Flecher–Goldfarb–Shanno method are successfully employed for the minimization. By applying the present identification technique at the Ohyorogi tunnel site, the fact that the computed and observed velocities are well in agreement is verified. The present method can be shown to be useful for tunnel excavation. 相似文献
68.
Based on various approaches, several different learing algorithms have been given in the literature for neural networks. Almost all algorithms have constant learning rates or constant accelerative parameters, though they have been shown to be effective for some practical applications. The learning procedure of neural networks can be regarded as a problem of estimating (or identifying) constant parameters (i.e. connection weights of network) with a nonlinear or linear observation equation. Making use of the Kalman filtering, we derive a new back-propagation algorithm whose learning rate is computed by a time-varying Riccati difference equation. Perceptron-like and correlational learning algorithms are also obtained as special cases. Furthermore, a self-organising algorithm of feature maps is constructed within a similar framework. 相似文献
69.
Microscopic surface structure of C/SiC composite mirrors for space cryogenic telescopes 总被引:1,自引:0,他引:1
We report on the microscopic surface structure of carbon-fiber-reinforced silicon carbide (C/SiC) composite mirrors that have been improved for the Space Infrared Telescope for Cosmology and Astrophysics (SPICA) and other cooled telescopes. The C/SiC composite consists of carbon fiber, silicon carbide, and residual silicon. Specific microscopic structures are found on the surface of the bare C/SiC mirrors after polishing. These structures are considered to be caused by the different hardness of those materials. The roughness obtained for the bare mirrors is 20 nm rms for flat surfaces and 100 nm rms for curved surfaces. It was confirmed that a SiSiC slurry coating is effective in reducing the roughness to 2 nm rms. The scattering properties of the mirrors were measured at room temperature and also at 95 K. No significant change was found in the scattering properties through cooling, which suggests that the microscopic surface structure is stable with changes in temperature down to cryogenic values. The C/SiC mirror with the SiSiC slurry coating is a promising candidate for the SPICA telescope. 相似文献
70.
Daisuke Ogawa Toshifumi Kakiuchi Keigo Hashiba 《Science & Technology of Welding & Joining》2013,18(8):685-694
ABSTRACTThe dissimilar welds between aluminium (Al) alloy, A6061-T6, and stainless steel, type 304, were fabricated by a friction stir welding (FSW) technique. The FSW tool was offset to Al side and the probe was inserted only into Al plate. The softening occurred in Al side due to the heat input during FSW, while the hardness increased by the post-ageing treatment. Tensile strength of dissimilar weld also increased about 8.5% by the post-ageing. The residual stresses were measured based on the cos α method. The residual stresses parallel to the weld line, σxr, were predominantly tensile, while those perpendicular to the weld line, σyr, were compressive. Post-ageing treatment had little effect on the residual stresses. 相似文献