A speeded-up online incremental vision-based loop-closure detection for long-term SLAM

An online incremental method of vision-only loop-closure detection for long-term robot navigation is proposed. The method is based on the scheme of direct feature matching which has recently become more efficient than the Bag-of-Words scheme in many challenging environments. The contributions of the paper are the application of hierarchical k-means to speed-up feature matching time and the improvement of the score calculation technique used to determine the loop-closing location. As a result, the presented method runs quickly in long term while retaining high accuracy. The searching cost has been markedly reduced. The proposed method requires no any off-line dictionary generation processes. It can start anywhere at any times. The evaluation has been done on standard well-known datasets being challenging in perceptual aliasing and dynamic changes. The results show that the proposed method offers high precision-recall in large-scale different environments with real-time computation comparing to other vision-only loop-closure detection methods.     

Flexible feature discovery and structural information control

In this paper, we propose a new information theoretic method called structural information control for flexible feature discovery. The new method has three distinctive characteristics, which traditional competitive learning fails to offer. First, the new method can directly control competitive unit activation patterns, whereas traditional competitive learning does not have any means to control them. Thus, with the new method, it is possible to extract salient features not discovered by traditional methods. Second, competitive units compete witheach other by maximizing their information content about input patterns. Consequently, this information maximization makes it possible to control flexibly competition processes. Third, in structural information control, it is possible to define many different kinds of information content, and we can choose a specific type of information according to a given objective. When applied to competitive learning, structural information can be used to control the number of dead or spare units, and to extract macro as well as micro features of input patterns in explicit ways. We first applied this method to simple pattern classification to demonstrate that information can be controlled and that different neuron firing patterns can be generated. Second, a dipole problem was used to show that structural information could provide representations similar to those by the conventional competitive learning methods. Finally, we applied the method to a language acquisition problem in which networks must flexibly discover some linguistic rules by changing structural information. Especially, we attempted to examine the effect of the information parameter to control the number of dead neurons, and thus to examine how macro and micro features in input patterns can explicitly be discovered by structural information.     

Deposition of BaTiO3 thin films by plasma MOCVD

Barium titanium trioxide (BaTiO₃) thin films were deposited on fused silica or silicon wafer substrate from barium dipivaloylmethanate (II) (Ba(dpm)₂) and titanium tetraisopropoxide (IV) (TTIP) used as precursors in an oxygen microwave plasma. The substrates were dielectrically heated and the substrate temperatures were around 900 K during the film deposition. The deposition was performed for 15 min and the deposits were identified as BaTiO₃ by means of X-ray diffraction, X-ray photoelectron spectroscopy, infrared spectroscopy, and ellipsometry. Oxygen and barium atoms and TiO and CO molecules were identified in the plasma. These species would produce higher deposition rates at lower substrate temperatures than those did in the usual thermal metalorganic chemical vapor deposition (MOCVD). The dielectric constant of the BaTiO₃ thin film that was directly deposited on the silicon wafer substrate was as low as 10¹ order of magnitude. Because the deposit reacted with the substrate and an interdiffusional layer was formed, the platinum layer was coated on the silicon wafer substrate in order to prevent the formation of an interdiffusional layer. The dielectric constant then increased to 10³ order of magnitude.     

Theoretical studies on VPI-5. 3. The MS-Q force field for aluminophosphate zeolites

Aluminophosphate zeolite is an artificial material which shows strange hydrophilicity. We have been investigating the reason by quantum mechanics, and found that the hydrophilicity of this zeolite depended on the local geometric deformation, and speculated that the site-specific hydrophilicity might be explained by differences in the stiffness of the local deformation determined by the location with the pore structure. In order to test these ideas, we construct a reliable force field based on the new MS-Q approach developed by Demiralp, Cagin, and Goddard. Our force field well reproduces the experimental structure of VPI-5.     

Replication of Microstructures by Roll-to-Roll UV-Curing Embossing

The characteristics of pattern replication and releasing in a roll-to-roll ultraviolet- (UV) curing embossing process were investigated. The roll embossing system was designed for large-area continuous embossing, with employment of a fast curing resin, a heat damage protector, and a surface energy reducing coating. A 60° V-groove pattern with a groove period of 30 µm was embossed. It was found that the replication quality was profoundly influenced by the pattern geometry, the pattern direction, and the mold surface energy. In particular, the pattern direction significantly affected the edge sharpness and the surface topography of replicated features. In the parallel groove mode, a significant amount of tearing and sliding occurred, whereas in the transverse groove mode, biting marks were observed on the side wall of the V-groove. A simple mechanical model was used to explain the difference in pattern releasing with different pattern layouts. The replication quality was found to be significantly improved with the application of a fluorinated coating on the roll mold.     

THE EXTRACTION OF NEPTUNIUM(V) BY METHYLTRIOCTYLAMMONIUM CHLORIDE AND 1-PHENYL-3-METHYL-4-BENZOYL-5-PYRAZOLONE

The synergistic effect of methyltrioctylammonium chloride (QCI) on the extraction of Np(V) by 1-phenyl-3-methyl-4-benzoyl-pyrazolone(HP) in benzene is studied over the pH range 2-6. This system extracts Np(V) better than any previously reported. The interaction of the extractants and monomer-dimer equilibria affect the distribution behavior of Np(V) in a complicated manner. Analysis of the results suggests that NpO₂ ⁺ (M⁺) is extracted as mixed dimers, (QMP₂QCl)_o and (QMP₂QP)_o.     

Analysis of a manipulator in relation to collision between a link and an object

In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally.     

Hydrogen-bonded polymer complexes of macrocycles containing a pyridyl moiety and carboxyl-functionalized polystyrenes An approach to H-bonded rotaxanes

Summary Copolystyrenes complexed with macrocyclic compounds through hydrogen bonding have been synthesized by the copolymerization of styrene with the complex of 4-vinylbenzoic acid and crown ethers containing a 2,6-pyridyl moiety. The glass transition temperatures of the copolymeric complexes are significantly lower than that of the simple copolymer, which shows that the carboxylic acid groups in the polymer backbone do not intermolecularly dimerize. The UV absorption spectra of polymeric complexes suggest that they have complex structures similar to that of the low-molecular-weight complexes of 4-ethylbenzoic acid and the crown ethers. Received: 31 March 1999/Accepted: 27 April 1999