Autonomous Variable‐Resolution Map Building for Mobile Robots in Unknown Environments

This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omnidirectional mobile robot equipped with laser range finders. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 59–69, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22493     

Preparation and characterization of poly(lactic acid)/recycled polypropylene blends with and without the coupling agent,n-(6-aminohexyl)aminomethyltriethoxysilane

Blends of polylactide (PLA) and recycled polypropylene (rPP) were prepared by melt-processing using a corotating twin-screw extruder and subsequent pelletizing of the extrudates for injection molding. The PLA/rPP blends were characterized by Thermogravimetric Analysis (TGA), Differential Scanning Calorimetry (DSC), Dynamic Mechanical Analysis (DMA), rheometer (MCR-102), scanning electron microscopy(SEM), tensile tests, and impact measurements. The results indicate that the PLA/rPP blend is immiscible and has a two-phase structure. TGA revealed enhancement of the thermal stability of the blends upon addition of rPP. The storage modulus, loss modulus, and complex viscosity of the blends increased with rPP concentration. Mechanical studies showed that introduction of rPP results in a decrease in tensile strength and modulus and enhancement of the impact strength of PLA in the blends. The effects of a silane coupling agent on the morphology and on the tensile and impact properties of the rPP blends of silane-modified PLA were also examined. SEM studies suggest that silane is an effective interfacial modifier. Thus, better interfacial adhesion was observed with silane-modified blends as compared with unmodified blends. Silane also improved the mechanical properties of the modified blends. The blends reached maximum tensile strength at 1.5 wt.% silane (relative to modified PLA content), and impact strength increased with increasing silane concentration. These results confirm the enhancing effect of silane on modified PLA/rPP blends.     

Synthesis of anatase TiO_2 with exposed {001} and {101} facets and photocatalytic activity

Anatase titanium(Ⅳ) oxide(TiO_2) particles with exposed {001} and {101} facets were prepared by hydrothermal treatment of amorphous TiO_2 with H_2O_2-NH_3 solution. Crystal phase, shape, and size of TiO_2 particles are found to be greatly dependent on the ratio of H_2O_2-NH_3 solution. The prepared TiO_2 particles with specific exposed crystal faces show higher photocatalytic activity for acetaldehyde decomposition than commercial spherical TiO_2 particles. This result implies that recombination is prevented by spatial separation of redox sites in the particles because of selective migration of electrons and positive holes to specific exposed crystal faces and/or different reactivity of electrons and positive holes on the specific exposed crystal face.     

The roles of the Trommsdorff–Norrish effect in phase separation of binary polymer mixtures induced by photopolymerization

Influence of the Trommsdorff–Norrish (T–N) effect on the phase separation of methyl methacrylate (MMA)/poly(ethyl acrylate) (PEA) mixtures undergoing photo-polymerization was examined by a combination of several experimental techniques. By FT-IR spectroscopy, it was found that the polymerization conversion explosively increases at the onset of this T–N effect. The characteristic irradiation time τ at which this effect occurs, strongly depends on the light intensity and gradually shifts to early time as the irradiation intensity increases. The shrinkage of the mixture observed in situ by laser-scanning confocal microscopy exhibits a transition at a particular irradiation time which is slightly longer than the characteristic time τ. By gel permeation chromatography (GPC), it was found that the molecular weight of the resulting PMMA was almost unchanged before τ and suddenly increases about an order of magnitude after the onset of the auto-acceleration effect. Finally, the characteristic length scales of the morphology also quickly increase with irradiation time and are eventually frozen by this T–N effect. These experimental results indicate that the Trommsdorff–Norrish effect plays an important role in the kinetic processes of polymerization-induced phase separation, suggesting an efficient tool to control the morphology of the polymerizing mixture.     

Chain stiffness and chain conformation of poly(α-methylene-γ-butyrolactone) in dilute solutions

The chain stiffness and local chain conformation of atactic poly(α-methylene-γ-butyrolactone) (PMBL), which is a side chain cyclic structural analog of poly(methyl methacrylate) (PMMA), with a weight-average molecular weight (M_w) ranging from 2.8 × 10³ to 2.6 × 10⁶ in N,N-dimethylformamide (DMF) and γ-butyrolactone (GBL) were characterized by size exclusion chromatography with a multi-angle light-scattering detector (SEC-MALS) and synchrotron radiation small-angle X-ray scattering (SAXS). Based on the Kratky-Porod worm-like chain model, the scattering functions and the M_w dependence of z-average root-mean-square radius of gyration <S²>_z^1/2 yielded the Kuhn segment lengths λ⁻¹, the diameter of the PMBL chains d, and the excluded-volume strengths in DMF and GBL. The local conformation of atactic PMBL in DMF and GBL were slightly larger than those of atactic PMMA, due to the presence of the conformationally rigid lactone ring structure.     

Mutation Analysis of Radioresistant Early-Stage Cervical Cancer

Radiotherapy is a definitive treatment for early-stage cervical cancer; however, a subset of this disease recurs locally, necessitating establishment of predictive biomarkers and treatment strategies. To address this issue, we performed gene panel-based sequencing of 18 stage IB cervical cancers treated with definitive radiotherapy, including two cases of local recurrence, followed by in vitro and in silico analyses. Simultaneous mutations in KRAS and SMAD4 (KRAS^mt/SMAD4^mt) were detected only in a local recurrence case, indicating potential association of this mutation signature with radioresistance. In isogenic cell-based experiments, a combination of activating KRAS mutation and SMAD4 deficiency led to X-ray resistance, whereas either of these factors alone did not. Analysis of genomic data from 55,308 cancers showed a significant trend toward co-occurrence of mutations in KRAS and SMAD4. Gene Set Enrichment Analysis of the Cancer Cell Line Encyclopedia dataset suggested upregulation of the pathways involved in epithelial mesenchymal transition and inflammatory responses in KRAS^mt/SMAD4^mt cancer cells. Notably, irradiation with therapeutic carbon ions led to robust killing of X-ray-resistant KRAS^mt/SMAD4^mt cancer cells. These data indicate that the KRAS^mt/SMAD4^mt signature is a potential predictor of radioresistance, and that carbon ion radiotherapy is a potential option to treat early-stage cervical cancers with the KRAS^mt/SMAD4^mt signature.     

Interactive visualization of three-dimensional magnetic fields

In order to observe the physical values (magnetic flux density and eddy current) in 3D magnetic field analysis, an interactive and highly manipulative visualization system depicting stereo images is intalled in a graphics workstation with high functional graphic processors. The system has the following characteristics:

• 1 An interactive and highly manipulative menu window with many functions: it enables visualization of complex phenomena in a 3D field through observation of various combinations of physical values from various viewpoints.
• 2 Simultaneous display of both magnetic flux density and eddy current by using the appropriate use of two colour display methods for stream lines and distribution maps of density: this function facilitates observation of the mutual relations between two physical values in a 3D field.
• 3 Animations and stereo displays: since they give extremely distinct images, observers can easily understand even highly complex 3D phenomena.

In this paper, the calculation method of density vectors, their display methods, and interactive functions are described. Some examples are also illustrated.     

Steam Reforming of Methanol on Copper Catalysts Supported on Large-Surface-Area ZnAl2O3

Steam reforming of methanol on various supported Cu catalysts was examined. Supports strongly affected catalyst activity and, among the catalysts tested, Cu catalyst supported on large-surface-area ZnAl₂O₄ showed the highest activity, which, to the best of our knowledge, was higher than those for the supported catalysts reported so far. For supported Cu catalysts, two species were observed. One was a dispersed Cu species having strong interaction between Cu and support, and the other was an isolated Cu species. The activity of the former species strongly depended on supports.     

Measurement of liquid water content in cathode gas diffusion electrode of polymer electrolyte fuel cell

Water management in cathode gas diffusion electrode (GDE) of polymer electrolyte fuel cell (PEFC) is essential for high performance operation, because liquid water condensed in porous gas diffusion layer (GDL) and catalyst layer (CL) blocks oxygen transport to active reaction sites. In this study, the average liquid water content inside the cathode GDE of a low-temperature PEFC is experimentally and quantitatively estimated by the weight measurement, and the relationship between the water accumulation rate in the cathode GDE and the cell voltage is investigated. The liquid water behavior at the cathode is also visualized using an optical diagnostic, and the effects of operating conditions and GDL structures on the water transport in the cathode GDE are discussed. It is found that the liquid water content in the cathode GDE increases remarkably after starting the fuel cell operation due to the water production at the CL. At a high current density, the cell voltage drops suddenly after starting the operation in spite of a low water content in the cathode GDE. When the GDL thickness is increased, much water accumulates near the cathode CL and the fuel cell shuts down immediately after the operation. In the final section of this paper, the structure of cathode GDL that has several grooves for water removal is proposed to prevent water flooding and improve fuel cell performance. This groove structure is effective to promote the removal of the liquid water accumulated near the active catalyst sites.