Development of an indoor navigation system for a monocular-vision-based autonomous mobile robot

We have developed a technology for a robot that uses an indoor navigation system based on visual methods to provide the required autonomy. For robots to run autonomously, it is extremely important that they are able to recognize the surrounding environment and their current location. Because it was not necessary to use plural external world sensors, we built a navigation system in our test environment that reduced the burden of information processing mainly by using sight information from a monocular camera. In addition, we used only natural landmarks such as walls, because we assumed that the environment was a human one. In this article we discuss and explain two modules: a self-position recognition system and an obstacle recognition system. In both systems, the recognition is based on image processing of the sight information provided by the robot’s camera. In addition, in order to provide autonomy for the robot, we use an encoder and information from a two-dimensional space map given beforehand. Here, we explain the navigation system that integrates these two modules. We applied this system to a robot in an indoor environment and evaluated its performance, and in a discussion of our experimental results we consider the resulting problems.     

Transient stability considering dynamic load in bulk power system with high DG penetration

Transient stability may be seriously affected when a large number of distributed generators (DG) stop simultaneously during voltage sag. It is necessary to analyze accurately the dynamics of bulk power systems with high DG penetration. In this paper, transient stability is studied by analyzing power‐angle curves of generators while considering load dynamics and model order reduction at lower voltages. Based on the analysis, a decrease in the load internal resistance after voltage sag causes transient instability of generators. The phenomenon is confirmed through simulation using a one‐machine and one‐load model. This paper also suggests that the simulation results might be misled by traditional bulk power system modeling such as using the static load model and ignoring impedance at lower voltages. As for the numerical simulation, a large level of DG stoppage leads to transient step out in a bulk power system, and the stability is greatly improved by DG voltage regulation. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 162(2): 20– 29, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20608     

The Impact of Duodenal Mucosal Vulnerability in the Development of Epigastric Pain Syndrome in Functional Dyspepsia

An unidentified cause of functional dyspepsia (FD) is closely associated with medication resistance. Acid suppression is a traditional and preferential method for the treatment of FD, but the efficacy of this treatment varies between epigastric pain syndrome (EPS) and postprandial syndrome (PDS): it is efficient in the former but not much in the latter. Transepithelial electrical resistance (TEER), a surrogate of mucosal barrier function, was measured under pH 3 and pH 5 acidic conditions using duodenal biopsy specimens obtained from the patients with EPS and PDS and asymptomatic healthy controls. The infiltration of inflammatory cells to the duodenal mucosa was accessed by immunohistochemical analysis. The duodenal mucosal TEER in EPS patients was decreased by exposure to the acidic solution compared to that of the controls and the PDS patients. The decrease in TEER of the EPS patients was observed even under pH 5 weak acidic condition and was correlated to degree of the epigastric pain. Moreover, the duodenal mucosa of EPS patients presented an increase in mast cells and plasma cells that expressed Ig-E. Duodenal mucosal vulnerability to acid is likely to develop EPS.     

Synthesis of an AlN Polycrystalline Bulk Layer and Nanotubes by Using NH3 and Bi

A bulk layer of aluminum nitride (AlN) polycrystals was synthesized on a boron nitride crucible surface by heating Al chunks with 5 mol% of bismuth at 1273 K for 3 h under NH₃ gas flow. The fragments of the layer were characterized by X-ray diffraction, scanning electron microscopy, and transmission electron microscopy. The platelet grains of AlN with a size of 0.1–1.0 μm and having preferred orientation of the c -axis perpendicular to the layer were formed at the crucible side. Nanotubes 6–15 μm long and about 20–100 nm thick grew on the gas phase side of the layer.     

Characteristics of N2/SF6 mixture gas in creeping discharge developing in narrow gap with backside electrode

The flashover voltage with a backside electrode was found to be lower than that without the backside electrode. Under microsecond pulse voltage application, we describe the characteristics of a creeping discharge developed in the narrow gap with the backside electrode. Using a CCD camera and ultrahigh‐speed camera, we observed the corona extension processes. The lowest flashover voltage was found to be obtained at positive polarity with a SF₆ content D = 3%. In the corona extension obtained using an ultrahigh‐speed camera, peculiar differences were observed in the corona extension process. The corona extension increased, and rapid flashover was observed at D = 3%. Using a CCD camera, small coronas were detected from the backside electrode. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 158(2): 31–38, 2007; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20431     

Gas phase oxidation of benzene to phenol using Pd-Cu composite catalysts. Effect of temperature,feeding gas and catalyst composition

Catalytic oxidation of benzene in the gas phase has been studied as a function of the catalyst composition, reaction temperature and the feed conditions of reactant gases, hydrogen, oxygen, benzene as well as diluting inert gas. The catalyst tested is composed of Pd and Cu(I) ions, both of which are supported on silica gel. If one of the two metal species is lacked from the catalyst, no catalytic activity appears. The product is almost exclusively phenol and some accompanying benzoquinone, in particular at lower temperatures, as minor byproduct.On leave from Hua-Dong Institute of Technology, Nanjing, People's Republic of China.     

Effect of Hypoxia on Pulmonary Endothelial Cells from Bleomycin-Induced Pulmonary Fibrosis Model Mice

Pulmonary fibrosis is a progressive and fatal disorder characterized by dysregulated repair after recurrent injury. Destruction of the lung architecture with excess extracellular matrix deposition induces respiratory failure with hypoxia and progressive dyspnea. The impact of hypoxia on pulmonary endothelial cells during pulmonary fibrogenesis is unclear. Using a magnetic-activated cell sorting system, pulmonary endothelial cells were isolated from a mouse model of pulmonary fibrosis induced by intratracheally administered bleomycin. When endothelial cells were exposed to hypoxic conditions, a hypoxia-inducible factor (HIF)-2α protein was detected in CD31- and α-smooth muscle actin (SMA)-positive cells. Levels of plasminogen activator inhibitor 1, von Willebrand factor, and matrix metalloproteinase 12 were increased in endothelial cells isolated from bleomycin-treated mice exposed to hypoxic conditions. When endothelial cells were cultured under hypoxic conditions, levels of fibrotic mediators, transforming growth factor-β and connective tissue growth factor, were elevated only in endothelial cells from bleomycin-treated and not from saline-treated lungs. The increased expression of α-SMA and mesenchymal markers and collagen production in bleomycin- or hypoxia-stimulated endothelial cells were further elevated in endothelial cells from bleomycin-treated mouse lungs cultured under hypoxic conditions. Exposure to hypoxia damaged endothelial cells and enhanced fibrogenesis-related damage in bleomycin-treated pulmonary endothelial cells.     

A Quick Rendering Method Using Basis Functions for Interactive Lighting Design

When designing interior lighting effects, it is desirable to compare a variety of lighting designs involving different lighting devices and directions of light. It is, however, time-consuming to generate images with many different lighting parameters, taking interreflection into account, because all luminances must be calculated and recalculated. This makes it difficult to design lighting effects interactively. To address this problem, this paper proposes a method of quickly generating images of a given scene illustrating an interreflective environment illuminated by sources with arbitrary luminous intensity distributions. In the proposed method, the luminous intensity ditribution is expressed with basis functions. The proposed method uses a series of spherical harmonic functions as basis functions, and calculates in advance each intensity on surfaces lit by the light sources whose luminous intensity distribution are the same as the spherical harmonic functions. The proposed method makes it possible to generate images so quickly that we can change the luminous intensity distribution interactively. Combining the proposed method with an interactive walk-through that employs intensity mapping, an interactive system for lighting design is implemented. The usefulness of the proposed method is demonstrated by its application to interactive lighting design, where many images are generated by altering lighting devices and/or direction of light.     

用ESCA分析等离子体处理了的氟树脂表面

用微波炉产生的微波对氟树脂进行等离子体处理,用ESCA作了表面分析。处理后的试样在533eV处出现O_(1S)的一大峰,在292eV～285eV间出现C_(1S)的连续宽谱带。氧的导入量随着处理时容器内气压(P)的降低而增大,可见随着P的降低处理的效果增大。为了得到深度方向的分布,采用了氩离子剥蚀法和掠射法。随着剥蚀的进行,由等离子体处理所导入的氧急剧减少。用掠射法测定了刚经过处理的FEP和处理后放置了70小时后的FEP的深度分布。刚处理后的试样,氧量随出射角(θ)的减少(即随分析深度的减小)而增大,氟量则减小。相反,处理后放置70小时,在15°<θ<60°的范围内,氟量增加,氧量减少。这是因为低表面自由能的含氟键段移动到表面上所致。由深度方向的分布的结果可以推断,等离子体处理的效果达到了ESCA在θ=90°的分析深度的一半左右。