Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows

Described here is a method for estimating rolling and swaying motions of a mobile robot using optical flow. We have proposed an image sensor with a hyperboloidal mirror for the vision-based navigation of a mobile robot. Its name is HyperOmni Vision. The radial component of optical flow in HyperOmni Vision has a periodic characteristic. The circumferential component of optical flow has a symmetric characteristic. The proposed method makes use of these characteristic to estimate robustly the rolling and swaying motion of the mobile robot. Correspondence to: Y. Yagi e-mail: y-yagi@sys.es.osaka-u.ac.jp     

Error estimation of recursive orthogonal polynomial expansion method for large Hamiltonian system

Recursive polynomial expansion method is an efficient scheme to evaluate Green functions for large systems without direct diagonalization of the Hamiltonian. It is based on a polynomial expansion of the Green function, and has many advantages compared with other methods. However, there are little reports on its error estimations. In this paper, the cut-off error of the method is estimated analytically, which results from the truncation of expansion at finite orders. It is found that the error is inversely proportional to the number of expansion order N except for the singular points for the system with point spectrum. For the system with continuous spectrum, the error is inversely proportional to N^3/2 and decreases much faster in terms of the expansion order.     

Navigation behavior based on self-organized spatial representation in hierarchical recurrent neural network

ABSTRACT

A cognitive map is an internal model of the external world and contains the spatial representation of the surrounding environment. The existence of the cognitive map was first identified in rats; rats can navigate to their desired destination using cognitive maps while dealing with environmental uncertainty. We performed a mobile robot navigation experiment where obstacles were randomly placed using hierarchical recurrent neural network (HRNN) with multiple timescales. The HRNN was trained to navigate the mobile robot to the destination indicated by a snapshot image. After the training, the HRNN was able to successfully avoid the obstacles and navigate to the destination from any location in the environment. Analysis of the internal states of the HRNN showed that the module with fast timescale handles obstacle avoidance and the one with slow timescale has spatial representation corresponding to the spatial position of the destination. Moreover, in the experiment wherein the novel path appeared, the trained HRNN performed shortcut behavior. The shortcut behavior shows that the HRNN performed navigation using the self-organized spatial representation in the slow recurrent neural network. This indicates that training of goal-oriented navigation, i.e. the navigation motivated by a snapshot image of the destination results in the self-organization of cognitive map-like representation.     

Morphology and crystallization behavior of nylon 6‐clay/neat nylon 6 bicomponent nanocomposite fibers

Nylon 6‐clay hybrid/neat nylon 6, sheath/core bicomponent nanocomposite fibers containing 4 wt % of clay in sheath section, were melt spun at different take‐up speeds. Their molecular orientation and crystalline structure were compared to those of neat nylon 6 fibers. Moreover, the morphology of the bicomponent fibers and dispersion of clay within the fibers were analyzed using scanning electron microscopy and transmission electron microscopy (TEM), respectively. Birefringence measurements showed that the orientation development in sheath part was reasonably high while core part showed negligibly low birefringence. Results of differential scanning calorimetry showed that crystallinity of bicomponent fibers was lower than that of neat nylon 6 fibers. The peaks of γ‐crystalline form were observed in the wide‐angle X‐ray diffraction of bicomponent and neat nylon 6 fibers in the whole take‐up speed, while α‐crystalline form started to appear at high speeds in bicomponent fibers. TEM micrographs revealed that the clay platelets were individually and evenly dispersed in the nylon 6 matrix. The neat nylon 6 fibers had a smooth surface while striped pattern was observed on the surface of bicomponent fibers containing clay. This was speculated to be due to thermal shrinkage of the core part after solidification of the sheath part in the spin‐line. © 2013 Wiley Periodicals, Inc. J. Appl. Polym. Sci., 2014 , 131, 39996.     

Network copolyesters from benzenepolycarboxylic acids and 1,6-hexanediol

Network copolyesters were prepared from trimesic (Y), pyromellitic (X) or mellitic (Y_H) acids and 1,6-hexanediol (6G). Prepolymers prepared by meltpolycondensation were cast from dimethylformamide solution and postpolymerized at 260°C for 6h to form a network. The resultant films were transparent, flexible and insoluble in any organic solvents. Degree of reaction estimated from the infrared absorbance of ester and methylene groups was almost the same for all films, 94–96%. X-ray diffraction intensity curves and densities showed that the ordering of networks was decreased by the copolymerization, which was remarkable for 6G–X/Y_H copolymer films and was consistent with the higher decreases of heat-distortion temperature for these copolymer films. The copolymerization also caused decrease of thermal stability, tensile properties and alkali resistance and increase of dye absorption.     

Influence of Tip Clearance on Blade Vibration of Vaneless Radial Turbine

With the increasing demand of turbochargers with high performance and low turbo lag, high cycle fatigue (HCF) of radial turbine blades has become the most commo...     

Modifying ability of Ql-free coal-tar pitch to develop optical anisotropy in co-carbonizations

Carbonization properties of a Ql-free coal-tar pitch (CTP-ASM) prepared by selective precipitation were studied to evaluate it as a source for needle-coke. Its modifying ability for production of needlecoke in co-carbonizations with principal carbonizing substances which gave cokes of mozaic texture in single carbonizations was estimated by changing mixing ratios. The shape and size of the anisotropic optical texture in the co-carbonized coke were measured by point counting. CTP-ASM and Ashland A240, of eight additives, had the highest modifying ability in the co-carbonizations with Khafji vacuum residue. Both contained ca. 6% benzene-insolubles (Bl), and had f_a values of ≈0.9. Other additives of either lower or higher Bl or f_a showed less modifying ability. The modifying susceptibility of principal carbonizing substances varies with their structure and properties. Based on a systematic investigation of co-carbonizations the compatibility between a principal carbonizing substance and an additive is discussed from a viewpoint of their structural parameters.     

A fast method for the determination of the efficiency coefficient of bare CR-39 detector

A fast and simple method for the determination of the efficiency coefficient (η) of bare CR-39 detector is presented and discussed. The efficiency coefficient of bare CR-39 detector is then calculated by different ways and the obtained values are found to be comparable to each other. The average value of η of bare CR-39 is found to be 0.20 ± 0.01 tracks cm⁻² day⁻¹ per Bq m⁻³.