Task Planning For A Mobile Robot In An Indoor Environment Using Object-oriented Domain Information

For a mobile robot to be practical, it needs to navigate in dynamically changing environments and manipulate objects in the environment with operating ease. The main challenges to satisfying these requirements in mobile robot research include the collection of robot environment information, storage and organization of this information, and fast task planning based on available information. Conventional approaches to these problems are far from satisfactory due to their requirement of high computation time. In this paper, we specifically address the problems of storage and organization of the environment information and fast task planning in the area of robotic research. We propose an special object-oriented data model (OODM) for information storage and management in order to solve the first problem. This model explicitly represents domain knowledge and abstracts a global perspective about the robot's dynamically changing environment. To solve the second problem, we introduce a fast task planning algorithm that fully uses domain knowledge related to robot applications and to the given environment. Our OODM based task planning method presents a general frame work and representation, into which domain specific information, domain decomposition methods and specific path planners can be tailored for different task planning problems. This method unifies and integrates the salient features from various areas such as database, artificial intelligence, and robot path planning, thus increasing the planning speed significantly     

Diurnal thermal cycling effects on microwave signatures of thin seaice

To investigate effects of diurnal thermal cycles on C-band polarimetric backscatter and millimeter-wave emission from sea ice, the authors carried out a winter experiment at the outdoor geophysical research facility (GRF) in the cold regions research and engineering laboratory (CRREL), the ice sheet grew from open sea water to a thickness of 10 cm in 2.5 days, during which they took polarimetric backscatter data with a C-band scatterometer, interlaced with brightness temperature measurements at 90 GHz in conjunction with meteorological and sea ice characterizations. The initial ice growth in the late morning was slow due to high insolation. As the air temperature dropped during the night, the growth rate increased significantly. Air temperature changed drastically from about -12 to -36°C between day and night, the diurnal thermal cycle repeated itself the next day and the growth rate varied in the same manner. Ice temperature profiles clearly show the diurnal response in the ice sheet with a lag of 2.5 h behind the time of the maximum short-wave incident solar radiation. The diurnal cycles are also evident in the millimeter-wave brightness temperature data, measured sea ice backscatter revealed substantial diurnal variations up to 6 dB with repeatable cycles in synchronization with the temperature cycles and the brightness temperature modulations, the diurnal cycles in backscatter indicate that the dominant scattering mechanism related to thermodynamic processes in sea ice is reversible, a diurnal backscatter model based on sea ice electrodynamics and thermodynamics explains the observed diurnal signature. This work shows that diurnal effects are important for inversion algorithms to retrieve sea ice geophysical parameters from remote sensing data acquired with a satellite synthetic aperture radar (SAR) or scatterometer on Sun-synchronous orbits     

Simulation of the pressure set-point change transient with the Kuosheng plant analyzer

The purpose of this paper is to simulate the pressure set-point change transient with the Kuosheng plant analyzer. The Kuosheng plant analyzer was developed for the Kuosheng nuclear power station based on the boiling water reactor plant analyzer of the Brookhaven National Laboratory and the Chinshan plant analyzer of the Taiwan Power Co. First, the pressure control system (PCS) model was verified on a stand-alone basis, with the sensed dome pressure test signal as the input variable. Then, a transient induced by a step change in the pressure set-point was simulated with the Kuosheng plant analyzer and compared with the test data. The predicted results of the main system variables showed good agreement with the test data-within 8% of the maximum relative deviation. In addition, the PCS performance of the Kuosheng nuclear power station was analyzed.     

A single-chip 12.7 Mchips/s digital IF BPSK direct sequencespread-spectrum transceiver in 1.2 μm CMOS

This paper describes a fully integrated digital-spread spectrum transceiver chip fabricated through MOSIS in 1.2 μm CMOS. It includes a baseband spread spectrum transmitter and a coherent intermediate frequency (IF) receiver consisting of a Costas loop, an acquisition loop for the pseudo-noise (PN) sequence, and a clock recovery loop with a 406.4 MHz onchip numerically controlled oscillator (NCO). The transceiver is capable of operating at a maximum IF sampling rate of 50.8 MS/s and a maximum chip rate of 12.7 R Mchips/s (Mcps) with selectable data rates of 100, 200, 400, and 800 kbps. At the maximum operating speed of 50.8 R MS/s, it dissipates 1.1 W. In an additive white Gaussian noise channel the IF receiver achieves a receiver output SNR within 1 dB of theory and can acquire code with a wide range of input SNR from -17 dB to over 30 dB. The transceiver chip has been interfaced to an RF up/down converter to demonstrate a wireless voice/data/video link operating in the 902-928 MHz band     

Development of Anticandidal Delivery Systems: (I) Anticandidal Activities of Antifungal Agents and Synergistic Combination with Other Drugs

Susceptibility testing with antifungal agents, e. g., minimum inhibitory concentration (MIC) determination, is performed to obtain reliable data that permit selection of the most suitable agents for treatment of an infective condition. To determine the drugs that provide maximum effectiveness against oral candidiasis, the MICs of various antifungal agents were determined. Also, synergism between two chosen antifungal agents was evaluated, and the effect of benzocaine, an anesthetic, and hydrocortisone, an antiinflammatory agent, on their MICs was examined. It was observed that among all the drugs tested, clotrimazole was the most promising candidate for use as an oral local antifungal. The combination of clotrimazole and chlorhexidine resulted in a decrease in the MIC. While the addition of hydrocortisone to this combination resulted in a slight increase in the MIC, the inclusion of benzocaine resulted in a substantial decrease in the MIC of the antifungal agent combination.     

Kinetic Study on Absorption of SO2 and NOX with Acidic NaClO2 Solutions Using the Spraying Column

The operating conditions of this study are close to the typical operating conditions of flue gas desulfurization system in coal-fired power plants. The aim of this study is to investigate the absorption kinetics of SO2 and NO from simulated flue gas into an aqueous solution of acidic sodium chlorite using a bench-scale spraying column. The range of absorption rates measured in this study is between 1.91×10?11 and 9.59×10?10?mol?s?1?cm?2. The range of rate constants measured in this study is between 1.32×107 and 1.21×108?(L?mol?1)1.9?s?1, and the average rate constant is 6.16×107?(L?mol?1)1.9?s?1. The activation energy and frequency factor are 129 Kcal/mol (53.97 KJ/mol) and 6.93×1016?[(L/mol)1.9/s], respectively.     

Renal R2 chemoreceptor activity is attenuated after back heating in the rat

The aim of the present study was to determine the afferent connections of the nucleus accumbens in snakes, in particular its catecholaminergic input. For that purpose, in vitro and in vivo applications of retrograde tracers in the nucleus accumbens of Elaphe guttata were combined with tyrosine hydroxylase (TH) immunohistochemistry. Both techniques revealed telencephalic inputs to the nucleus accumbens originating from the diagonal band of Broca, ventral pallidum, amygdaloid complex, and dorsal cortex. Major diencephalic inputs arise from the dorsomedial thalamic nucleus and the hypothalamus. In the brainstem, a few retrogradely labeled cells were observed in the raphe nucleus and the locus coeruleus. Considerably more cells were found in the midbrain tegmentum. Within the confines of the locus coeruleus and, in particular, the midbrain tegmentum, retrogradely labeled cells stained also for TH suggesting that those areas constitute the major catecholaminergic input to the nucleus accumbens of snakes. The experimental approach used in the present study, in particular the in vitro technique, seems to be very suited for studying the development of basal ganglia organization of reptiles in the near future.     

2 cm long monolithic multisection laser for active modelocking at 2.2 GHz

A 2 cm long three-contact multisection laser has been fabricated for modelocking at very low repetition rates. Active modelocking yields 8.0-12.3 ps pulses at 2.2, 4.3 and 6.5 GHz corresponding to the fundamental, first, and second harmonics of the cavity resonance frequency. This device demonstrates the feasibility of fabricating monolithic pulse sources operating at rates as low as the OC-48 Sonet transmission rate (2.488 Gbit/s).<>     

Onset of gas self-induction and power consumption after gas induction in an agitated tank

The behavior of inducted gas from liquid surface and the; power requirements in an agitated tank using a mechanical agitator are studied in order to increase the amount of gas self-induction and the gas retention time for gas absorption. A 45° six-blade downward impeller turbine was utilized in this study. Air and water, air and 40 wt% 60 wt%, and 80 wt% of glycerin water, and air and 106 cP silicon oil were employed as gas and liquid phases. Variables which were studied included geometrical factors (immersed depth of impeller, baffle with and diameter of impeller) and the physical properties of the liquid (viscosity, density, and surface tension). The correlations for the onset speed of impeller and power consumption after gas induction in the agitated tank are established from our experimental results. The amount of gas self-induction from the liquid surface in the agitated tank increases with increasing impeller diameter and speed and decreases with increasing baffle width, depth of impeller and viscosity of liquid.