Path-planning and navigation of a mobile robot as discrete optimization problems

There is huge diversity among navigation and path-planning problems in the real world because of the enormous number and great variety of assumptions about the environments, constraints, and tasks imposed on a robot. To deal with this diversity, we propose a new solution to the path-planning and navigation of a mobile robot. In our approach, we formulated the following two problems at each time-step as discrete optimization problems: (1) estimation of a robot's location, and (2) action decision. For the first problem, we minimize an objective function that includes a data term, a constraint term, and a prediction term. This approach is an approximation of Markov localization. For the second problem, we define and minimize another objective function that includes a goal term, a smoothness term, and a collision term. Simulation results show the effectiveness of our approach. This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28, 2000     

Minimizing False Positives of a Decision Tree Classifier for Intrusion Detection on the Internet

Machine learning or data mining technologies are often used in network intrusion detection systems. An intrusion detection system based on machine learning utilizes a classifier to infer the current state from the observed traffic attributes. The problem with learning-based intrusion detection is that it leads to false positives and so incurs unnecessary additional operation costs. This paper investigates a method to decrease the false positives generated by an intrusion detection system that employs a decision tree as its classifier. The paper first points out that the information-gain criterion used in previous studies to select the attributes in the tree-constructing algorithm is not effective in achieving low false positive rates. Instead of the information-gain criterion, this paper proposes a new function that evaluates the goodness of an attribute by considering the significance of error types. The proposed function can successfully choose an attribute that suppresses false positives from the given attribute set and the effectiveness of using it is confirmed experimentally. This paper also examines the more trivial leaf rewriting approach to benchmark the proposed method. The comparison shows that the proposed attribute evaluation function yields better solutions than the leaf rewriting approach.

Self-organizing maps with asymmetric neighborhood function

The self-organizing map (SOM) is an unsupervised learning method as well as a type of nonlinear principal component analysis that forms a topologically ordered mapping from the high-dimensional data space to a low-dimensional representation space. It has recently found wide applications in such areas as visualization, classification, and mining of various data. However, when the data sets to be processed are very large, a copious amount of time is often required to train the map, which seems to restrict the range of putative applications. One of the major culprits for this slow ordering time is that a kind of topological defect (e.g., a kink in one dimension or a twist in two dimensions) gets created in the map during training. Once such a defect appears in the map during training, the ordered map cannot be obtained until the defect is eliminated, for which the number of iterations required is typically several times larger than in the absence of the defect. In order to overcome this weakness, we propose that an asymmetric neighborhood function be used for the SOM algorithm. Compared with the commonly used symmetric neighborhood function, we found that an asymmetric neighborhood function accelerates the ordering process of the SOM algorithm, though this asymmetry tends to distort the generated ordered map. We demonstrate that the distortion of the map can be suppressed by improving the asymmetric neighborhood function SOM algorithm. The number of learning steps required for perfect ordering in the case of the one-dimensional SOM is numerically shown to be reduced from O(N(3)) to O(N(2)) with an asymmetric neighborhood function, even when the improved algorithm is used to get the final map without distortion.     

Simulation of postoperative 3D facial morphology using a physics-based head model

We propose a prototype of a facial surgery simulation system for surgical planning and the prediction of facial deformation. We use a physics-based human head model. Our head model has a 3D hierarchical structure that consists of soft tissue and the skull, constructed from the exact 3D CT patient data. Anatomic points measured on X-ray images from both frontal and side views are used to fire the model to the patient's head. The purposes of this research is to analyze the relationship between changes of mandibular position and facial morphology after orthognathic surgery, and to simulate the exact postoperative 3D facial shape. In the experiment, we used our model to predict the facial shape after surgery for patients with mandibular prognathism. Comparing the simulation results and the actual facial images after the surgery shows that the proposed method is practical.     

De Haas-van Alphen effect study of magnetic interaction in lead

Frequency and amplitude modulation (FM and AM) of a high-frequency (HF) de Haas-van Alphen oscillation due to magnetic interaction (MI) with a low-frequency (LF) oscillation in lead has been examined for field directions parallel to and close to 110, in the light of the old and of a new treatment of MI based on uniform and inhomogeneous inductions over the sample, respectively. The de Haas-van Alphen signals have been measured by the standard low-frequency field modulation method. The strength of AM and the sideband around HF have been examined as a function of the strength of FM and it is found that the experimental data deviate significantly from the prediction by the old treatment. Moreover, the deviation depends not only on the particular sample chosen to study, but also on the orientation, suggesting that the MI effect is influenced by the microscopic inhomogeneity of the sample. The absolute amplitude of LF also has been measured and is found again to deviate significantly from the prediction by the old treatment. However, the measured amplitude shows a satisfactory agreement with the prediction by the new treatment. In conclusion, the new treatment is a plausible theory which can describe all our experimental results, not only qualitatively but also quantitatively.     

Shear viscosity of the B phase of superfluid3He

The shear viscosity (T) in the Balian-Werthamer (BW) state of superfluid ³ He is calculated variationally throughout the region 0t 1(t=T/T _c) from the transport equation for Bogoliubov quasiparticles. Coherence factors are treated exactly in the calculation of the collision integral. The numerical result for =_s= _s(T)/_n(T_c) agree very well with experiment in the range 0.8t1.0. Analytic expressions = 0.577 (1–1.0008t) and =1–(23/64) [=(T)/k _B T] are obtained in the low-temperature region and in the vicinity ofT _c, respectively. From the numerical analysis it is shown that the latter equation is valid only in the temperature range 0.9997t1.0.Supported by the Research Institute for Fundamental Physics, Kyoto University.     

Nitrogen and phosphorus effluent loads from a paddy-field district adopting collective crop rotation

Japanese paddy rice systems commonly adopt the rotation of vegetables, wheat and soybeans with paddy rice. Crop rotation may, however, increase the nutrient load in effluent discharged from the district because more fertilizer is applied to the rotation crops than is applied to paddy crops. We investigated a paddy-field district subject to collective crop rotation and quantified the annual nutrient load of effluent from the district in three consecutive years. The total annual exports of nitrogen and phosphorus over the investigation period ranged from 30.3 to 40.6 kg N ha(-1) and 2.62 to 3.13 kg P ha(-1). The results suggest that rotation cropping increases the effluent nutrient load because applied fertilizer is converted to nitrate, and surface runoff is increased due to the absence of shuttering boards at the field outlets.     

Copolymerization of Vinyl Chloride and Ethylene with Cp<Superscript>*</Superscript>Ti( OCH<Subscript>3</Subscript>)<Subscript>3</Subscript>/MAO Catalyst

Summary Copolymerization of vinyl chloride (VC) and ethylene with Cp^*Ti( OCH₃)₃/MAO catalyst was investigated. The Cp^*Ti( OCH₃)₃/MAO catalyst initiated the copolymerization of VC with ethylene, although the copolymer yields were low. In the ¹³C NMR spectra of the copolymers, the peaks based on junction part between VC and ethylene was observed, but the signals were small. From DSC measurement of the copolymers, only one glass transition temperature was observed. Thus, it is clear that the copolymerization with Cp^*Ti( OCH₃)₃/MAO catalysts gave the copolymer, and the copolymer consisting of block sequence rather than random copolymer. Received: 13 November 2002/Revised: 6 January 2003/Accepted: 10 January 2003 Correspondence to Kiyoshi Endo     

Helium gas permeability of montmorillonite/epoxy nanocomposites

Helium gas permeability of silicate clay (montmorillonite) particles/epoxy nanocomposites was examined. The incorporation of increasing amounts of montmorillonite particles reduced the helium gas permeability. Based on Fick’s law, gas permeation behavior of the nanocomposite was evaluated. With the increase of montmorillonite loading, gas diffusivity decreased, while gas solubility increased. Helium diffusion behavior is in agreement to the numerical results based on the Hatta–Taya–Eshelby theory. It has been revealed that dispersion of nanoscale platelets in polymer is effective in improving gas barrier property.     

Grain refinement and superplasticity in a magnesium alloy processed by equal-channel angular pressing

The extrusion/equal channel angular pressing (EX-ECAP) processing procedure, in which magnesium-based alloys are subjected to extrusion followed by ECAP, was applied to a Mg-7.5 pct Al-0.2 pct Zr alloy prepared by casting. Microstructural inspection showed the EX-ECAP process was effective in reducing the grain size from ∼21 μm after extrusion to an as-pressed grain size of ∼0.8 μm. It is shown through static annealing that these ultrafine grains are reasonably stable up to 473 K, but grain growth occurs at higher temperatures. Tensile specimens were cut from the billets prepared by EX-ECAP and testing showed these specimens exhibited superplasticity at relatively low temperatures with maximum elongations up to >700 pct. By processing through EX-ECAP to a higher imposed strain and thereby increasing the area fraction of high-angle boundaries, it is demonstrated that there is a potential for achieving high-strain-rate superplasticity. This article is based on a presentation made at the Symposium entitled “Phase Transformations and Deformation in Magnesium Alloys,” which occurred during the Spring TMS meeting, March 14–18, 2004, in Charlotte, NC, under the auspices of the ASM-MSCTS Phase Transformations Committee.