Conflict-free navigation in unknown urban environments

This paper presents an autonomous exploration method in an unknown environment that uses model predictive control (MPC)-based obstacle avoidance with local map building by onboard sensing. An onboard laser scanner is used to build an online map of obstacles around the vehicle with outstanding accuracy. This local map is combined with a real-time MPC algorithm that generates a safe vehicle path, using a cost function that penalizes the proximity to the nearest obstacle. The adjusted trajectory is then sent to a position tracking layer in the hierarchical unmanned aerial vehicle (UAV) avionics architecture. In a series of experiments using a Berkeley UAV, the proposed approach successfully guided the vehicle safely through the urban canyon.     

OFDM Carrier Frequency Offset Estimation Methods With Improved Performance

Orthogonal frequency division multiplexing (OFDM) systems are highly sensitive to carrier frequency offset and symbol timing error. This paper deals with estimation method of integer frequency offset (IFO) without the aid of pilot symbols. The proposed IFO estimator exploits two consecutive identical OFDM data symbols with only change of phase. In order to improve the accuracy of the IFO estimator, receive diversity is adopted. To demonstrate the efficiency of the proposed IFO estimators, comparisons are made with other existing estimators in terms of error performance, estimation range, and complexity.     

Growth of MgO thin films with subsequent fabrication of ZnO rods: Structural and photoluminescence properties

We have grown magnesium oxide (MgO) films by the simple evaporation of MgB₂ powders. The subsequent deposition of ZnO by using an atomic layer deposition (ALD) technique generated the ZnO rods on MgO films, realizing the first production of rod-like structures using ALD. We have employed X-ray diffraction, scanning electron microscopy, transmission electron microscopy and photoluminescence (PL) spectroscopy to characterize the samples. PL of MgO films exhibited two emission bands peaked in the blue and blue-green region, respectively. The deposition of ZnO rods changed the shape of the PL spectrum.     

Equilibria and dynamics of liquid-phase trinitrotoluene adsorption on granular activated carbon: effect of temperature and pH

Environmental regulations for removal of trinitrotoluene (TNT) from wastewater have steadily become more stringent. This study focuses on the adsorption equilibrium, kinetics, and column dynamics of TNT on heterogeneous activated carbon. Adsorption equilibrium data obtained in terms of temperature (298.15, 313.15 and 323.15K) and pH (3, 8 and 10) were correlated by the Langmuir equation. In addition, the adsorption energy distribution functions which describe heterogeneous characteristics of porous solid sorbents were calculated by using the generalized nonlinear regularization method. Adsorption breakthrough curves were studied in activated column under various operating conditions such as temperature, pH, concentration, flow rate, and column length. We found that the effect of pH on adsorption breakthrough curves was considerably higher than other operating conditions. An adsorption model was formulated by employing the surface diffusion model inside the activated carbon particles. The model equation that was solved numerically by an orthogonal collocation method successfully simulated the adsorption breakthrough curves.     

Nanostructured thin films made by dewetting method of layer-by-layer assembly

Layer-by-layer (LBL) assembly is one of the most ubiquitous coating techniques today. It also offers a pathway for multifunctional/multicomponent materials with molecular-scale control of stratified structures. However, technological applications of LBL are impeded by laborious and fluid-demanding nature of the process. While vertical organization of LBL films is natural for this technique, the control of lateral organization of the films is fairly difficult. Using the deposition of carbon nanotubes (SWNTs) and other nanoscale colloids, we introduce here a new approach to LBL based on dewetting phenomena, d-LBL. Its strengths include: (1) elimination of rinsing steps, (2) significant acceleration of the process, (3) improvement of lateral organization of LBL films, and (4) ability to produce nanostructured coatings from colloids when classical LBL fails. The generality of d-LBL can compete with traditional LBL and is demonstrated for cellulose nanowires, polyelectrolyte pairs, and semiconductor nanoparticles, metal oxides, and Au nanorods.     

Sn-catalyzed growth of MgO nanowires

We reported the fabrication and characterization of MgO nanowires, which were grown by thermal evaporation of the mixture of MgB2 and Sn powders at 800 degrees C through a vapor-liquid-solid (VLS) process. We characterized as-synthesized MgO nanowires using X-ray diffraction, scanning electron microscopy, and transmission electron microscopy. Sn nanoparticles were located at the tips of the nanowires, serving as catalyst for the growth of MgO nanowires. The produced nanowires were of cubic MgO structures with diameters in the range of 10-170 nm. The PL measurement with a Gaussian fitting exhibited visible light emission bands centered at 403, 576, and 720 nm.     

High-performance electronics using dense, perfectly aligned arrays of single-walled carbon nanotubes

Single-walled carbon nanotubes (SWNTs) have many exceptional electronic properties. Realizing the full potential of SWNTs in realistic electronic systems requires a scalable approach to device and circuit integration. We report the use of dense, perfectly aligned arrays of long, perfectly linear SWNTs as an effective thin-film semiconductor suitable for integration into transistors and other classes of electronic devices. The large number of SWNTs enable excellent device-level performance characteristics and good device-to-device uniformity, even with SWNTs that are electronically heterogeneous. Measurements on p- and n-channel transistors that involve as many as approximately 2,100 SWNTs reveal device-level mobilities and scaled transconductances approaching approximately 1,000 cm(2) V(-1) s(-1) and approximately 3,000 S m(-1), respectively, and with current outputs of up to approximately 1 A in devices that use interdigitated electrodes. PMOS and CMOS logic gates and mechanically flexible transistors on plastic provide examples of devices that can be formed with this approach. Collectively, these results may represent a route to large-scale integrated nanotube electronics.     

A spatial equilibrium analysis of Southern Pine lumber pricing and allocation

The objective of this paper is to determine the optimum allocation and pricing pattern of Southern Pine lumber as well as to evaluate the current and future demand-supply situation. With regard to the latter, spatial equilibrium of the Southern Pine lumber market is analyzed, and a comparative statics approach involving two equilibrium points is employed. The year 1981 is chosen as the initial point in time. The future date of 1984 is selected to be used for comparative statics analysis. A spatial solution—the optimal allocation and pricing pattern—will be obtained by using the Takayama-Judge and the Liew-Shim quadratic spatial equilibrium models. In estimating regional demand and supply functions, which are critical for the analysis, the two-stage least-squares estimation method will be used, based on apooled sample of cross section and time series for the period 1971–1981. As a result of comparing the optimum 1984 solution with the 1981 solution, it is expected that some of the areas under study can experience a tight supply of Southern Pine lumber, and consequently, lumber production-consumption balances will result in deficit production.The author wishes to thank Professors C. B. McGuire, Bill F. Roberts, and Henry Vaux of the University of California at Berkeley for their valuable comments.     

Effect of glucose crosslinking on thermomechanical properties and shape memory effect of PET‐PEG copolymers

Poly(ethylene terephthalate) (PET) and poly (ethylene glycol) (PEG) copolymers crosslinked with glucose as a crosslinker are prepared to improve their mechanical and shape memory properties compared to the one without crosslinking. Composition of PEG and glucose is varied to search for the one with the best mechanical and shape memory properties. The highest shape recovery rate is found in the copolymer composed of 25 mol % PEG‐200 and 2.0 mol % glucose. The result that crosslinking by glucose improves the shape recovery rate and supports the high shape recovery rate under the repetitive cyclic test conditions, compared to the one without crosslinking, will be discussed in the points of the structure and shape memory mechanism. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008