Outdoor autonomous navigation using SURF features

In this article, we propose a speeded-up robust features (SURF)-based approach for outdoor autonomous navigation. In this approach, we capture environmental images using an omni-directional camera and extract features of these images using SURF. We treat these features as landmarks to estimate a robot’s self-location and direction of motion. SURF features are invariant under scale changes and rotation, and are robust under image noise, changes in light conditions, and changes of viewpoint. Therefore, SURF features are appropriate for the self-location estimation and navigation of a robot. The mobile robot navigation method consists of two modes, the teaching mode and the navigation mode. In the teaching mode, we teach a navigation course. In the navigation mode, the mobile robot navigates along the teaching course autonomously. In our experiment, the outdoor teaching course was about 150 m long, the average speed was 2.9 km/h, and the maximum trajectory error was 3.3 m. The processing time of SURF was several times shorter than that of scale-invariant feature transform (SIFT). Therefore, the navigation speed of the mobile robot was similar to the walking speed of a person.     

Enhancing integrated earthquake simulation with high performance computing

Integrated earthquake simulation (IES) is a seamless simulation of the three earthquake processes, namely, the earthquake hazard process, the earthquake disaster process and the anti-disaster action process. High performance computing (HPC) is essential if IES, or particularly, the simulation of the earthquake disaster process is applied to an urban area in which 10^4∼6 structures are located. IES is enhanced with parallel computation, and its performance is examined, so that virtual earthquake disaster simulation will be made for a model of an actual city by inputting observed strong ground motion. It is shown that parallel IES has fairly good scalability even when advanced non-linear seismic structure analysis is used.     

Study of Superconducting Fault Current Limiter Using Vacuum Interrupter Driven by Electromagnetic Repulsion Force for Commutating Switch

Using a high-temperature superconductor, we constructed and tested a model superconducting fault current limiter (SFCL). The superconductor and the vacuum interrupter as the commutation switch were connected in parallel using a bypass coil. When the fault current flows in this equipment, the superconductor is quenched and the current is transferred to the parallel coil because of the voltage drop in the superconductor. This large current in the parallel coil actuates the magnetic repulsion mechanism of the vacuum interrupter. Due to the opening of the vacuum interrupter, the current in the superconductor is broken. By using this equipment, the current flow time in the superconductor can be easily minimized. On the other hand, the fault current is also easily limited by large reactance of the parallel coil     

State-space forms for higher-order discrete-time models

This paper presents a fundamental study of the connection between continuous- and discrete-time systems. Provided is a definition for discrete-time models, that is discrete-time systems with a continuous-time counterpart, whose order can be higher than that of the continuous-time system. This definition is based on a comparison in a certain sense on the time responses of continuous- and discrete-time systems. A theorem is presented for relating the higher-order discrete-time models to their continuous-time counterparts, which is an extension of a previous theorem for models with order equal to that of the continuous-time system. State-space forms are derived for models obtained through the use of a certain class of hold elements and through the use of mapping models, and these discrete-time systems are shown to be valid according to the definition. Special cases are models obtained using first-order and slewer hold devices, whose convergence to a continuous-time counterpart has not been shown mathematically before, and mapping models corresponding to two-step linear multi-step methods, which have not previously presented in the state-space form. The derived state-space forms provide a convenient way to implement these models for purposes of analysis, design, and implementation of discrete-time systems and finds applications in such areas as digital signal processing, digital simulation, and digital control.     

基于微放电加工元件轮廓测量的探针制造

为了推动微加工和微机械技术的进步，微型零件轮廓和尺度测量方法的发展非常重要．可行方法之一就是使用带微探头的小型三维轮廓测量仪．这种仪器的探头必须针对某个零件的测量，按照最佳外形制造．微放电加工有着极小加工力，可用于各种探头的制造，本研究中用它进行探头加工．用这种方法制造了多种探头，将其装在基于扫瞄隧道显微技术(STM)的小型三维轮廓测量仪上．所制造的探头已被成功地用于各种微元件测量，结果表明此方法可行．     

Detection of a tryptophan radical as an intermediate species in the reaction of horseradish peroxidase mutant (Phe-221 --> Trp) and hydrogen peroxide

The crucial reaction intermediate in the reaction of peroxidase with hydrogen peroxide (H2O2), compound I, contains a porphyrin pi-cation radical in horseradish peroxidase (HRP), which catalyzes oxidation of small organic and inorganic compounds, whereas cytochrome c peroxidase (CcP) has a radical center on the tryptophan residue (Trp-191) and oxidizes the redox partner, cytochrome c. To investigate the roles of the amino acid residue near the heme active center in discriminating the function of the peroxidases in these two enzymes, we prepared a CcP-like HRP mutant, F221W (Phe-221 --> Trp). Although the rapid spectral scanning and stopped-flow experiments confirmed that the F221W mutant reacts with H2O2 to form the porphyrin pi-cation radical at the same rate as for the wild-type enzyme, the characteristic spectral features of the porphyrin pi-cation radical disappeared rapidly, and were converted to the compound II-type spectrum. The EPR spectrum of the resultant species produced by reduction of the porphyrin pi-cation radical, however, was quite different from that of compound II in HRP, showing typical signals from a Trp radical as found for CcP. The sequential radical formation from the porphyrin ring to the Trp residue implies that the proximal Trp is a key residue in the process of the radical transfer from the porphyrin ring, which differentiates the function of peroxidases.     

Measurements of the refractive index of alternative refrigerants

Measurements of coexistence curves of the refractive index of HCFC-22, HFC23, HFC-32, HFC-125, and HFC-152a have been carried out in the range from ambient to critical temperature. Near the critical temperature the refractive index has distribution in both the vapor and the liquid phases in the test cell. Thus the values at the boundary between vapor and liquid are selected at those of saturated vapor and liquid, respectively. The values of the critical temperature and critical refractive index for each substance are estimated. The refractive index is related to density by the Lorentz-Lorenz equation. In the case of HFC-32 the value of the LL function is assumed to be constant in the limited region near the critical point, and the values of density of saturated vapor and liquid are calculated and are compared with the experimental values of density obtained byPVT measurement.Paper presented at the Twelfth Symposium on Thermophysical Properties, June 19–24, 1994, Boulder, Colorado, U.S.A.     

Equations for Thermal Conductivity of Natural Refrigerants

Experimental results for the thermal conductivity of ammonia, propane, butane, isobutane, and propylene are reviewed, with special attention given to the liquid phase. New equations for the thermal conductivity of these five substances applicable for practical use over wide ranges of temperature and pressure including the critical region are proposed based on the experimental data. The present equations as well as the existing equations are compared with the experimental data. Compared with existing equations for ammonia, isobutane, and propylene, which are not reliable in the liquid phase, the behavior of the thermal conductivity for these substances is much improved using the present equations.     

Development and Use of a Kinetical and Real-Time Monitoring System to Analyze the Replication of Hepatitis C Virus

In microbiological research, it is important to understand the time course of each step in a pathogen’s lifecycle and changes in the host cell environment induced by infection. This study is the first to develop a real-time monitoring system that kinetically detects luminescence reporter activity over time without sampling cells or culture supernatants for analyzing the virus replication. Subgenomic replicon experiments with hepatitis C virus (HCV) showed that transient translation and genome replication can be detected separately, with the first peak of translation observed at 3–4 h and replication beginning around 20 h after viral RNA introduction into cells. From the bioluminescence data set measured every 30 min (48 measurements per day), the initial rates of translation and replication were calculated, and their capacity levels were expressed as the sums of the measured signals in each process, which correspond to the areas on the kinetics graphs. The comparison of various HuH-7-derived cell lines showed that the bioluminescence profile differs among cell lines, suggesting that both translation and replication capacities potentially influence differences in HCV susceptibility. The effects of RNA mutations within the 5′ UTR of the replicon on viral translation and replication were further analyzed in the system developed, confirming that mutations to the miR-122 binding sites primarily reduce replication activity rather than translation. The newly developed real-time monitoring system should be applied to the studies of various viruses and contribute to the analysis of transitions and progression of each process of their life cycle.