Terrain classification and identification of tree stems using ground‐based LiDAR

To operate autonomously in forested terrain, unmanned ground vehicles must be able to identify the load‐bearing surface of the terrain (i.e., the ground) and obstacles in the environment. To travel long distances, they must be able to track their position even when the forest canopy obstructs GPS signals, e.g., by tracking progress relative to tree stems. This paper presents a novel, robust approach for modeling the ground plane and tree stems in forests from a single viewpoint using a lightweight LiDAR scanner. Ground plane identification is implemented using a two‐stage approach. The first stage, a local height‐based filter, discards most nonground points. The second stage, based on a support vector machine classifier, identifies which of the remaining points belong to the ground. Main tree stems are modeled as cylinders or cones to estimate the diameter 130 cm above the ground plane. To fit these models, candidate main stem data are selected by finding points approximately 130 cm above the ground. These points are clustered into separate point clouds for each stem. Cylinders and cones are fit to each point cloud, and heuristic filters identify which fits correspond to tree stems. Experimental results from five forested environments demonstrate the effectiveness of this approach. For ground plane estimation, the overall classification accuracy was 86.28% with a mean error for the ground height of approximately 4.7 cm. For stem estimation, up to 50% of the main stems were accurately modeled using cones, with a root mean square diameter error of 13.2 cm.© 2012 Wiley Periodicals, Inc.     

Abstract picture generation and zooming user interface for intuitive music browsing

Today many people store music media files in personal computers or portable audio players, thanks to recent evolution of multimedia technologies. The more music media files these devices store, the messier it is to search for tunes that users want to listen to. We propose MusCat, a music browser to interactively search for the tunes according to features, not according to metadata (e.g. title, artist name). The technique firstly calculates features of tunes, and then hierarchically clusters the tunes according to the features. It then automatically generates abstract pictures, so that users can recognize characteristics of tunes more instantly and intuitionally. It finally visualizes the tunes by using abstract pictures. MusCat enables intuitive music selection with the zooming user interface.     

Selective Raman Scattering Detection of the Dirac Node and the Anti-node of the Spin Density Wave Gap and Magnetic Excitations in BaFe2As2

The electronic and magnetic excitations at the spin density wave (SDW) transition are investigated by Raman scattering. The multi-orbital electronic states induce the Dirac nodes in the SDW gap. The excitations near the nodes and anti-nodes are separately detected in accordance with the two-orbital tight-binding model. The exchange interactions are found to be given by the second derivative of the total energy with respect to the angle of the moment from two-magnon scattering. The two-magnon peak has the large spectral weight above twice the maximum energy of magnon. It is interpreted by the magnetic self-energy of the electron spectral function in the localized spin model or particle-hole excitations in the itinerant spin model.     

Estimation of anisotropic properties of nano-structured arrays by modal vibration control at microscale

Nano-structured arrays are engineered to meet the requirements of a variety of applications such as microfilters, sensors, and structural interface due to their unique mechanical characteristics, which cannot be achieved by conventional solid materials. However, it is hard to evaluate the elastic properties of nano-structured arrays owing to the discrete structure, sample size, and availability of suitable techniques. To facilitate this, we develop an advanced three-dimensional microscale vibration testing process. In the test, a specially designed three-dimensional microspecimen with tuned mass is excited by a piezoelectric actuator, and the resonance frequencies are detected by a laser device successfully. The anisotropic elastic moduli of nano-structured array composed of helical nano-springs are identified from a single spectrum. This array shows so strong characteristic anisotropy that the solid one hardly can attain. The microscale testing technique can be extended to other materials and microstructures.     

Neuroprotection,Growth Factors and BDNF-TrkB Signalling in Retinal Degeneration

Neurotrophic factors play key roles in the development and survival of neurons. The potent neuroprotective effects of neurotrophic factors, including brain-derived neurotrophic factor (BDNF), ciliary neurotrophic factor (CNTF), glial cell-line derived neurotrophic factor (GDNF) and nerve growth factor (NGF), suggest that they are good therapeutic candidates for neurodegenerative diseases. Glaucoma is a neurodegenerative disease of the eye that causes irreversible blindness. It is characterized by damage to the optic nerve, usually due to high intraocular pressure (IOP), and progressive degeneration of retinal neurons called retinal ganglion cells (RGCs). Current therapy for glaucoma focuses on reduction of IOP, but neuroprotection may also be beneficial. BDNF is a powerful neuroprotective agent especially for RGCs. Exogenous application of BDNF to the retina and increased BDNF expression in retinal neurons using viral vector systems are both effective in protecting RGCs from damage. Furthermore, induction of BDNF expression by agents such as valproic acid has also been beneficial in promoting RGC survival. In this review, we discuss the therapeutic potential of neurotrophic factors in retinal diseases and focus on the differential roles of glial and neuronal TrkB in neuroprotection. We also discuss the role of neurotrophic factors in neuroregeneration.     

Influence of Cu metal on the domain structure and carrier mobility in single-layer graphene

We demonstrate that domain structure of single-layer graphene grown by ambient pressure chemical vapor deposition is strongly dependent on the crystallinity of the Cu catalyst. Low energy electron microscopy analysis reveals that graphene grown using a Cu foil gives small and mis-oriented graphene domains with a number of domain boundaries. On the other hand, no apparent domain boundaries are observed in graphene grown over a heteroepitaxial Cu(111) film deposited on sapphire due to unified orientation of graphene hexagons. The difference in the domain structures is correlated with the difference in the crystal plane and grain structure of the Cu metal. The graphene film grown on the heteroepitaxial Cu film exhibits much higher carrier mobility than that grown on the Cu foil.     

Investigation of Precipitation Behavior in Age-Hardenable Cu-Ti Alloys by an Extraction-Based Approach

We investigated the precipitation processes in Cu-4 mol pct Ti alloy specimens aged at 723 K (450 °C), by means of X-ray diffraction and chemical analyses of the precipitates extracted from the parent alloy specimens. Aging-induced precipitate particles of a spinodally decomposed disorder, α′; those of a metastable order, β′-Cu₄Ti; and those of a stable order, β-Cu₄Ti, were continuously formed in the aged specimens. The extraction of the precipitate particles from the aged specimens by submergence in a nitric solution allowed for not only the structural analyses of the constituent precipitate phases but also the quantitative evaluation of their chemical compositions and volume fractions. Early during the aging process, the supersaturated Cu solid solution decomposes spinodally in a continuous manner, and an unstable disorder, α′, appears. Then, fine needle-shaped β′-Cu₄Ti particles, which have a Ti content of approximately 37.5 mol pct, form in the Cu matrix. During prolonged aging, coarse cellular components composed of the terminal Cu solid solution and stable β-Cu₄Ti particles which have a Ti content of 20.5 mol pct nucleate and grow, primarily in the grain boundaries, at the expense of the metastable β′-Cu₄Ti particles. The volume fraction of the β′-Cu₄Ti particles in the alloy reaches a maximum of approximately 1.7 pct after aging for 24 hours, while that of the β-Cu₄Ti particles increases steadily to more than 18 pct after 480 hours. The volume fraction of the fine β′-Cu₄Ti particles in the alloy specimens remained constant throughout the age-hardening, indicating that the hardening is primarily owing to the fine dispersion of the β′-Cu₄Ti particles and not because of the large volume fraction of coarse β-Cu₄Ti particles.