Speaker localization and tracking with a microphone array on a mobile robot using von Mises distribution and particle filtering

This paper deals with the problem of localizing and tracking a moving speaker over the full range around the mobile robot. The problem is solved by taking advantage of the phase shift between signals received at spatially separated microphones. The proposed algorithm is based on estimating the time difference of arrival by maximizing the weighted cross-correlation function in order to determine the azimuth angle of the detected speaker. The cross-correlation is enhanced with an adaptive signal-to-noise estimation algorithm to make the azimuth estimation more robust in noisy surroundings. A post-processing technique is proposed in which each of these microphone-pair determined azimuths are further combined into a mixture of von Mises distributions, thus producing a practical probabilistic representation of the microphone array measurement. It is shown that this distribution is inherently multimodal and that the system at hand is non-linear. Therefore, particle filtering is applied for discrete representation of the distribution function. Furthermore, the two most common microphone array geometries are analysed and exhaustive experiments were conducted in order to qualitatively and quantitatively test the algorithm and compare the two geometries. Also, a voice activity detection algorithm based on the before-mentioned signal-to-noise estimator was implemented and incorporated into the existing speaker localization system. The results show that the algorithm can reliably and accurately localize and track a moving speaker.     

The effects of pre-implantation of steel substrates on the structural properties of TiN coatings

We have studied the effects of nitrogen pre-implantation of AISI C1045 steel substrates on the microstructure and microhardness of deposited TiN coatings. The substrates were implanted at 40 keV, to the fluences from 5 × 10¹⁶ to 5 × 10¹⁷ ions/cm², which was followed by deposition of 1.3-μm thick TiN coatings by reactive sputtering. Structural characterization of the samples was performed by standard and grazing incidence X-ray diffraction analysis, Rutherford backscattering spectroscopy and transmission electron microscopy. Microhardness was measured by the Vicker’s method. Nitrogen implantation up to 2 × 10¹⁷ ions/cm² induces the formation of Fe₂N phase in the near surface region of the substrates, which becomes more pronounced for higher fluences. Microstructure of the deposited TiN coatings shows a strong dependence on ion beam pre-treatment of the substrates. The layers grown on non-implanted substrates have a (200) TiN preferential orientation, and those grown on implanted substrates have (111) TiN preferential orientation. The change in preferred orientation of the layers is assigned to a developed surface topography of the substrates induced by ion implantation, and possible effects of distorted and altered crystalline structure at the surface. Ion implantation and deposition of TiN coatings induce an increase of microhardness of this low performance steel for more than eight times.     

Thermal-image generation by line-scanning technique: a new computer model

A new computer model for the generation of thermal images of a flat terrain by the line-scanning technique from a moving platform is presented. The model is based on a bottom-up simulation process and the pixel-by-pixel generation of infrared thermal images. The terrain is modeled by a periodic repetition of an arbitrary two-dimensional temperature distribution over a flat area. The double discrete Fourier series of the terrain temperature, including correlation length and the transfer function of the scanning optics, is used. Several computer-generated thermal images are produced to illustrate the model. The geometrical deformations, the space filtration, and the gray-level variation with the scanning angle on generated images are in agreement with theoretical predictions.     

Kinetics of in situ epoxidation of soybean oil in bulk catalyzed by ion exchange resin

The kinetics of the epoxidation of soybean oil in bulk by peracetic acid formed in situ, in the presence of an ion exchange resin as the catalyst, was studied. The proposed kinetic model takes into consideration two side reactions of the epoxy ring opening involving the formation of hydroxy acetate and hydroxyl groups as well as the reactions of the formation of the peracid and epoxy groups. The catalytic reaction of the peracetic acid formation was characterized by adsorption of only acetic acid and peracetic acid on the active catalyst sites, and irreversible surface reaction was the overall rate-determining step. Kinetic parameters were estimated by fitting experimental data using the Marquardt method. Good agreement between the calculated and experimental data indicated that the proposed kinetic model was correct. The effect of different reaction variables on epoxidation was also discussed. The conditions for obtaining optimal epoxide yield (91% conversion, 5.99% epoxide content in product) were found to be: 0.5 mole of glacial acetic acid and 1.1 mole of hydrogen peroxide (30% aqueous solution) per mole of ethylenic unsaturation, in the presence of 5 wt% of the ion exchange resin at 75°C, over the reaction period of 8 h.     

Arterial hypertension in patients with primary glomerulonephritis

Arterial hypertension is a state of blood pressure permanently higher than 160/90 mm Hg (21.3/12.6 kPa). The renal cause of hypertension occurs in about 10% of all cases. The aim of this article was to establish the frequency, the level, and the connection of the hypertension in different types of primary glomerulonephritis. In this study 90 patients with primary glomerulonephritis were observed. Hypertension was present in 45 patients (50%) and different frequency were noticed in different types of glomerulonephritis. The smallest frequency was recorded in the group with minimal changes and IgA nephritis. In the group with mesangioproliferative glomerulonephritis 52% of patients had hypertension and in the group with focal segmental sclerosis 78%. The most frequent hypertension was observed in the group with rapidly progressive glomerulonephritis. Renal failure was more frequent in patients with hypertension. Different frequencies of hypertension was established in different types of glomerulonephritis. It was not severe and was well controlled by remedies. In most cases it suggest a severe glomerular lesions and fast progression of the disease.     

Effect of the filler morphology on the crystallization behavior and dielectric properties of the polyvinylidene fluoride-based composite

Ceramic/polymer composites can be chemically stable, mechanically strong, and flexible, which make them candidates for electric devices, such as pressure or temperature sensors, energy storage or harvesting devices, actuators, and so forth. Depending on the application, various electrical properties are of importance. Polymers usually have low dielectric permittivity, but increased dielectric permittivity can be achieved by the addition of the ceramic fillers with high dielectric constant. With the aim to enhance dielectric properties of the composite without loss of flexibility, 5 wt% of BaTiO₃-Fe₂O₃ powder was added into a polyvinylidene fluoride matrix. The powder was prepared by different synthesis conditions to produce core/shell structures. The effect of the phase composition and morphology of the BaTiO₃-Fe₂O₃ core/shell filler on the structure and lattice dynamics of the polymer composites was investigated. Based on the results of the thermal analysis, various parameters of ceramic/polymer composites were determined. Differences in the phase composition and morphology of the filler have an influence on the formation of various polyvinylidene fluoride allomorphs and the degree of crystallinity. Furthermore, the dielectric performances of pure polyvinylidene fluoride and the polymer/ceramic composites were measured.     

MPC framework for constrained wind turbine individual pitch control

The reduction of structural loads is becoming an important objective for the wind turbine control system due to the ever‐increasing specifications/demands on wind turbine rated power and related growth of turbine dimensions. Among various control algorithms that have been researched in recent years, the individual pitch control has demonstrated its effectiveness in wind turbine load reduction. Since the individual pitch control, like other load reduction algorithms, requires higher levels of actuator activity, one must take actuator constraints into account when designing the controller. This paper presents a method for the inclusion of such constraints into a predictive wind turbine controller. It is shown that the direct inclusion of constraints would result in a control problem that is nonconvex and difficult to solve. Therefore, a modification of the constraints is proposed that ensures the convexity of the control problem. Simulation results show that the developed predictive control algorithm achieves individual pitch control objectives while satisfying all imposed constraints.     

Sensory,physical and chemical characteristics of cooked ham manufactured from rapidly chilled and earlier deboned M. semimembranosus

Effects of rapid chilling of carcasses (at − 31 °C in the first 3 h of chilling, and then at 2–4 °C) and earlier deboning (8 h post-mortem), compared to rapid (till 24 h post-mortem) and conventional chilling (at 2–4 °C, till 24 h post-mortem), on quality characteristics of pork M. semimebranosus and cooked ham were investigated. Quality measurements included pH value, colour (CIEL*a*b* values) and total aerobic count of M. semimebranosus, as well as sensory (colour, juiciness, texture, and flavour), physical (pH value, colour – CIEL*a*b* values and texture – Warner–Bratzler shear and penetration forces) and chemical (protein, total fat, and moisture content) characteristics of cooked ham. The cooked ham was manufactured from pieces of M. semimebranosus with ultimate lightness (CIEL* value) lower than 50. Rapid chilling and earlier deboning significantly increased quantity of M. semimebranosus desirable for cooked ham manufacturing. Earlier start of pork fabrication did not affect important quality characteristics of cooked ham.     

Network structure and properties of polyurethanes from soybean oil

Vegetable oils are very heterogeneous materials with a wide distribution of triacylglycerol structures and double‐bond contents. The hydrogenation of epoxidized soybean oil (ESO) produces polyols having a functionality distribution related to that of soybean oil. Therefore, these polyols are convenient substances for studying the impact of structural heterogeneity on network formation and properties. Polyols of hydroxyl numbers ranging from 225 to 82 mg KOH/g and weight‐average functionalities ranging from 4.4 to 2.7 were obtained by the variation of the time of hydrogenation of ESO. An analysis of the functionality distribution in polyols shows that gel points with diisocyanates vary from 54 to 76% conversion. The molecular weights of the network chains of polyurethanes prepared from these polyols and diphenyl methane diisocyanate varied from 688 to 1993. Polyols with hydroxyl numbers above 200 mg KOH/g gave glassy polymers, whereas those below that value gave rubbers. The heterogeneity of polyols had a negative effect on the elastic properties only at low crosslinking densities. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007