Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

Influences of artificial pre-stressing on ply stresses and tensile properties of Vinylon fibre-reinforced aluminium laminates (VIRALL)

A simple micromechanical model based primarily upon the rule-of-mixtures is developed which allows prediction of the effects of fibre preload on the ply stresses (i.e., the initial residual stresses of fibre, adhesive and matrix) induced within VIRALL laminates, and the tensile stress-strain curves and mechanical properties of VIRALL laminates. The analysis of the ply stresses of VIRALL laminates indicates that pre-stressing will dramatically influence the ply stresses. The predicted tensile stress-strain curves of VIRALL laminates are in good agreement with the experimental curves and the results show that the stress-strain curves of VIRALL laminates move upwards when the prestress increases. The predicted tensile mechanical properties of VIRALL laminates at room temperature show good agreement with those obtained experimentally; both show that prestress can improve the tensile properties (i.e., elastic limit strength, 0.2% yield strength and failure strength) of VIRALL laminates.     

RBS/channelling study of ion-implanted and proton-exchanged LiNbO3:Nd:MgO planar waveguides

We present a structural study of two Nd³⁺/MgO codoped LiNbO₃ waveguides fabricated by two different methods: ion-implantation and proton-exchange. Rutherford backscattering spectrometry in combination with channelling was used to study the influence of the waveguide fabrication method on the possible modification of the LiNbO₃ crystal structure within the waveguiding layer. The results show that the ion-implanted waveguide mainly maintains the same properties as the virgin crystal, apart from a deterioration of a thin surface layer, whilst the proton-exchanged waveguide exhibits a quite different behaviour, although its surface is less damaged.     

New chemical structural features of coal. The structure of coal products

The object of this paper is to demonstrate the usefulness of the transalkylation reaction for determining chemical structural features of products derived from coal. For example, the method is applied to derivatized coals, coals modified by thermolysis, and materials physically or chemically separated from coals. Data are presented for the pyridine soluble and insoluble parts of two coals, an O-methylated coal, a Birch reduced coal, a solvent refined coal, and a coke. Similarities and differences in chemical make-up of these materials are discussed.     

The renal and hepatic distribution of Bence Jones proteins depends on glycosylation: a scintigraphic study in rats

The aim of the present study was to evaluate renal and liver distribution of two monoclonal immunoglobulin light chains. The chains were purified individually from the urine of patients with multiple myeloma and characterized as lambda light chains with a molecular mass of 28 kDa. They were named BJg (high amount of galactose residues exposed) and BJs (sialic acid residues exposed) on the basis of carbohydrate content. A scintigraphic study was performed on male Wistar rats weighing 250 g for 60 min after i.v. administration of 1 mg of each protein (7.4 MBq), as the intact proteins and also after carbohydrate oxidation. Images were obtained with a Siemens gamma camera with a high-resolution collimator and processed with a MicroDelta system. Hepatic and renal distribution were established and are reported as percent of injected dose. Liver uptake of BJg was significantly higher than liver uptake of BJs (94.3 vs 81.4%) (P < 0.05). This contributed to its greater removal from the intravascular compartment, and consequently lower kidney accumulation of BJg in comparison to BJs (5.7 vs 18.6%) (P < 0.05). After carbohydrate oxidation, there was a decrease in hepatic accumulation of both proteins and consequently a higher renal overload. The tissue distribution of periodate-treated BJg was similar to that of native BJs: 82.7 vs 81.4% in the liver and 17.3 vs 18.6% in the kidneys. These observations indicate the important role of sugar residues of Bence Jones proteins for their recognition by specific membrane receptors, which leads to differential tissue accumulation and possible toxicity.     

Computationally efficient methods for bit-error rate evaluation inweakly coherent optical systems

A semianalytical method to estimate the bit-error rate performance of nonsynchronous ASK and FSK optical heterodyne systems is presented. This approach takes into account numerous system details with an accuracy similar to Monte-Carlo simulation, but with a computation time reduced by several orders of magnitude. An analytical approximation, based on a closed-form expression for the decision variable moment generating function, is also presented. The results obtained with the semianalytical method and the analytical approximation are compared to Monte-Carlo simulation results and to measurements obtained on a practical FSK system     

Piston-driven laminar flow and heat transfer in a plane channel with a sudden expansion

 This paper presents a numerical study of piston-driven heat transfer and fluid flow in a plane channel containing a sudden expansion. The numerical method employed is based on a control-volume-based finite element method for incompressible flow with a staggered and moving grid and SIMPLER algorithm for pressure-velocity coupling. The numerical results show a good agreement with the experimental data reported in the literature. Results concerning time and space evolution of the thermal and flow fields are presented for different values of the expansion ratio, the initial clearance volume, and the piston velocity. Received: 20 April 2002 / Accepted: 23 January 2003