Dual-eyes Vision-based Docking System for Autonomous Underwater Vehicle: an Approach and Experiments

A critical challenge for autonomous underwater vehicles (AUVs) is the docking operation for applications such as sleeping under the mother ship, recharging batteries, transferring data, and new mission downloading. The final stage of docking at a unidirectional docking station requires the AUV to approach while keeping the pose (position and orientation) of the vehicle within an allowable range. The appropriate pose therefore demands a sensor unit and a control system that have high accuracy and robustness against disturbances existing in a real-world underwater environment. This paper presents a vision-based AUV docking system consisting of a 3D model-based matching method and Real-time Multi-step Genetic Algorithm (GA) for real-time estimation of the robot’s relative pose. Experiments using a remotely operated vehicle (ROV) with dual-eye cameras and a separate 3D marker were conducted in a small indoor pool. The experimental results confirmed that the proposed system is able to provide high homing accuracy and robustness against disturbances that influence not only the captured camera images but also the movement of the vehicle. A successful docking operation using stereo vision that is new and novel to the underwater vehicle environment was achieved and thus proved the effectiveness of the proposed system for AUV.     

Preparation of ultrasmooth and defect-free 4H-SiC(0001) surfaces by elastic emission machining

In this work, elastic emission machining (EEM), which is a precise surface-preparation technique using chemical reactions between the surfaces of work and fine powder particles, is applied to the flattening 4H-SiC (0001) surface. Prepared surfaces are observed and characterized by optical interferometry, atomic force microscopy (AFM), and low-energy electron diffraction (LEED). The obtained images show that the processed surface has atomic-level flatness, and the subsurface damage and surface scratches of the preprocessed surface are almost entirely removed.     

Novel unidirectional porous hydroxyapatite used as a bone substitute for open wedge high tibial osteotomy

Purpose: The purpose of this study was to clinically and radiologically evaluate the availability, osteoconductivity, and resorption of a novel unidirectional porous hydroxyapatite (UDPHAp) used as an artificial substitute for open wedge high tibial osteotomy (OWHTO). Our hypothesis was that UDPHAp is a safe and useful bone substitute for OWHTO. Materials and methods: Seven patients (2 men and 5 women aged 34-72years) who underwent OWHTO and were followed up for more than 12months were retrospectively studied. After the osteotomy, the gap created was filled with UDPHAp(REGENOS® Kuraray Co.Ltd). Radiography and computed tomography(CT) were performed, and gap healing was assessed postoperatively. The Japanese Orthopaedic Association (JOA) knee score was determined pre- and post-operatively for clinical evaluation. Results: Neither gross displacement nor collapse of the UDPHAp block graft was observed within 12 months after surgery. Both radiographs and CT showed attenuation of lucency and increasing sclerosis over time. JOA score improved from 71.2 (65?80) to 95.8 (85?100). Conclusions: Short term results for OWHTO using UDPHAp was satisfactory. Clinical improvement of JOA scores were seen, besides osteogenesis was progressing in and around the artificial bone grafts.     

Thermosensitive properties of semi-IPN gel composed of amphiphilic gel and zwitterionic thermosensitive polymer in buffer solutions containing high concentration salt

In this study, a semi-interpenetrating polymer network (semi-IPN) gel, which consists of an amphiphilic N,N-dimethylacrylamide-co-N-isopropylacrylamide (DMAA-co-NIPAM) gel and an interpenetrating zwitterionic thermosensitive poly(N-isopropylacrylamide-co-N,N-dimethyl(acrylamidopropyl)ammonium propane sulfonate) (poly(NIPAM-co-DMAAPS)) was prepared. The thermosensitive behavior of the semi-IPN gel was investigated in a buffer solution composed of a relatively high concentration of sodium chloride and sodium citrate as salts, and sodium dodecyl sulfate as a surfactant, which are generally used as a buffer solution in biochips. At low temperatures, the semi-IPN gel in the buffer solution was absolutely transparent; however, when the gel was heated, the gel became milky white or opaque without a large change in the gel size. The network of the transparent gel is homogeneous, whereas that of the opaque gel consists of coarse and dense parts. Such a structural change in the gel network was confirmed by the temperature dependence of the permeability of the buffer solution through the semi-IPN gel membrane. The permeability increased drastically when the gel became opaque because of heating.     

Enhanced piezoelectric properties of barium titanate–potassium niobate nano-structured ceramics by MPB engineering

Barium titanate (BaTiO₃, BT)–potassium niobate (KNbO₃, KN) (BT–KN) nanocomplex ceramics with various KN/BT molar ratios were prepared by the solvothermal method. From a transmittance electron microscopy (TEM) observation, it was confirmed that KN layer thickness of the BT–KN nanocomplex ceramics was controlled from 0 to 44 nm by controlling KN/BT molar ratios. Their dielectric constants were measured at room temperature and 1 MHz, and a maximum dielectric constant of around 400 was measured for the BT–KN nanocomplex ceramics with a KN thickness of 22 nm. TEM observation revealed that below KN thickness of 22 nm, BT/KN heteroepitaxial interface was assigned to the strained interface while over 22 nm, the interface was assigned to the relaxed one. These results suggested that the strained heteroepitaxial interface could be responsible for the enhanced dielectric constants.     

S-Denitrosylase-Like Activity of Cyclic Diselenides Conjugated with Xaa-His Dipeptide: Role of Proline Spacer as a Key Activity Booster

This study developed dipeptide-conjugated 1,2-diselenan-4-amine ( 1 ), i. e., 1 -Xaa-His, as a new class of S-denitrosylase mimic. The synthesized compounds, especially 1 -Pro-His, remarkably promoted S-denitrosylation of nitrosothiols (RSNO) via a catalytic cycle involving the reversible redox reaction between the diselenide and its corresponding diselenol ([SeH,SeH]) form with coexisting reductant thiols (R′SH), during which the [SeH,SeH] form as a key reactive species reduces RSNO to the corresponding thiol (RSH). Structural analyses of 1 -Pro-His suggested that the peptide backbone of [SeH,SeH] is rigidly bent to form a γ-turn, possibly including an NH⋅⋅⋅Se hydrogen bond between the imidazole ring of His and selenol group, thus stabilizing the [SeH,SeH] form thermodynamically, and dramatically enhancing the catalytic activity. Furthermore, the synthetic compounds were found to prohibit S-nitrosylation-induced protein misfolding in the presence of RSNO, eventually implying their potential as a drug seed for misfolding diseases caused by the dysregulation of the S-denitrosylation system.     

Superplastic deformation of hydroxyapatite ceramics with B2O3 or Na2O addition fabricated by pulse current pressure sintering

High-density and fine-grained transparent hydroxyapatite (Ca₁₀(PO₄)₆(OH)₂: HAp) ceramics with B₂O₃ and Na₂O addition were fabricated using pressureless sintering and pulse-current pressure sintering between 1000 and 1100 °C; the superplastic deformation of these HAp specimens was evaluated. The relative density of pure HAp compacts pulse-current pressure sintered at 1000 °C for 10 min under a pressure of 50 MPa attained 99.9% and exhibited translucency. The tensile elongation of the pure HAp specimen, which was measured at 1000 °C under a strain rate of 1.48 × 10⁻⁴ s⁻¹, was as high as 364%. The relative density of HAp compacts with 3.0 mol.% B₂O₃ addition pulse-current pressure sintered under the same conditions as those of pure HAp compacts was 98.9%, whereas the grain size was as low as 0.24 μm. The elongation of HAp specimens, measured at a test temperature of 1000 °C under a strain rate of 1.48 × 10⁻⁴ s⁻¹, was as high as 578%.     

Synthesis of fluoroalkyl end‐capped preoligomers containing succinimidyl segments—Application to novel fluorinated oligomers possessing surface antibacterial activity

Fluoroalkyl end‐capped N‐acryloxysuccinimide (ASuI) cooligomers were prepared under very mild conditions by the cooligomerizations of fluoroalkanoyl peroxides with ASuI and comonomers such as N,N‐dimethylacrylamide (DMAA) and acryloylmorpholine (ACMO). These fluorinated ASuI cooligomers thus obtained were in general easily soluble in water and common organic solvents. These fluorinated ASuI cooligomers were also able to reduce the surface tension of water quite effectively to around 20 mN/m with a clear break point resembling a critical micelle concentration (CMC), although the corresponding nonfluorinated ASuI cooligomers were not effective for reducing the surface tension of water. Fluorinated ASuI cooligomers were applicable to new fluorinated precooligomers, and these precooligomers could react with several amino compounds such as aniline, cytosine, and cyclohexylamine to afford fluorinated cooligomer‐bound aromatic and cyclohexyl segments under mild conditions. Of particular interest, these fluorinated precooligomers were able to react with low molecular weight biocides such as sulfathiazole (STZ) and 3‐amino‐5‐hydroxypyrazole (AHP) to give the corresponding fluorinated cooligomers containing antibacterial segments under similar conditions. These cooligomers were shown to have not only a good oleophobicity imparted by fluorine but also surface antibacterial activity against Staphylococcus aureus. Therefore, our present fluorinated cooligomers containing antibacterial segments are suggested to have high potential for new fluorinated functional materials through their surface active property and surface antibacterial activity. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 92: 3874–3880, 2004