Mobile robot localization with gyroscope and constrained Kalman filter

The odometry information used in mobile robot localization can contain a significant number of errors when robot experiences slippage. To offset the presence of these errors, the use of a low-cost gyroscope in conjunction with Kalman filtering methods has been considered by many researchers. However, results from conventional Kalman filtering methods that use a gyroscope with odometry can unfeasible because the parameters are estimated regardless of the physical constraints of the robot. In this paper, a novel constrained Kalman filtering method is proposed that estimates the parameters under the physical constraints using a general constrained optimization technique. The state observability is improved by additional state variables and the accuracy is also improved through the use of a nonapproximated Kalman filter design. Experimental results show that the proposed method effectively offsets the localization error while yielding feasible parameter estimation.     

Self-absorption correction for solid-state photoluminescence quantum yields obtained from integrating sphere measurements

A new method is presented for analyzing the effects of self-absorption on photoluminescence integrating sphere quantum yield measurements. Both the observed quantum yield and luminescence spectrum are used to determine the self-absorption probability, taking into account both the initial emission and subsequent absorption and reemission processes. The analysis is experimentally validated using the model system of the laser dye perylene red dispersed in a polymer film. This approach represents an improvement over previous methods that tend to overestimate the true quantum yield, especially in cases with high sample absorbance or quantum yield values.     

Improvement in the volume efficiency of multilayered ceramic capacitors (MLCCs)

An attempt was made to improve the conventional lamination process in the multilayered ceramic capacitors (MLCCs) fabrication by adapting a solvent treatment on the BaTiO₃ green sheets. During the lamination process, additional particle rearrangement in the BaTiO₃ green block was stimulated by solvent treatment. This rearrangement resulted in a more compact structure of the BaTiO₃ green sheets compared to that obtained through the conventional lamination process. The overall thickness of BaTiO₃/Ni/BaTiO₃ laminates was also reduced after solvent treatment. It is suggested that miniaturization in the fabrication of MLCCs can be improved by adapting a solvent treatment during the lamination process.     

Dynamic deformation behavior of ultrafine-grained low-carbon steels fabricated by equal-channel angular pressing

The dynamic deformation behavior of ultrafine-grained low-carbon steels fabricated by equal-channel angular pressing (ECAP) was investigated in this study. Dynamic torsional tests, using a torsional Kolsky bar, were conducted on four steel specimens, two of which were annealed at 480 °C after ECAP, and then the test data were compared in terms of microstructures, tensile properties, and adiabatic shear-band formation. The equal-channel angular pressed specimen consisted of very fine, equiaxed grains of 0.2 to 0.3 μm in size, which were slightly coarsened after annealing. The dynamic torsional test results indicated that maximum shear stress decreased with increasing annealing time, whereas fracture shear strain increased. Some adiabatic shear bands were observed at the gage center of the dynamically deformed torsional specimen. Their width was smaller in the equal-channel angular pressed specimen than in the 1-hour-annealed specimen, but they were not found in the 24-hour-annealed specimen. Ultrafine, equiaxed grains of 0.05 to 0.2 μm in size were formed inside the adiabatic shear band, and their boundaries had characteristics of high-angle grain boundaries. These phenomena were explained by dynamic recrystallization due to a highly localized plastic strain and temperature rise during dynamic deformation.     

Closed-form unbiased frequency estimation of a noisy sinusoid using notch filters

In this note, the problem of the frequency estimation of a sinusoid embedded in white noise is considered. The approach used herein is the minimization of the sample variance of the output of constrained notch filters fed by the noisy sinusoid. In particular, this note focuses on closed-form expressions of the frequency estimate, which can be obtained using notch filters having an all-zeros finite-impulse response (FIR) structure. The results presented in this note are as follows: 1) it is shown that the FIR notch filters obtained from standard second-order infinite-impulse response (IIR) filters are inadequate; 2) a new second-order IIR notch filter is proposed, which provides an unbiased estimate of the frequency; 3) the FIR filter obtained from the new IIR filter provides a closed-form unbiased frequency estimate; and 4) the closed-form frequency estimate obtained using the new FIR notch filter asymptotically converges toward the Pisarenko harmonic decomposition estimator and the Yule-Walker estimator.     

Physical and Sexual Intimate Partner Violence Among Women in Methadone Maintenance Treatment.

Although several studies have examined the relationship between intimate partner violence (IPV) and drug use among women in drug treatment programs, more information is needed to delineate differences, as a function of the specific drug used. Data from a random sample of 416 women attending methadone programs were analyzed to elucidate the differential associations between IPV and use of the following: marijuana only, cocaine only, heroin only, or cocaine and heroin. Prevalence of IPV among this sample far exceeded estimates from the general population. After adjusting for sociodemographic variables, use of cocaine only was significantly associated with an increased likelihood of experiencing IPV compared with no drug use. Similar results were found for women using both cocaine and heroin. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Numerical investigation on the heat transfer characteristics of a liquid-metal pool subjected to a partial solidification process

The main purpose of this paper is to investigate numerically the effects of solidification on the heat transfer characteristics of the liquid metal layer, for use in accident analyses. The situation is very similar to an overlying liquid melt pool that could be fooned in the reactor lower head during the late phase of a severe nuclear accident. Based on a computational model, MPCOOL, the numerical predictions were then assessed through a comparison with the experimental data that was obtained with various boundary temperature conditions and geometrical aspect ratios, especially for the Ra-Nu relationship. For the cases with solidification, the results of the comparison show that(a) the computational model does show a good agreement with heat transter rates inferred from the experimental data, with a few exceptions at the Ra numbers which suggest a turbulent transport; and also (b) the computational model underpredicts the heat transfer rates by about 6% than that inferred from the experimental data when it is integrally evaluated with the Ra-Nu correlation. The foregoing results are mainly due to the currently limited applicability of the computational model up to the laminar-to-turbulence transition flows and its application to the turbulence flows because it is always subjected to a model uncertainty between the laminar and turbulence. Next, an additional comparison for the cases with and without solidification was made to examine the effects of the solidification on the energy partition within the liquid metal layer and its effects on the directional heat transfer rates. The results of the comparison show that the computational model for the case without solidification predicts higher heat transfer rates by about 15% than when solidification is included, but there isn't any experimental data that directly supports this trend.     

Effect of irradiation on the impact and seismic response of a spent fuel storage and transport cask

The spent fuel storage and transport cask must withstand various accident conditions such as fire, free drop and puncture in accordance with the requirement of the IAEA and domestic regulations. The spent fuel storage and transport cask should maintain the structural safety not to release radioactive material in any condition. And also the effects of the irradiation should be considered because the spent fuels stored in the cask for a long time and be possible to change the mechanical properties of the cask.In this study, the changed mechanical properties of the cask after irradiation for the 30 years storage periods are assumed and applied to the impact analysis using ABAQUS/Explicit code and seismic analysis using ANSYS code. The stress intensity on each part of the cask is calculated and the effects of irradiation are studied and structural integrity of the package is evaluated.     

Development of a prototype customer-oriented virtual factory system

Current Computer integrated manufacturing/Enterprise Resource Planning (CIM/ERP) systems require harmony and communication between humans and facilities. A user’s preferences should also be considered in CIM/ERP systems. Virtual factory (VF), also known as virtual manufacturing (VM), systems can fulfill the requirements of current CIM/ERP systems. A VF system simulates virtual production in a virtual factory environment on the computer system which allows optimization prior to going into production. In this paper, we defined a VF system as a pre-analyzing system for designing, engineering and manufacturing a product in the enterprise system of the real world. The objective of this paper is to design a VF system and to develop a prototype system that the customer can participate in and be satisfied with. We selected a telephone as a sample product for the VF system. The VF system consists of four subsystems: virtual product ordering, design, manufacturing, and CIM/ERP interface. The prototype system aims to develop a virtual product ordering and design system.