Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

Functional monomers and polymers, 64. Synthesis of poly-β-alanine from β-alanine, β-alanyl-β-alanine,and β-alanyl-β-alanyl-β-alanine 4-dodecanoyl-2-nitrophenyl esters

Active 4-dodecanoyl-2-nitrophenyl esters of β-alanine, β-alanyl-β-alanine, and β-alanyl-β-alanyl-β-alanine were prepared, and tried to polymerize in various solvents. Nonpolar solvents were found to be convenient for the polycondensation reaction. The yield of the polycondensation was high for the monopeptide ester, and less for the dipeptide and tripeptide esters. The effect of temperature on the polycondensation reaction was also studied.     

Antitumor activity of synthetic alkylphospholipids with or without PAF activity

1-O-Octadecyl-2-O-methyl-sn-glycero-3-phosphocholine (ET-18-OMe) has been reported to possess definite antitumor activity in vivo. Twenty-two alkyl lysophospholipid analogs were chemically synthesized, and their antitumor activity against mouse experimental tumors (Sarcoma 180, MM46, P388) was examined. Among them, 1-O-octadecyl-2-O-acetoacetyl-rac-glycerol-3-phosphocholine was found to show antitumor activity similar to ET-18-OMe with less acute toxicity. Intravenous injection of the ET-18-OMe withsn-3 configuration retarded the subcutaneous growth of Sarcoma 180 cells effectively, while the growth inhibition by thesn-1 isomer was much less effective. This stereospecificity was similar to that observed in their activities as platelet-activating factor (PAF) agonists. The acetoacetyl compound, another PAF agonist, showed similar stereospecific antitumor action in vivo. These findings suggest that some alkyl lysophospholipids may activate host cells to a cytostatic stage against tumor cells in vivo through binding to a PAF receptor. Our preliminary results indicated that the responsible cells under these conditions might be primarily immature macrophages present in the bone marrow. No appreciable or even adverse stereospecificity was observed in the different sets of experiments where the activity of ET-18-OMe against MM46 tumor cells in vivo or the direct cytotoxicity against human promyelocytic leukemia HL-60 cells in vitro was examined. Under, some conditions, the antitumor activity of ET-18-OMe in vivo may be revealed through direct cytotoxicity and/or modulation of the host defense system by “nonspecific” mechanisms. Some alkylphospholipids without PAF activity may also show antitumor activity through similar, “nonspecific” mechanisms.     

Characterization of extended filters in residuated lattices

We give a characterization theorem of extended filters on residuated lattices, from which many results are immediately obtained. We show that, for a bounded integral commutative residuated lattice X, (1) an extended filter $E_F (B)$ associated with $B$ is characterized by $E_F (B) = [B) \rightarrow F$ , where $B\subseteq X$ and $F$ is a filter of $X$ ; (2) the class $E(B)$ of all extended filters associated with $B$ is a complete Heyting algebra. (3) the class $S(B)$ of all stable filters relative to $B\subseteq X$ is also a complete Heyting algebra.     

Syntheses and conformational studies of poly(S-menthyloxycarbonylmethyl l- and d-cysteines)

S-menthyloxycarbonylmethyl l- and d-cysteines were prepared by the reaction of l- or d-cysteine and (?)-menthyl chloroacetate in liquid ammonia and were then polymerized to poly(S-menthyloxycarbonylmethyll- and d-cysteines) by the N-carboxyanhydride (NCA) method. From the results obtained by means of infra-red spectra, X-ray diffractions, optical rotatory dispersions (o.r.d.), and circular dichroisms (c.d.), $\text{poly}\text{(S-}\text{menthyloxycarbonylmethyl-}\text{l}\text{-cysteine}\text{)}$ was found to be a right-handed α-helix in the solid state and in ethyl ether/chloroform and chloroform solutions. Similarly, $\text{poly}\text{(S-}\text{menthyloxycarbonylmethyl-}\text{d}\text{-cysteine}\text{)}$ was a left-handed α-helix. The helix-coil transition of these polymers was observed in the vicinity of 3–4% trifluoroacetic acid (TFA) in chloroform/TFA mixtures.     

Preparation of siloxane-like films by glow discharge polymerization

Glow discharge polymerizations of tetramethoxysilane (TMOS), tetramethylsilane/oxygen mixture (½ molar ratio) (TMS/O₂), hexamethyldisiloxane (HMDSO), and tetramethyldisiloxane (TMDSO) were carried out for the preparation of thin, polymeric films with siloxane structures. The chemical composition of the formed polymers was examined by elemental analysis, infrared spectroscopy, and electron spectroscopy for chemical analysis (ESCA) in connection with polymerization conditions, especially, a level of the radiofrequency (rf) input power per mass of the monomers (W/FM value). The polymers prepared from HMDSO at fairly low W/FM values resembled in chemical composition the conventionally polymerized polydimethylsiloxane. The surface properties of the formed polymers also were evaluated by the measurement of surface energy.     

Head to head polymers

Blends of poly(-caprolactone) with either head-to-head or head-to-tail poly (vinyl chloride) were prepared by solvent casting in the form of films and their glass transition temperatures were determined by DSC analysis. The DSC scans of the blends of both poly(vinyl chloride) isomers were very similar. For blends containing 25% and 50% of poly(-caprolactone), a single transition step, a T_g, was observed, whereas for a blend containing 75% of poly (-caprolactone) three transition steps were observed, one glass transition and also a crystallization and a melting transition.Part 19: H. Kawaguchi, J. Muggee, Y. Sumida and O. Vogl, Polymer (London), in press     

Predicting viewer-perceived activity/dominance in soccer games with stick-breaking HMM using data from a fixed set of cameras

We attempted to predict activity/dominance for soccer games, where activity is defined as the degree of activity of the game as perceived by the viewer, whereas dominance is the degree at which the viewer perceives a particular team to dominate over the other team. Such activity/dominance information would help a layman viewer understand the game. It would also enable construction of an automatic digest creation system that extracts scenes having high activity/dominance. There are two facets of this study: 1. The main part of the underlying prediction model consists of a Stick-Breaking Hidden Markov Model, where the data automatically estimates the number of states of the Markov process behind the data. 2. The data used in this paper is vector time-series data consisting of player, referee, and ball positions, together with team information, acquired by a set of fixed cameras. The problem was approached with a Bayesian framework where learning and prediction were implemented by three different methods: Markov Chain Monte Carlo, Expectation Maximization, and Variational Bayes. The proposed method was tested using a dataset consisting of 10 professional soccer games and was compared against standard regression methods.     

A Recommendation System Keeping Both Precision and Recall by Extraction of Uninteresting Information

A recommendation system which recommends interesting information to the target user must guarantee high precision and recall. However, there is trade-off between precision and recall. In this paper, we propose a web page recommendation method balancing both of them by take advantage of uninteresting information. The proposed method extracts the interest and uninterest indicators from not only historical interesting web pages but also uninteresting ones in a target genre. The historical interesting and uninteresting information is derived based on the browsing time and bookmarking. The proposed method can keep precision and recall by excluding the uninteresting information from the recommended ones based on the interest and uninterest indicators. The experimental result proved that the proposed method can improve the precision and recall than an existing method.     

Shape optimization for a link mechanism

This paper presents a numerical solution for shape optimization problems for link mechanisms, such as a piston-crank mechanism. The dynamic behavior of a link mechanism is described by a differential-algebraic equation (DAE) system consisting of motion equations for each single body and constraints of linkages and rigid motions. In a shape optimization problem, the objective function to maximize is constructed from the external work done by a given external force, which agrees with the kinetic energy of the link mechanism, for an assigned time interval, and the total volume of all the links forms the constraint function. The Fréchet derivatives of these cost functions with respect to the domain variation, which we call the shape derivatives of these cost functions, are evaluated theoretically. A scheme to solve the shape optimization problem is presented using the H ¹ gradient method (the traction method) proposed by the authors as a reshaping algorithm, since it retains the smoothness of the boundary. A numerical example shows that reasonable shapes for each link such that mobility of the link mechanism is improved are obtained by this approach.