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.     

Guayule seedling response to nitrogen fertilizers

Slow growth and high seedling mortality limit direct seeding establishment of guayule (Parthenium argentatum G.). This study was conducted to assess seedling growth enhancement by the addition of different rates and forms of N fertilizers and Ca salts. Experiments were conducted in a greenhouse with cultivar 593 under both surface and subirrigated conditions using water low in salts (salinity of 0.8 dSm^–1, SAR of 5.0 and 10 mg Ca L^–1). Under surface-irrigated conditions, seedling height and fresh plant weight increased with N application to the irrigation water to 70 mg L^–1. The best seedling growth was observed when (NH₄)₂SO₄ was added in combination with CaCl₂ or CaSO₄. Progressively less growth was observed by addition of (NH₄)₂SO₄ alone, CO(NH₂)₂ plus CaSO₄, CO(NH₂)₂ alone and Ca(NO₃)₂. When seedlings were subirrigated, however, the best growth was observed with Ca(NO₃)₂. Intermediate growth was obtained with (NH₄)₂SO₄ plus CaSO₄ and lowest growth rates with (NH₄)₂SO₄ alone. These differential responses may be explained by the differences in leaching and volatile characteristics of the N forms. Growth enhancement from N and Ca additions increased with time with significant increases 45 days after seeding. Nitrogen application with Ca may be effective amendment in promoting subsequent growth of direct seeded guayule.     

Band Gap Modification of Diamond Photonic Crystals by Changing the Volume Fraction of the Dielectric Lattice

Photonic crystals with a diamond structure of epoxy lattices in which TiO₂-based ceramic particles are dispersed were fabricated by stereolithography. The periodicity of the lattice was designed to reflect electromagnetic waves in the gigahertz range. The volume fraction (β) of the dielectric lattice medium was modified from 14% to 33% by changing the rod diameter of the lattice. The photonic band gap was observed along Γ-L 〈111〉, Γ-X 〈100〉, and Γ-K 〈110〉 directions and the complete photonic band gap was formed at over β= 20%. The width of the forbidden gap increased gradually when the β increased over 14%, and reached 2.4 GHz at β= 33%. These results agreed with the band calculation using the plane wave expansion method.     

Protective effect of phytic acid hydrolysis products on iron-induced lipid peroxidation of liposomal membranes

Beneficial effects of dietary phytic acid (myo-inositol hexaphosphate; IP₆) have often been explained by its strong iron ion-chelating ability, which possibly suppresses iron ion-induced oxidative damage in the gastrointestinal tract. Because phytic acid is hydrolyzed during digestion, this work aimed to know whether its hydrolysis products (IP_2′ IP_3′, IP_4′ and IP₅) could still prevent iron ion-induced lipid peroxidation. Studies using liposomal membranes demonstrated that hydrolysis products containing three or more phosphate groups are able to inhibit iron ion-induced lipid peroxidation although their effectiveness decreased with dephosphorylation. Similarly, they also prevented iron ion-induced decomposition of phosphatidylcholine hydroperoxide. These results demonstrate that intermediate products of phytic acid hydrolysis still possess iron ion-chelating ability, and thus they can probably prevent iron ion-induced lipid peroxidation in biological systems.     

Fracture behavior of core‐shell rubber–modified clay‐epoxy nanocomposites

Morphology and fracture mechanisms in two nanoclay‐filled epoxy systems were investigated using both microscopy and spectroscopy tools. Clay exfoliation was achieved using a series of sample preparation steps, and confirmed using wide angle X‐ray diffraction (XRD) and transmission electron microscopy (TEM) techniques. Significant improvement in modulus was obtained when clay exfoliation was achieved. Incorporation of core‐shell rubber (CSR) in both caly‐filled epoxy systems leads to greatly enhanced fracture toughness. Optical microscopy and TEM observations of the CSR‐modified nanocomposites suggest that CSR cavitation. shear yielding of the matrix, clay layer delamination. CSR bridging, crack bifurcation. and crack deflection are among the operative toughening mechanisms observed, depending on the nature of the epoxy matrix utilized.     

Design of new catalysts for ecological high-quality transportation fuels by combinatorial computational chemistry and tight-binding quantum chemical molecular dynamics approaches

Recently, we introduced a concept of combinatorial chemistry to computational chemistry and proposed a new method called “combinatorial computational chemistry”, which enables us to perform a theoretical high-throughput screening of catalysts. In the present paper, we reviewed our recent application of our combinatorial computational chemistry approach to the design of new catalysts for high-quality transportation fuels. By using our combinatorial computational chemistry techniques, we succeeded to predict new catalysts for methanol synthesis and Fischer–Tropsch synthesis. Moreover, we have succeeded in the development of chemical reaction dynamics simulator based on our original tight-binding quantum chemical molecular dynamics method. This program realizes more than 5000 times acceleration compared to the regular first-principles molecular dynamics method. Electronic- and atomic-level information on the catalytic reaction dynamics at reaction temperatures significantly contributes the catalyst design and development. Hence, we also summarized our recent applications of the above quantum chemical molecular dynamics method to the clarification of the methanol synthesis dynamics in this review.     

Different support effect of M/ZrO2 and M/CeO2 (M = Pd and Pt) catalysts on CO adsorption: A periodic density functional study

CO adsorption over Pd₄ and Pt₄ cluster supported by c-ZrO₂(1 1 1) and CeO₂(1 1 1) catalyst systems was investigated using periodic density functional method in order to clarify the support effect on CO activation. We found that the support increases the CO activation for bridge and three-fold sites but decreases for the atop site. Moreover, it was found that the support changes the site preference for the CO adsorption. Bridge site on both the Pt₄/c-ZrO₂ and Pt₄/CeO₂ show larger CO adsorption energies than those on the other sites while the atop site is energetically preferable on isolated Pt₄ cluster. c-ZrO₂ supported Pd shows the largest CO activation with large charge transfer from the catalyst to the CO molecule. This reveals that ZrO₂ supported Pd can be a good catalyst for CO activation because of its higher probability to the three-fold site CO adsorption. We also found that positively charged M₄ clusters on the support keep their strong electron-donating properties and have enough charge density to contribute to the activation of an adsorbed CO molecule by a charge transfer.