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101.
Tae Hyon Kim Kiyohiro Goto Hiroki Igarashi Kazuyuki Kon Noritaka Sato Fumitoshi Matsuno 《Artificial Life and Robotics》2012,16(4):514-518
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. 相似文献
102.
Crystallization of potassium titanate from the amorphous phase 总被引:1,自引:0,他引:1
Tadashi Endo Hiroyuki Nagayama Tsugio Sato Masahiko Shimada 《Journal of Materials Science》1988,23(2):694-698
By using amorphous potassium titanates as the starting materials, a sintered body of K2Ti4O9 or K2Ti6O13 with porous and fibrous textures was prepared. K2Ti2O5 and a new phase, K6Ti4O11 were synthesized by the thermal reaction of KNO3 with TiO2 at 1000° C for 10 to 20 h. On leaching in water to expel excess of potassium ions, both phases became amorphous. After mixing and moulding these amorphous materials in the desired proportion, a sintered body containing fibrous crystals of K2Ti4O9 was readily fabricated by heating at 1000° C for 12 h. When 5 wt % B2O3 was added to the amorphous phases, single phase K2Ti6O13, with a fibrous texture grew well on heating at 1000° C for 12 h. Addition of PVA polymer to the amorphous phases was responsible for controlling the porosity of the sintered body, e.g. about 52% theoretical density at 20 wt% PVA polymer. The optimum conditions for preparing the amorphous phases were systematically examined and the effect of the chemical reaction environments, such as different crucible materials on the calcination of KNO3 and TiO2 were also discussed. 相似文献
103.
Iron powders were oxidized in NaOH solutions of 5–25 mol kg–1 at 403–563 K and 5 MPa of oxygen partial pressure. Various types and morphologies of iron compounds such as fine particles of Fe3O4, micaceous -Fe2O3, and coagulated particles of -NaFeO2 were formed depending on the experimental conditions. The observed critical concentrations of NaOH above which -NaFeO2 was formed was in good agreement with those thermodynamically calculated for the hydrolysis equilibrium of -NaFeO2. 相似文献
104.
Experimental vapor pressures andP--T data of an important alternative refrigerant, 1, 1-difluoroethane (HFC-152a), have been measured by means of a constant-volume method coupled with expansion procedures. SixtyP--T data were measured along eight isochores in a range of temperaturesT from 330 to 440 K, at pressuresP from 1.6 to 9.3 MPa, and at densities from 51 to 811 kg·m–3. Forty-six vapor pressures were also measured at temperatures from 320 K to the critical temperature. The uncertainties of the temperature and pressure measurements are within ±7mK and ±2kPa, respectively, while the uncertainty of the density values is within ±0.1%. The purity of the sample used is 99.9 wt%. On the basis of the measurements along each isochore, five saturation points were determined and the critical pressure was determined by correlating the vapor-pressure measurements. The second and third virial coefficients for temperatures from 360 to 440 K have also been determined. 相似文献
105.
Metal nitrides and carbides powders were synthesized by the spark discharge method in liquid ammonia at 100 °C and 11 kV of the spark discharge voltage and in n-heptane at 25 °C and 7.5 kV using the pellets of aluminum, titanium, iron and chromium as the starting material. The main products were AlN, TiN0.51, -Fe, -Cr2N in liquid ammonia, and Al4C3, TiC, -Fe, Fe2C and Cr7C3 in n-heptane. The agglomerated particle size decreased with increasing melting point of the metal used as the starting material. 相似文献
106.
107.
Kenzo Sato 《Journal of Infrared, Millimeter and Terahertz Waves》1986,7(9):1361-1416
We have investigated the IR reflectional properties of the three-hold cytrogical surface layer (kutchikura layer on silicate layer n(SiO2) on silicate cellulose layer C6H10SixOy) and that of chlorophyll, a(C55H72MgN4O5) etc., present in bladder's cells by using our experimental method. From analysis of three set of anisotropical reflection spectra assigned as due to CO, SiO and NC surface oscillators contained in the cytrogical cells and measured at 2500 2200 cm?1, 1200 700 cm?1 and at 700 200 cm?1 regions, we have confirmed some important results. One is their quantized directional distributions that of the numbers of fine step spectrum and that of the reflection integrals of these spectra. Here, that of the NC oscillators were found to distribute in pentagonal directions relating to the molecular structure of chlorophyll. Second, we confirmed the pecularity of eight fine step-series measured in these sensitive spectra comparing with that of bamboo's seven series. Third, from analysis of the stepnized variation of the “reflection integrals”, we estimated the origin of this effect as which is presumably due to statistical, transfer of the 2p4 valence electrons etc. in the oxygen atoms from C=O, Si=O double bonding side upto the shallower quantized states, E(N,J) which were formed softly around the and surface oscillators. And these surface oscillators were confirmed as to make photo-chemical reaction process by receiving energy higher than ~24 m eV especially under the illumination of sunshine etc. 相似文献
108.
109.
Compared 2 motivational bases for not contributing to a public good, desire to "free ride" (or greed) and fear of being a "sucker," among 110 Japanese undergraduates. It was hypothesized that these 2 types of motivation would be activated under different situations. When a public good was provided conjunctively, fear would have a strong effect but greed would not; when a public good was disjunctively provided, greed would have a strong effect but fear would not. In addition, it was predicted that the greater mutual trust existing among friends would make them contribute more than strangers would in the conjunctive condition but would make no difference in the disjunctive condition. Three types of production rules, in which a public good was conjunctively, disjunctively, or additively produced on the basis of members' contributions, were experimentally created. Half of the groups in each condition consisted of total strangers, and the other half consisted of friends. The hypotheses were supported when the size of the public good (bonus points) was relatively large. Also, Ss responded similarly in the conjunctive condition and in the additive condition. (25 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
110.
Shuko Terazawa Mariko Takada Yoriko Sato Hiroaki Nakajima Genji Imokawa 《International journal of molecular sciences》2021,22(4)
Little is known about the effects on hyaluronan (HA) metabolism of UVA radiation. This study demonstrates that the secretion of HA by human dermal fibroblasts (HDFs) is downregulated by UVA, accompanied by the down- and upregulation of mRNA and protein levels of the HA-synthesizing enzyme (HAS2) and the HA-degrading protein, HYaluronan Binding protein Involved in HA Depolymerization(HYBID), respectively. Signaling analysis revealed that the exposure distinctly elicits activation of the p38/MSK1/CREB/c-Fos/AP-1 axis, the JNK/c-Jun axis, and the p38/ATF-2 axis, but downregulates the phosphorylation of NF-kB and JAK/STAT3. A signal inhibition study demonstrated that the inhibition of p38 significantly abrogates the UVA-accentuated mRNA level of HYBID. Furthermore, the inhibition of STAT3 significantly downregulates the level of HAS2 mRNA in non-UVA exposed HDFs. Analysis using siRNAs demonstrated that transfection of ATF-2 siRNA but not c-Fos siRNA abrogates the increased protein level of HYBID in UVA-exposed HDFs. An inhibitor of protein tyrosine phosphatase but not of protein serine/threonine phosphatase restored the diminished phosphorylation level of STAT3 at Tyr 705, accompanied by a significant abolishing effect on the decreased mRNA expression level of HAS2. Silencing with a protein tyrosine phosphatase PTP-Meg2 siRNA revealed that it abrogates the decreased phosphorylation of STAT3 at Tyr 705 in UVA-exposed HDFs. These findings suggest that the UVA-induced decrease in HA secretion by HDFs is attributable to the down- and upregulation of HAS2 and HYBID expression, respectively, changes that are mainly ascribed to the inactivated signaling of the STAT3 axis due to the activated tyrosine protein phosphatase PTP-Meg2 and the activated signaling of the p38/ATF2 axis, respectively. 相似文献