Parametric ego-motion estimation for vehicle surround analysis using an omnidirectional camera

Omnidirectional cameras that give a 360° panoramic view of the surroundings have recently been used in many applications such as robotics, navigation, and surveillance. This paper describes the application of parametric ego-motion estimation for vehicle detection to perform surround analysis using an automobile-mounted camera. For this purpose, the parametric planar motion model is integrated with the transformations to compensate distortion in omnidirectional images. The framework is used to detect objects with independent motion or height above the road. Camera calibration as well as the approximate vehicle speed obtained from a CAN bus are integrated with the motion information from spatial and temporal gradients using a Bayesian approach. The approach is tested for various configurations of an automobile-mounted omni camera as well as a rectilinear camera. Successful detection and tracking of moving vehicles and generation of a surround map are demonstrated for application to intelligent driver support.Received: 1 August 2003, Accepted: 8 July 2004, Published online: 3 February 2005     

Experimental study of a new shock pre‐drying method for cotton fabrics

This paper reveals a new method for drying of textiles with the combination of vacuum‐extraction and convective drying methods. The new method provides an inconceivable fast drying due to the synergistic effect of heat energy and mechanical forces. During vacuum extraction, hot air or superheated steam was applied as suction in place of air at room temperature and named as shock pre‐drying. Vacuum extraction and shock pre‐drying of cotton woven fabrics were performed at several working speeds between 1 and 30 m min^?1 and the drying effects were compared. It was observed that it was possible to obtain effective pre‐drying in ? s or less time with shock pre‐drying method. The method's water removal efficiency mainly depends on working speed and hot air or superheated steam temperature. Copyright © 2006 John Wiley & Sons, Ltd.     

Fatigue crack growth of filament wound GRP pipes with a surface crack under cyclic internal pressure

In this study, fatigue damage behavior of (±75₃) filament wound composite pipes with a surface crack under alternating internal pressure was investigated. The specimens were tested at room temperature and exposed to open ended fatigue tests in which the pipe can be deformed freely in the axial direction. The tests were carried out in accordance with the ASTM D-2992 standard. The alternating internal pressure was generated by conventional hydraulic oil. The low cycle tests were performed with 0.42 Hz frequency and R = 0.05 stress ratio. Glass reinforced polymer pipes (GRP) are made of E-glass/epoxy and have (±75₃) configuration. Surface cracks were machined in the axial direction of the pipes which have depth-to-thickness ratios a/t = 0.25–0.38–0.50 and depth to length ratio of a/c = 0.2. Tests were performed at three different loads of 50%, 40%, and 30% of ultimate hoop stress strength of unnotched pipes. The failure behavior of GRP pipes during the test was observed and fatigue test results were presented by means of (S–N) curves and delamination damage zone area-cycle (A–N) curves.     

Synthesis of highly-ordered TiO2 nanotubes for a hydrogen sensor

Highly-ordered, vertically oriented TiO₂ nanotubes are synthesized, and their hydrogen sensing properties are investigated. Self-organized TiO₂ nanotube arrays are grown by anodic oxidation of a titanium foil in an aqueous solution that contains 1 wt% hydrofluoric acid at 20 °C. We use a potential ramp at a rate of 100 mV s⁻¹, increasing from the initial open-circuit potential (OCP) to 20 V, and this final potential of 20 V is then held constant during the anodization process. The fabricated TiO₂ nanotubes are approximately 1 μm in length and 90 nm in diameter. For the sensor measurements, two platinum pads are used as electrodes on the TiO₂ nanotube arrays. The hydrogen sensing characteristics of the sensor are analyzed by measuring the sensor responses ((I − I₀)/I₀) in the temperature interval of 20–150 °C. We find that the sensitivity of the sensor is approximately 20 for 1000 ppm H₂ exposure at room temperature, and increases with increasing temperature. The sensing mechanism of the TiO₂ nanotube sensor could be explained with chemisorption of H₂ on the highly active nanotube surface.     

CdS thin films—speed of response characteristics

This paper reports experimental results on the speed of response characteristics of CdS thin films implanted with Bi ions at 30 keV with doping densities varying from 10¹³ to 10¹⁵ ions cm^-2. It is reported herein that the speed of response decreases with decreasing light intensity for the implanted CdS thin films and time constants increase with increasing doping densities. A wavelength dependence of the speed of response was experimentally observed. The trap distribution is found to be nearly linear in a shallow depth below the conduction band.     

Robust Adaptive Control for Mobile Manipulators

This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and thc convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.     

Fabrication of Pd-Fe nanowires with a high aspect ratio by AAO template-assisted electrodeposition

In this study, vertically oriented Pd_0.86Fe_0.14 nanowires have been fabricated using an anodized aluminum oxide (AAO) template by direct voltage electrodeposition at room temperature. AAO template-assisted electrodeposition of Pd-Fe was carried out in Pd(NH₃)₂Cl₂:FeSO₄·7H₂O solution. The AAO template and the Pd_0.86Fe_0.14 nanowires were characterized by scanning electron microscopy (SEM), energy dispersive X-ray (EDX) methods and X-ray diffraction (XRD). It was observed that the Pd_0.86Fe_0.14 nanowires were approximately 65 nm in diameter and 10 μm in length with an aspect ratio of 153 in a relatively large area of about 4 cm². The nucleation rate and the number of atoms in the critical nucleus are determined from the analysis of current transients.     

Hydrogen sensing properties of ZnO nanorods: Effects of annealing,temperature and electrode structure

In this study, the hydrogen (H₂) sensing properties of vertically aligned zinc oxide (ZnO) nanorods were investigated depending on annealing, Pd coating, temperature and electrode structure. ZnO nanorods were fabricated by using hydrothermal method on a glass substrate and an indium tin oxide (ITO) coated glass substrate. In order to determine the effects of annealing on the H₂ sensor performance, the nanorods were heated at 500 °C in dry air. H₂ sensing measurements were done in the temperature range of 25–200 °C. It was found that, the sensor response of Pd coated ZnO nanorods were much higher than the un-coated nanorods due to the catalytic effect of Pd thin film. Moreover, the un-annealed samples showed better sensor response than the annealed samples due to the number of oxygen deficiency. In addition, the lateral electrode structure showed higher sensor response than the sandwich electrode structure.     

Effects of sintering and zirconmullite doping on nanostructural vacancies of bovine hydroxyapatite by positron techniques

In this study, the nanostructural vacancy behavior of bovine derived hydroxyapatite (BHA) doped with powder zirconmullite (ZM) contents of 5, 7.5, 10 and 12.5 wt.% were presented at sintering temperatures of 1000, 1100, 1200 and 1300°C. ZM-doped BHA (ZM-BHA) was characterized by X-ray diffraction and positron annihilation lifetime spectroscopy (PALS). Density and hardness behavior were measured with respect to increasing sintering temperature. PALS results indicate that the longest lifetime component τ₃ of ortho-positronium (o-Ps) localized at open spaces is attributed to the vacancy site and almost constant with the ZM contents and the sintering temperatures to have a mean value of 0.680 ns (corresponding to the radius of 0.997 nm). This average value is ascribed to the OH group defects along the main crystalline line. On the other hand, the o-Ps intensity attributed to the number of vacancy sites increases almost linearly with ZM additives and sintering temperatures. The intensity is also related to the density and hardness of ZM-BHA in terms of ZM contents.