Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots

Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %.     

Gap symmetry and intrinsic intraplane pinning of untwinned YBa2Cu3O7 single crystals

The interplane (cb) and intraplane (ab) anisotropy of untwinned YBa₂ Cu₃0₇ single crystals has been investigated by means of the torque magnetometry. To extract the reversible and irreversible components, the torque was measured as a function of increasing angle as well as decreasing angle. The interplane irreversible torque _irr shows two-fold peaks at _c =90 ° and270 ° (of half width11 ° at77 K) due to the well-known intrinsic interplane pinning. A novel intrinsic pinning has been discovered in the intraplane irreversible torque, i.e., _irr shows four-fold peaks of half width20° at77 K when _a =0 °, 90 °, 180 ° and270 °. We argue that the intrinsic intraplane pinning comes from the four-fold nature of the gap parameter.     

Colorimetric microdetermination of sulphites in foods by use of the modified rankine apparatus. IV.

Summary Detection and determination of traces of sulphites in foods was attempted by use of the modified Rankine apparatus and pararosaniline colorimetry. Replacement of alkaline titration reported previously by pararosaniline colorimetry lowered the absolute detection limit from 30 g (titration method) to 2 g. In view of clean analysis, in the color developing system, 0.1 N-sodium hydroxide was used in place of mercuric chloride solution commonly used as an absorbant of sulphites. In order to prevent oxidative decomposition of sulphites during operation, nitrogen gas was used as carrier instead of air. Dimedone and sodium azide were used for the elimination of aldehydes and nitrites, respecitvely, in the sample, which will disturb the color development of sulphites with pararosaniline-formaldehyde reagents. With this improved method, it was possible to determine the residual sulphites in frozen peeled shrimps, sugared beans and other foods with low sulphite contents accurately.

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Colorimetrische Mikrobestimmung von Sulfiten in Lebensmitteln bei Anwendung der modifizierten IV. Rankine Apparatur

Zusammenfassung Geringe Sulfitmengen in Lebensmitteln (geschälte Garnelen, gezuckerte Bohnen) können colorimetrisch bestimmt werden. Die neuentwickelte Methode beruht auf einer Kombination von colorimetrischer Bestimmung mittels p-Rosanilin und der Bestimmungsmethode nach Rankine. Auf diese Weise lassen sich Gehalte von 2 g noch genau bestimmen. Bei der Farbentwicklung wurde das giftige Quecksilbertetrachlorid durch 0.1 n-NaOH ersetzt, anstelle von Luft Stickstoff als Trägergas verwendet und somit eine Oxydation des Sulfits während der Bestimmung vermieden. Da Nitrit und Aldehyde die Farbentwicklung stören, wurde ihr Einfluß durch Dimedon und Natriumazid ausgeschaltet.

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Studies on the Analyses of Sulphites in Foods (IV)     

Plan for first phase of safety demonstration tests of the High Temperature Engineering Test Reactor (HTTR)

Safety demonstration tests using the High Temperature Engineering Test Reactor (HTTR) will be conducted for the purpose of demonstrating inherent safety features of High Temperature Gas-cooled Reactors (HTGRs) as well as providing the core and plant transient data for validation of HTGR safety analysis codes. The first phase safety demonstration test items include the reactivity insertion test and the coolant flow reduction test. In the reactivity insertion test, which is the control rod withdrawal test, one pair out of 16 pairs of control rods is withdrawn, simulating a reactivity insertion event. The coolant flow reduction test consists of the partial loss of coolant flow test and the gas circulators trip test. In the partial loss of coolant flow test, primary coolant flow rate is slightly reduced by control system. In the gas circulators trip test one and two out of three gas circulators are run down, simulating coolant flow reduction events. The gas circulators trip tests, in which position of control rods are kept unchanged, are simulation tests of anticipated transients without scram (ATWS).     

Identification of charge‐transfer transition between Gd3+ to O2− in gadolinium‐containing oxide phosphors in VUV region

Abstract— The broad bands at around 155 nm for GdAl₃(BO₃)₄:Eu, at 184 nm for Ca₄GdO(BO₃)₃:Eu, at 183 nm for Gd₂SiO₅:Eu, and at 170 nm for GdAlO₃:Eu were observed. These bands were assigned to the charge‐transfer (CT) transition of Gd³⁺‐O^2?. In the excitation spectrum of (Gd,Y)BO₃:Eu, a broadened excitation band was observed in VUV region. It could be considered that this band was composed of two bands at about 160 and 166 nm. The preceding band was assigned to the BO₃ group absorption. The later one at about 166 nm could be assigned to the CT transition of Gd³⁺‐O^2?, according to the result of GdAl₃(BO₃)₄:Eu, Ca₄GdO(BO₃)₃:Eu, Gd₂SiO₅:Eu, and GdAlO₃:Eu. The excitation spectra overlapped between the CT transition of Gd³⁺‐O^2? and BO₃ groups absorption. It caused the emission of Eu³⁺ to take place effectively in the trivalent europium‐doped (Gd,Y)BO₃ host lattice under 147‐nm excitation.     

A versatile planar QCM-based sensor design for nonlabeling biomolecule detection

Despite high theoretical sensitivity, low-cost manufacture, and compactness potentially amenable to lab-on-a-chip use, practical hurdles have stymied the application of the quartz crystal microbalance (QCM) for aqueous applications such as detection of biomolecular interactions. The chief difficulty lies in achieving a sufficiently stable resonance signal in the presence of even minute fluctuations in hydrostatic pressure. In this work, we present a novel versatile planar sensor chip design (QCM chip) for a microliter-scale on-line biosensor. By sealing the quartz resonator along its edges to a flat, solid support, we provide uniform support for the crystal face not exposed to solvent, greatly decreasing deformation of the crystal resonator under hydrostatic pressure. Furthermore, this cassette design obviates the need for direct handling when exchanging the delicate quartz crystal in the flow cell. A prototype 27-MHz sensor signal exhibited very low noise over a range of flow rates up to 100 microL/min. In contrast, signals obtained from a conventional QCM sensor employing an O-ring-based holder were less stable and deteriorated even further with increasing flow rate. Additional control designs with intermediate amounts of unsupported undersurface yielded intermediate levels of stability, consistent with the interpretation that deformation of the crystal resonator under fluctuating hydraulic pressure is the chief source of noise. As a practical demonstration of the design's high effective sensitivity, we readily detected interaction between myoglobin and surface-bound antibody.     

Surface pressure and wind load characteristics on prisms immersed in a simulated transient gust front flow field

Thunderstorm generated gust fronts are responsible for various degrees of structural damage in many areas of the world. However, the resulting impact of gust front winds is not fully understood to such a level that their flow kinematics, dynamics and impact on structures can be quantified with some certainty. Gust front winds are transient in nature and have a flow profile which differs significantly from a typical boundary layer flow field. This study focuses on investigating the effects of this flow profile and its transient nature on the aerodynamics of bluff, prismatic bodies. A gust front type flow field is generated using a multiple fan wind tunnel and the resulting surface pressures are captured on a suite of prismatic models, which vary in size in relationship to the oncoming wind profile. The temporal variations in surface pressures are analyzed using traditional time, frequency and time-frequency domain schemes. Results indicate the changing nature of the surface pressure field in time, highlighting both qualitative and quantitative differences between local and area-averaged pressures under a host of flow profiles.     

Development of Sensor and Control Systems of a Wearable Robot to Walk on a Step

The goal of our study is to develop a system for walking on a step using a wearable robot. Our system consists of (1) sensing of a step from the movement of the walker, (2) detection of the foot placement state related to the step, and (3) generation of gait patterns of climbing and stepping down for the step. In the generation of gait patterns for the step, toe trajectories are generated according to the height of the step to avoid collision of the swinging leg with the step. The hip trajectory is generated by an optimization technique that minimizes the sum of the joint angular jerk of the robot subject to constraints on the hip position and the velocity at toe liftoff. Each joint angle trajectory is calculated from the generated trajectories by means of inverse kinematic equations. We investigated the feasibility of the proposed sensor and control systems for two steps with different heights.     

Preparation of microporous polypropylene sheets containing CaCO3 filler: Effect of draft ratio

Microporous polypropylene sheets were prepared as follows. First, polypropylene pellet-containing CaCO₃ filler was extruded to prepare base sheets, which were then biaxially stretched. The draft effect at the extrusion process was studied in relation to some properties of the resultant microporous polypropylene sheets. © 1996 John Wiley & Sons, Inc.