Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

Influences of artificial pre-stressing on ply stresses and tensile properties of Vinylon fibre-reinforced aluminium laminates (VIRALL)

A simple micromechanical model based primarily upon the rule-of-mixtures is developed which allows prediction of the effects of fibre preload on the ply stresses (i.e., the initial residual stresses of fibre, adhesive and matrix) induced within VIRALL laminates, and the tensile stress-strain curves and mechanical properties of VIRALL laminates. The analysis of the ply stresses of VIRALL laminates indicates that pre-stressing will dramatically influence the ply stresses. The predicted tensile stress-strain curves of VIRALL laminates are in good agreement with the experimental curves and the results show that the stress-strain curves of VIRALL laminates move upwards when the prestress increases. The predicted tensile mechanical properties of VIRALL laminates at room temperature show good agreement with those obtained experimentally; both show that prestress can improve the tensile properties (i.e., elastic limit strength, 0.2% yield strength and failure strength) of VIRALL laminates.     

New chemical structural features of coal. The structure of coal products

The object of this paper is to demonstrate the usefulness of the transalkylation reaction for determining chemical structural features of products derived from coal. For example, the method is applied to derivatized coals, coals modified by thermolysis, and materials physically or chemically separated from coals. Data are presented for the pyridine soluble and insoluble parts of two coals, an O-methylated coal, a Birch reduced coal, a solvent refined coal, and a coke. Similarities and differences in chemical make-up of these materials are discussed.     

SP预应力空心板在居住建筑中的应用和发展

分析现浇板和传统预制板的特点和弱点，提出发展SP板和SP叠合板是住宅实现大开间、灵活隔断的有效途径之一，也是建筑施工实现现代化的重要内容之一。     

Clinical trial of ototopical ofloxacin for treatment of chronic suppurative otitis media

A multicenter, open-label prospective trial was performed to determine the clinical and microbiologic efficacy of ofloxacin (OFLX) otic solution in the treatment of subjects > or =12 years with chronic suppurative otitis media (CSOM) and a chronically perforated tympanic membrane in the infected ear(s). A total of 207 patients at 27 centers in the United States and Central America received OFLX 0.5 mL instilled ototopically twice daily for 14 consecutive days. The primary clinical end point was cure (dry ear) or failure (not dry ear). The primary microbiologic end point was eradication of baseline pathogens. Because there was no comparator and there were few data in the literature regarding clinical efficacy in patients treated with other regimens, the efficacy of OFLX was compared with data recorded in the clinical records of historical-practice control (HPC) or current-practice control (CPC) subjects. The incidence of clinical cure in clinically evaluable OFLX-treated patients (91%; 148 of 162 subjects) was significantly higher than in HPC subjects (67%; 124 of 185 subjects) or CPC subjects (70%; 38 of 54 subjects). OFLX eradicated all baseline pathogens isolated in microbiologically evaluable subjects. These pathogens were predominantly Staphylococcus aureus, Pseudomonas aeruginosa, and Proteus mirabilis. The most common treatment-related adverse event, bitter taste, occurred in 17% (35 of 207) of OFLX-treated subjects. Thus OFLX 0.5 mL administered twice daily for 14 days was effective in resolving the signs and symptoms of CSOM in subjects > or =12 years, was significantly more effective than therapies used to treat HPC or CPC subjects, and was well tolerated.     

Piston-driven laminar flow and heat transfer in a plane channel with a sudden expansion

 This paper presents a numerical study of piston-driven heat transfer and fluid flow in a plane channel containing a sudden expansion. The numerical method employed is based on a control-volume-based finite element method for incompressible flow with a staggered and moving grid and SIMPLER algorithm for pressure-velocity coupling. The numerical results show a good agreement with the experimental data reported in the literature. Results concerning time and space evolution of the thermal and flow fields are presented for different values of the expansion ratio, the initial clearance volume, and the piston velocity. Received: 20 April 2002 / Accepted: 23 January 2003