Robust Navigation and Mapping Architecture for Large Environments

This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for very large environments. A hybrid architecture is presented that makes use of the Extended Kalman Filter to perform SLAM in a very efficient form and a Monte Carlo localizer to resolve data association problems potentially present when returning to a known location after a large exploration period. Algorithms to improve the convergence of the Monte Carlo filter are presented that consider vehicle and sensor uncertainty. The proposed algorithm incorporates significant integrity to the standard SLAM algorithms by providing the ability to handle multimodal distributions over robot pose in real time during the re‐localization process. Experimental results in outdoor environments are presented to demonstrate the performance of the algorithm proposed. © 2003 Wiley Periodicals, Inc.     

Adaptive Resource Sharing Strategies for UMTS Multiservice Mobiles

In this paper, a multiservice transmission scheme which joints voice, video, interactive game and signaling is evaluated for the dedicated channel of the Universal Mobile Telecommunications System. The transmission rate for each service is determined by means of an adaptive transport format selection. In the UMTS standard, this selection is based on power allocation provided by radio resource controller, trying to match the Eb/No requirements of the individual services. An appropriate selection of the individual rates of each multiplexed service, taking into account its particular QoS requirements, will provide a more efficient resource management than the transmission only restricted to power allocation. For this purpose, we propose and evaluate a new selection strategy based on buffer occupation, delay requirements and target bit rate keeping power constraints that intends to improve the basic operation trying to minimize the impact of the whole network. Video and game services are multiplexed in upper layers (logical channels) sharing a common transmission rate (transport channel). In this paper, it is proposed a new strategy to share the transmission rate set for this transport channel between both services taking into account their particular requirements. Results show that considering delay constraints provides a more balanced performance of the multiplexed services.     

Enhanced Photorefractivity of Poly(N‐vinylcarbazole)‐Based Composites through Electric‐Field Treatments and Ionic Liquid Doping

It is shown that the photorefractive (PR) performance of polymer composites based on poly(N‐vinylcarbazole) can be improved when samples are subjected to an electric field for a certain time, i.e. conditioned, previous to the PR characterization. It is also found that for conditioned samples the addition of an organic ionic liquid to the PR composition allows to obtain PR effect without the need of using a sensitizer. The typical electric field treatment time at room temperature and at a field of 20 V µm^?1 is 20 min. This procedure leads to a decrease of dark conductivity and an increase of photoconductivity, and consequently an increase of conductivity contrast. This results in higher PR two‐beam‐coupling gain coefficients and shorter response times, particularly at low fields. Dependencies of the process dynamics on impurities, applied field strength, temperature and the presence of an organic ionic liquid are examined in detail. It is remarkable the significant increase of the PR gain coefficients, and more drastically of the net gain coefficients, observed at low fields (<55 V µm^?1), when an ionic organic liquid such as benzalkonium chloride is added to unsensitized conditioned PR composites. These findings open a new route to improve the PR performance, not only of PVK‐based composites, but also of other types of organic materials, the main advantage being that no sensitizer is needed.     

Beef tallow biodiesel produced in a pilot scale

In the present work, the process of biodiesel production in a pilot plant has been studied using beef tallow as raw materials with methanol and potassium hydroxide as catalyst. The biodiesel quality is regulated by Brazilian specifications (Resolution 42) by the National Agency of Petroleum (ANP). The alkaline transesterification of animal fat with methanol produces a biodiesel with high quality and also with a good conversion rate. The process is possible but the economical viability must be improved by recovering methanol and glycerin. The obtained results have been used for industrial scale up of the process.     

Deriving Efficient Porous Heteroatom‐Doped Carbon Electrocatalysts for Hydrazine Oxidation from Transition Metal Ions‐Coordinated Casein

In this work, the synthesis of high‐performance, metal ion‐imprinted, mesoporous carbon electrocatalysts for hydrazine oxidation reaction (HzOR) using casein or a family of phosphoproteins derived from cow's milk as a precursor is shown. The synthesis is made possible by mixing trace amounts of non‐noble metal ions (Fe³⁺ or Co²⁺) with casein and then producing different metal ions‐functionalized casein intermediates, which upon carbonization, followed by acid treatment, lead to metal ion‐imprinted catalytically active sites on the materials. The materials effectively electrocatalyze HzOR with low overpotentials at neutral pH and exhibit among the highest electrocatalytic performances ever reported for carbon catalysts. Their catalytic activities are also better than the corresponding control material, synthesized by carbonization of pure casein and other materials previously reported for HzOR. This work demonstrates a novel synthetic route that transforms an inexpensive protein to highly active carbon‐based electrocatalysts by modifying its surfaces with trace amounts of non‐noble metals. The types of metal ions employed in the synthesis are found to dictate the electrocatalytic activities of the materials. Notably, Fe³⁺ is found to be more effective than Co²⁺ in helping the conversion of casein into more electrocatalytically active carbon materials for HzOR.     

Qualitative analysis of files of four different rotary systems,before and after being used for the twelfth time

The aim of this study was to make a comparative evaluation of the surface topography of the cervical third and tip of four different rotary systems, before and after being used 12 times, in resin blocks with simulated root canals with standardized 45° curvatures, and analyzed by scanning electronic microscopy (SEM). A total of 1,440 resin blocks with simulated root canals and standardized curvatures were used. The blocks were divided into four groups and prepared by the crown down technique according to the manufacturers' recommendations: Group 1 (G1)—K3®, Group 2 (G2)—Protaper Universal®, Group 3 (G3)—Twisted Files®, and Group 4 (G4)—Biorace®. After each preparation, the instruments were washed and autoclaved. A total of 24 instruments were selected, being three new instruments and three after having been used for the 12th time, from each group. These instruments were analyzed by SEM. To perform the evaluation, 24 micrographs were observed by 12 evaluators who attributed a score to the images according to a template. In the qualitative analysis of the cervical region and tip of new instruments, it was observe that the files of Groups G4 and G2 were the least rough and those of G1, the roughest. In the same manner, the cervical region of the instruments was qualitatively analyzed after the 12th time of using them, and there was no statistically significant difference at a level of 1% (ANOVA P < 0.01) between G2 and G4 as well as between G1 and G3. As regards the tip, it was observed that there was no statistically significant difference, at a level of 1%, between the groups: G1 and G3, G1 and G4, and between G3 and G4, and there was statistically significant difference at a level of 1%, between group G2 and the other groups, with G3 having the greatest roughness (ANOVA P < 0.01). Microsc. Res. Tech., 2013. © 2012 Wiley Periodicals, Inc.