Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

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.     

Co-crosslinking blend of incompatible polymers VI: Poly(vinyl chloride) toughened with polyethylene via a co-crosslinking technique

A binary blend which consists of two incompatible polymers such as poly(vinyl chloride) and polyethylene has been performed through a partial co-crosslinking reaction with peroxide to give a co-crosslinked blend with a uniform dispersion of small polyethylene particles and with an improved mechanical property. The results are obtained through the formation of a co-crosslinked product which acts as a potential solid phase dispersant as well as a well-bonded reinforcing interlayer on polyethylene particles uniformly dispersed in poly(vinyl chloride) matrix. The resulting blends (PVC/PE=10/90 wt) give carbon spherules of 0.5 to 1m diameter through pressure-carbonization at 650° C for 1 h.     

Shock consolidation of diamond powders

Fine and coarse diamond powders were shock-compacted at peak pressures of 77, 90, and 108 GPa. The densification and consolidation mechanisms of diamond powders under shock compression were investigated. The densification behaviour of the diamond powders depended strongly on the particle size of the starting materials. Fine diamond powders were densified primarily by plastic deformation, while coarse diamond powders were densified mainly by particle fracture. The relative densities of the compacted diamond samples increased with an increase in the initial particle size of the diamond and with shock pressure. The consolidation mechanism of the diamond powders under shock compression was closely related to the densification mechanism, and depended on the initial particle size of the diamond. At a shock pressure of 90 GPa, particle sizes of 2 to 4 m grade and 10 to 20 m grade were desirable as the starting material in order to produce well-bonded diamond compacts. Diamond compacts having microhardness values over 80 GPa were obtained from 2 to 4 m grade and 10 to 20 m grade diamond powders at a shock pressure of 90 G Pa, and their relative densities were 88.5% and 91.0%, respectively.     

Synthesis of tetramethyl-p-silphenylenesiloxanedimethylsiloxane triblock copolymer by employing living anionic polymerization

Dimethylsiloxane-tetramethyl-p-silphenylenesiloxane-dimethylsiloxane (DMS-TMPS-DMS) triblock copolymer was synthesized by employing living anionic polymerization of hexamethylcyclotrisiloxane (D₃). Two synthetic methods were carried out for the polymerization. One of those methods was the anionic polymerization of D₃ initiated at the silanolate anion which was prepared from the terminal hydroxyl group of silanol-terminated TMPS prepolymer by reaction with n-butyllithium (method 1). The other was the coupling reaction of vinyl-terminated TMPS prepolymer with hydrosilyl-terminated DMS prepolymer obtained from the anionic polymerization of D₃ by using diphenylmethylsilanolate anion as initiator (method 2). In method 1, DMS contents of the copolymers ranged from 25.8 to 72.5 wt% and the values agreed with the ratio of D₃ to TMPS prepolymer. The weight-average molecular weights ranged from 1.36×10⁴ to 19.4×10⁴ and were close to the predicted values calculated from the $\text{M}\text{?}{}_{\mathrm{v}}$ of the TMPS prepolymer and the amount of D₃ added. In the case of method 2, weight-average molecular weights ranged from 19.5×10⁴ to 24.2×10⁴. The high molecular weight copolymer could thus be obtained by method 2. Intrinsic viscosity values of the triblock copolymers agreed with calculated values obtained by considering the copolymer as a binary mixture of these homopolymers. Differential scanning calorimetry and thermogravimetry were carried out on the triblock copolymers. The equilibrium melting temperatures of each of the copolymers were very close to that of poly-TMPS (160°C). The glass transition temperature and heat of fusion were decreased as the DMS content was increased. The thermogravimetric curves for the copolymers indicated that the thermal stability of the triblock copolymer was intermediate between the DMS and TMPS homopolymers.     

Free primary alcohols in oils and waxes from germs,kernels and other components of nuts,seeds, fruits and cereals

The composition of free primary alcohols in oils and waxes obtained from the germ, kernel, seed coat, shell and skin (peel) of various nuts, seeds, fruits and cereals and from the chrysalis of silkworm was examined. These alcohols are usually present in small amounts, along with large quantities of hydrocarbons, esters and glycerides in oils and waxes. Thus, it is necessary to remove hydrocarbons, esters and glycerides to analyze the alcohols. We found that preparative reverse-phase thin-layer chromatography (TLC) was the best way to isolate alcohols from oils and waxes. Gas liquid chromatography (GLC) then detected hexacosanol, octacosanol and triacontanol in the oils and waxes. Octacosanol usually was the predominant alcohol. Relationships between the organs from nuts, seeds, fruits and cereals and the contents of octacosanol are suggested. For example, degermed kernels contained two times more octacosanol than the germ, and the skin coat and shell contained one-half and one-fortieth the octacosanol of the germ, respectively.     

Local disturbances preceding a running crack front in a viscoelastic solid

The local disturbances ahead of a running crack front in a viscoelastic solid were measured through noncontact electro-optical tools. It was observed that the very high local strain rate up to 200/sec exists even in the present quasistatic loading case. It may be concluded that the running crack propagation velocities, not the conventional average strain rates ranging from about 10^?4/sec to 10^?2/sec, govern the local disturbances, as the crack propagation velocities always exceed 200m/sec for both average strain rates, while the local strain rates observed do not show much differences between both average strain rate cases.     

Plasma developable photoresist containing electronic excitation energy quenching system

A dry developable negative working resist composition comprised of poly(methyl isopropenyl ketone) (PMIPK) and 4-methyl-2,6-di(4′-azido-benzylidene) cyclohexanone-1 was examined. The main photochemical product formed in the resist pattern was found to be a secondary amine which crosslinks PMIPK. Post-annealing forms a hydrogen-bonded product which shows a powerful electronic excitation energy quenching effect. The quencher is more powerful than the aromatic compound arising from the azide by post-annealing only. The residual resist thickness of the negative pattern is about 80 percent of the initial thickness of the coating in spite of all the azide compound remaining in the resist coating. The obtained dry developed resist pattern has a high dry etch resistance. Etchings of Si and SiO₂ were performed by plasma and reactive ion etching, respectively.     

Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method.     

Computational design of iris folding patterns

Computational Visual Media - Iris folding is an art-form consisting of layered strips of paper, forming a spiral pattern behind an aperture, which can be used to make cards and gift tags. This...     

3D interactive topology optimization on hand-held devices

This educational paper describes the implementation aspects, user interface design considerations and workflow potential of the recently published TopOpt 3D App. The app solves the standard minimum compliance problem in 3D and allows the user to change design settings interactively at any point in time during the optimization. Apart from its educational nature, the app may point towards future ways of performing industrial design. Instead of the usual geometrize, then model and optimize approach, the geometry now automatically adapts to the varying boundary and loading conditions. The app is freely available for iOS at Apple’s App Store and at http://www.topopt.dtu.dk/TopOpt3D for Windows and OSX.