Improved Pose Estimation for Mobile Robots by Fusion of Odometry Data and Environment Map

This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods, usually require explicit measurement of actual motion of the robot. Some recent methods, use the smart encoder trailer or long range finder sensors such as ultrasonic or laser range finders for automatic calibration. Manual measurement is necessary in the case of the robots that are not equipped with long range detectors or such smart encoder trailer. Our proposed approach, uses an environment map that is created by fusion of proximity data, in order to calibrate the odometry error automatically. In the new approach, the systematic part of the error is adaptively estimated and compensated by an efficient and incremental maximum likelihood algorithm. Actually, environment map data are fused with the odometry and current sensory data in order to acquire the maximum likelihood estimation. The advantages of the proposed approach are demonstrated in some experiments with Khepera robot. It is shown that the amount of pose estimation error is reduced by a percentage of more than 80%.     

Material and geometry factors in joint design of electronic equipment to minimize electromagnetic interference

Reducing electromagnetic interference in electronic equipments is of great importance. This is normally accomplished by increasing the shielding effectiveness of the enclosure. In this study, shielding effectiveness is examined against enclosure material, joint geometry, and operating frequency. An experimental apparatus is designed and manufactured to aid in finding the suitable joint configurations and materials with high shielding effectiveness. Three groups of material, namely, metallic, filled polymers, and metalized filled polymers, are investigated. In addition to the choices of material, effect of joint configurations on shielding behavior are examined. Based on the experimental results, empirical relations are developed that relate shielding effectiveness to effective length, shape factor, and aperture dimensions of the joint structure. Finally, the best material and joint geometry among the investigated cases are presented. © 1997 John Wiley & Sons, Inc. J Appl Polym Sci 64: 1667–1679, 1997     

Mechanical,thermal, and structural properties of uniaxially drawn polylactic acid/halloysite nanocomposites

The effect of solid-state drawing at different conditions including drawing ratio (DR), drawing temperature (DT), and drawing speed (DS) on mechanical, thermal, and structural properties of polylactic acid (PLA)/halloysite nanotubes (HNTs) composites were studied. PLA/HNTs composite films were prepared by melt mixing process followed by compression molding. Subsequently, drawing was performed using a tensile testing machine. Field emission scanning electron microscopy confirmed alignment and orientation of polymer chains and HNTs after stretching. Thermal and mechanical analysis of the drawn films revealed that glass transition temperature, crystallinity, ultimate tensile strength, and Young's modulus were enhanced by increasing DR, DT, and DS. However, toughness was decreased by increasing DR and DS and increased by increasing DT. In addition, the drawn nanocomposites showed superior mechanical and thermal properties compared to the drawn neat PLA films indicating the high efficiency of solid-state drawing and positive effect of HNTs. Therefore, this study could be helpful to introduce an approach to enhance the properties of biopolymers and renewable polymers by uniaxial drawing.     

Radiated Electromagnetic Field Signature of Cracked and Polluted Porcelain InsulatorsEI北大核心CSCD

Porcelain cap and pin insulators are by far the most popular suspension insulators in high voltage （HV） dis- tribution networks all around the world. Inspection and condition monitoring of HV insulators is also very important to the utility companies because of the critical and vital role that they play in distribution systems. In terms of safety, practicality and ease of use, remote detection methods are more popular among the line technicians. A new remote condition assessment method based on electromagnetic radiations from porcelain insulators is presented in this gaper. In a lab environment, a string of two porcelain insulators is energized by a 45 kV transformer. Electromagnetic radia- tions due tO the partial＂discharge activities inside the porcelain insulator are captured by passive sensors and antennas. Two cases of defective insulators on a two insulator string are studied here. The first case focuses on the effect of con- taminated porcelain shells on radiation signature of partial discharges. A polluted porcelain shell with ESDD level of 0.03 mg/cmz was first tested. The second case studies the effect of cracks of an intentionally-cracked porcelain shell. The cracked insulator is also tested on a two insulator string. To compare the partial discharge radiation signature of different faulty insulators, phase resolved graphs were developed. The electromagnetic radiated signature of a polluted insulator and a cracked insulator was＇calculated and compared using phase resolved graphs.     

Spirostane,furostane and cholestane saponins from Persian leek with antifungal activity

A phytochemical investigation of the seeds of Persian leek afforded the isolation of two new spirostane glycosides, persicosides A (1) and B (2), four new furostane glycosides, isolated as a couple of inseparable mixture, persicosides C1/C2 (3a/3b) and D1/D2 (4a/4b), one cholestane glycoside, persicoside E (5), together with the furostane glycosides ceposides A1/A2 and C1/C2 (6a/6b and 7a/7b), tropeosides A1/A2 and B1/B2 (8a/8b and 9a/9b), and ascalonicoside A1/A2 (10a/10b), already described in white onion, red Tropea onion, and shallot, respectively. Structure elucidation of the compounds was carried out by comprehensive spectroscopic analyses, including 2D NMR spectroscopy and MS spectrometry, and by chemical evidences. The chemical structure of new compounds were identified as (25S)-spirostan-2α,3β,6β-triol 3-O-[β-d-glucopyranosyl-(1 → 3)] [β-d-xylopyranosyl-(1 → 2)]-β-d-glucopyranosyl-(1 → 4)-β-d-galactopyranoside (1), (25S)-spirostan-2α,3β,6β-triol 3-O-[β-d-xylopyranosyl-(1 → 3)] [α-l-rhamnopyranosyl-(1 → 2)]-β-d-glucopyranosyl-(1 → 4)-O-β-d-galactopyranoside (2), furosta-1β,3β,22ξ,26-tetraol 5-en 1-O-β-d-glucopyranosyl (1 → 3)-β-d-glucopyranosyl (1 → 2)-β-d-galactopyranosyl 26-O-α-l-rhamnopyranosyl (1 → 2)-β-d-galactopyranoside (3a,3b), furosta-2α,3β,22ξ,26-tetraol 3-O-β-d-glucopyranosyl (1 → 3)-β-d-glucopyranosyl (1 → 2)-β-d-galactopyranosyl 26-O-β-d-glucopyranoside (4a,4b), (22S)-cholesta-1β,3β,16β,22β-tetraol 5-en 1-O-α-l-rhamnopyranosyl 16-O-α-l-rhamnopyranosyl (1 → 2)-β-d-galactopyranoside (5).     

Sub‐6 nm Thin Cross‐Linked Dopamine Films with High Pressure Stability for Organic Solvent Nanofiltration

Interfacial polymerization of dopamine and terephtaloyl chloride is performed on a porous crosslinked polyacrylonitrile support membrane. The resulting polymer layer has a smooth surface and is ultrathin (about 5 nm). The chemical nature of the interfacially polymerized layer is characterized by Fourier transform infrared spectroscopy and by X‐ray photoelectron spectroscopy. The thin‐film composite membrane is stable in aggressive solvents like dimethylformamide (DMF) and the membrane shows high solvent permeances combined with a molecular weight cut‐off below 800 g mol^‐1. The remarkable stability in DMF, the ease of preparation as well as the extremely thin and smooth selective layer make this new type of bioinspired membrane attractive for solvent resistant nanofiltration.

     

Algorithms for matching 3D line sets

Matching two sets of lines is a basic tool that has applications in many computer vision problems such as scene registration, object recognition, motion estimation, and others. Line sets may be composed of infinitely long lines or finite length line segments. Depending on line lengths, three basic cases arise in matching sets of lines: 1) finite-finite, 2) finite-infinite, and 3) infinite-infinite. Case 2 has not been treated in the literature. For Cases 1 and 3, existing algorithms for matching 3D line sets are not completely satisfactory in that they either solve special situations, or give approximate solutions, or may not converge, or are not invariant with respect to coordinate system transforms. In this paper, we present new algorithms that solve exactly all three cases for the general situation. The algorithms are provably convergent and invariant to coordinate transforms. Experiments with synthetic and real 3D image data are reported.     

A neuro‑observer‑based optimal control for nonaffine nonlinear systems with control input saturations

In this study, an adaptive neuro-observer-based optimal control (ANOPC) policy is introduced for unknown nonaffine nonlinear systems with control input constraints. Hamilton–Jacobi–Bellman (HJB) framework is employed to minimize a non-quadratic cost function corresponding to the constrained control input. ANOPC consists of both analytical and algebraic parts. In the analytical part, first, an observer-based neural network (NN) approximates uncertain system dynamics, and then another NN structure solves the HJB equation. In the algebraic part, the optimal control input that does not exceed the saturation bounds is generated. The weights of two NNs associated with observer and controller are simultaneously updated in an online manner. The ultimately uniformly boundedness (UUB) of all signals of the whole closed-loop system is ensured through Lyapunov’s direct method. Finally, two numerical examples are provided to confirm the effectiveness of the proposed control strategy.     

Hydrogen solubility in aromatic/cyclic compounds: Prediction by different machine learning techniques

A systematic procedure based on adaptive neuro-fuzzy inference systems (ANFIS), artificial neural networks, and least-squares support vector machines develop to estimate hydrogen solubility in aromatic and cyclic compounds. The key features of these models are determined through a massive trial-and-error process. The proposed intelligent models estimate hydrogen solubility as a function of critical properties and acentric factor of aromatic/cyclic compounds, temperature, and pressure. The ranking analysis based on seven statistical criteria indicates the priority of the ANFIS method over other paradigms. The proposed ANFIS model estimates 278 experimental hydrogen solubility in eleven aromatic/cyclic compounds by the absolute average relative deviation of 7.88%, the mean absolute error of 0.0023, the relative absolute error of 5.05%, mean squared error of 2.74 × 10^?5, root mean squared error of 0.0052, and regression coefficient of 0.99664. Moreover, the relevancy analysis justifies that the pressure is the strongest influential variable for the hydrogen solubility in aromatic/cyclic compounds.     

Cumin seed meal as an alternative to wheat bran in commercial laying hen diets

To evaluate the nutritional significance of cumin seed meal (CSM) as a commercial poultry feedstuff on laying hen performance and quality of laid eggs, an experiment was conducted using 144 (48‐week‐old) laying hens receiving diets containing 0, 25 and 50 g CSM kg^?1 with or without polyethylene glycol (PEG 6000) and xylanase enzyme (Grindazym^? GP 15000) for 9 weeks. Body weight on the first and last days of the experiment and daily egg production and egg weight and weekly feed intake during the first, fifth and ninth weeks of the experiment were recorded. Shell weight, shell thickness, Haugh unit and yolk colour were measured during the last week of the experiment. The results showed that inclusion of CSM in laying hen diets had no negative influence on the parameters measured compared with the control diet (P > 0.05), but enhanced egg yolk colour (P < 0.05). PEG increased the daily feed intake of birds receiving CSM diets (P < 0.01) and tended to enhance daily egg production and egg weight, although not significantly. Grindazym decreased shell weight and thickness of laid eggs (P < 0.05) and tended to increase hen body weight, but had no influence on other parameters measured. The results demonstrated that CSM can be substituted for wheat bran in layer diets at 25 or 50 g kg^?1 dietary inclusion level without any adverse effect on hen performance or egg quality, and might enhance egg yolk colour. In view of the low price of CSM, it could be concluded that inclusion of CSM in the diet might be beneficial to the commercial laying hen industry and reduce the overall cost of egg production. Copyright © 2006 Society of Chemical Industry