Autonomous topological modeling of a home environment and topological localization using a sonar grid map

This paper presents a method of autonomous topological modeling and localization in a home environment using only low-cost sonar sensors. The topological model is extracted from a grid map using cell decomposition and normalized graph cut. The autonomous topological modeling involves the incremental extraction of a subregion without predefining the number of subregions. A method of topological localization based on this topological model is proposed wherein a current local grid map is compared with the original grid map. The localization is accomplished by obtaining a node probability from a relative motion model and rotational invariant grid-map matching. The proposed method extracts a well-structured topological model of the environment, and the localization provides reliable node probability even when presented with sparse and uncertain sonar data. Experimental results demonstrate the performance of the proposed topological modeling and localization in a real home environment.     

Hop chains: Secure routing and the establishment of distinct identities

We present a secure routing protocol that is immune to Sybil attacks and that can tolerate collusion of Byzantine routers. It can tolerate either initial collusion of Byzantine routers or runtime collusion of non-adjacent Byzantine routers, both in the absence of runtime collusion between adjacent routers. For these settings, the calculated distance from a destination to a node is not smaller than the actual shortest distance from the destination to the node. The protocol can also simultaneously tolerate initial collusion of Byzantine routers and runtime collusion of adjacent Byzantine routers but in the absence of runtime collusion between non-adjacent routers. For this setting, it guarantees a bound on the difference between the calculated distance and the actual shortest distance. The bound depends on the number of Byzantine routers on a path. The protocol makes very weak timing assumptions and requires synchronization only between neighbors or second neighbors. We propose to use this protocol for secure localization of routers using hop-count distances, which can be then used as a proof of identity of nodes.     

Biofouling control by quorum sensing inhibition and its dependence on membrane surface

Biofouling control by quorum sensing (QS) inhibition and the influence of membrane surface characteristics on biofilm formation and QS inhibition were investigated. Pseudomonas putida isolated from the bio-fouled reverse osmosis (RO) membranes in a real plant was used. Acylase was chosen as a model QS inhibitor. Bacteria on the membrane coupons were quantified with the heterotrophic plate count method. Cell distribution was imaged by a confocal laser scanning microscope. Results showed that biofilm formation on the membrane was reduced by acylase as it inhibits the activity of N-acylhomoserine lactone (AHL) which is a signal molecule of QS. It was also shown that membrane surface characteristics were influential factors affecting bacterial adhesion, biofilm formation, and QS inhibition.     

Proactive Human Search for the Designated Person with Prior Context Information in an Undiscovered Environments

This paper describes a scheme for proactive human search for a designated person in an undiscovered indoor environment without human operation or intervention. In designing and developing human identification with prior information a new approach that is robust to illumination and distance variations in the indoor environment is proposed. In addition, a substantial exploration method with an octree structure, suitable for path planning in an office configuration, is employed. All these functionalities are integrated in a message- and component-based architecture for the efficient integration and control of the system. This approach is demonstrated by succeeding human search in the challenging robot mission of the 2009 Robot Grand Challenge Contest.     

Localizing slab identification numbers in factory scene images

This paper deals with algorithms for text localization and character segmentation in images for process automation in the steel-making industry. Each character which comprises slab identification numbers may be corrupted severely before it is captured by network cameras. Therefore, proper processing is required to localize the target texts successfully. In this paper, we propose (1) a method to evaluate the closeness of an edge patch to the form of a closed contour, (2) an edge inspection method to determine character colors and estimate font thickness, and (3) three reasonable binarization methods to increase the performance of the algorithm for the detection of the left and right boundaries of the text rectangle. The experimental results show that the proposed algorithms are reliable.     

A miniature UWB planar monopole antenna with 5-GHz band-rejection filter and the time-domain characteristics

A planar monopole antenna with a staircase shape and small volume (25/spl times/26/spl times/1 mm/sup 3/) is proposed in this paper. With the use of a half-bowtie radiating element, the staircase-shape, and a modified ground plane structure, the proposed antenna has a very wide impedance bandwidth measured at about 11.6 GHz (2.9-14.5 GHz, bandwidth ratio about 1:5) below VSWR 2 including the WLAN band notched in the vicinity of 5 GHz. An omnidirectional radiation pattern is obtained. The group delay which is an indication of linearity between two proposed antennas is less than 1 ns. The electrical characteristics in terms of frequency and time domains and physical ones of the proposed antenna make it attractive for use in ultrawideband (UWB) systems.     

Synthesis and Characterization of Nanocapsules of a-Fe(NiCoAl) Solid-solution

α-Fe(NiCoAl) solid-solution nanocapsules were prepared with pure powders of Fe, Ni, Co and Al by the plasma arc-discharging using a copper crucible. The shapes of the nanocapsules are in polyhedrons with the core/shell structure. The body centered cubic (BCC) phase is formed in the core. The size of the nanocapsules is in the range of 10~120 nm and the thickness of the shell is 4~11 nm. Saturation magnetization Js=150 Am2/kg and coercivity iHC=24.3 kA/m are achieved for the nanocapsules.     

Comments on “Quadratic stabilization of continuous timesystems with state-delay and norm-bounded time-varyinguncertainties”

In the above mentioned paper by Mahmoud-Muthairi (ibid. vol.39 (1994)) a sufficient condition for memoryless stabilization of a class of uncertain linear systems with a variable-state delay and norm-bounded time-varying uncertainties is derived in terms of an algebraic Riccati equation. This Riccati equation depends on several free matrix variables, and a subsequent result in the paper, Theorem 2, states that failure or success of the stabilization algorithm is independent of the selection of these matrix variables. In this paper, we give a counterexample to this Theorem 2 as well as providing a fix     

Structural and electrochemical properties of vanadium oxide thin films grown by d.c. and r.f. reactive sputtering at room temperature

Vanadium oxide thin films were grown at room temperature by direct current and radio-frequency reactive sputtering systems to compare the structural and electrochemical properties. Rutherford backscattering spectrometry and Fourier transform infrared measurements reveal that the composition of the as-deposited films consists of the V₂O₅ phase regardless of the deposition methods. Wide-angle X-ray diffraction measurements show that the crystallinity of the as-deposited V₂O₅ films is different depending on the deposition method. Films deposited by direct current reactive sputtering were amorphous, whereas films deposited by radio-frequency reactive sputtering were crystalline. Scanning electron microscopy measurements show that the V₂O₅ films grown by radio-frequency reactive sputtering had a large grain size but the films grown by direct current reactive sputtering were amorphous. Charge–discharge measurements taken at room temperature with a constant current clearly indicate that the films grown by direct current sputtering demonstrated typical amorphous behavior, whereas the V₂O₅ films grown by radio-frequency sputtering demonstrated the discharge behavior of crystalline V₂O₅. The origin of the structural and electrochemical properties of film grown by radio-frequency reactive sputtering is a self-bias effect. The self-bias effect induces ion bombardment during the growth of vanadium oxide thin film. These results suggest that direct current reactive sputtering is more desirable for growing amorphous V₂O₅ thin film than radio-frequency reactive sputtering.