Autonomous Variable‐Resolution Map Building for Mobile Robots in Unknown Environments

This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omnidirectional mobile robot equipped with laser range finders. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 59–69, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22493     

Visualization of Knoop Indentation Damage of Silicon Nitride by Plasma Etching

A visualizing technique for indentation damage of ceramics was developed. Plasma etching was used to enhance the view of cracks and the subsurface microcracking crush zone following Knoop indentation of hot pressed Si₃N₄. The microcracking zone was readily identified from the surface view of the indented surface as a grain-falling-off region (GFOR), defined as a region in which grains were removed by preferential etching using CF₄ gas, followed by ultrasonic cleaning. A fissure-like opening corresponding to the indentation cracks was also observed. It is inferred that the formation of the GFOR region and the fissure-like opening were caused by the etching/cleaning treatment. Meanwhile, the etching on a section which included diagonals of the impression provided a section view of the microcracking zone.     

由疏散地图到城市建设的平台 ——论“逃生地图”的可能性

所谓“疏散地形时间地图”（一般叫逃生地图）是指从绘制详细的疏散地图到致力于震后重建方法论的一系列举措。这一系列举措不仅保护了众多今后可能会没落的地域文化。而且还从地震中吸取教训,在进行建设和规划以人命优先为主旨的城市的前提下尝试着对地域进行改变。本文主要介绍了“逃生地图”概要、地方研讨会的地图效果以及逃生地图在汽车导航服务方面的应用等。     

The roles of the Trommsdorff–Norrish effect in phase separation of binary polymer mixtures induced by photopolymerization

Influence of the Trommsdorff–Norrish (T–N) effect on the phase separation of methyl methacrylate (MMA)/poly(ethyl acrylate) (PEA) mixtures undergoing photo-polymerization was examined by a combination of several experimental techniques. By FT-IR spectroscopy, it was found that the polymerization conversion explosively increases at the onset of this T–N effect. The characteristic irradiation time τ at which this effect occurs, strongly depends on the light intensity and gradually shifts to early time as the irradiation intensity increases. The shrinkage of the mixture observed in situ by laser-scanning confocal microscopy exhibits a transition at a particular irradiation time which is slightly longer than the characteristic time τ. By gel permeation chromatography (GPC), it was found that the molecular weight of the resulting PMMA was almost unchanged before τ and suddenly increases about an order of magnitude after the onset of the auto-acceleration effect. Finally, the characteristic length scales of the morphology also quickly increase with irradiation time and are eventually frozen by this T–N effect. These experimental results indicate that the Trommsdorff–Norrish effect plays an important role in the kinetic processes of polymerization-induced phase separation, suggesting an efficient tool to control the morphology of the polymerizing mixture.     

Chain stiffness and chain conformation of poly(α-methylene-γ-butyrolactone) in dilute solutions

The chain stiffness and local chain conformation of atactic poly(α-methylene-γ-butyrolactone) (PMBL), which is a side chain cyclic structural analog of poly(methyl methacrylate) (PMMA), with a weight-average molecular weight (M_w) ranging from 2.8 × 10³ to 2.6 × 10⁶ in N,N-dimethylformamide (DMF) and γ-butyrolactone (GBL) were characterized by size exclusion chromatography with a multi-angle light-scattering detector (SEC-MALS) and synchrotron radiation small-angle X-ray scattering (SAXS). Based on the Kratky-Porod worm-like chain model, the scattering functions and the M_w dependence of z-average root-mean-square radius of gyration <S²>_z^1/2 yielded the Kuhn segment lengths λ⁻¹, the diameter of the PMBL chains d, and the excluded-volume strengths in DMF and GBL. The local conformation of atactic PMBL in DMF and GBL were slightly larger than those of atactic PMMA, due to the presence of the conformationally rigid lactone ring structure.     

Mutation Analysis of Radioresistant Early-Stage Cervical Cancer

Radiotherapy is a definitive treatment for early-stage cervical cancer; however, a subset of this disease recurs locally, necessitating establishment of predictive biomarkers and treatment strategies. To address this issue, we performed gene panel-based sequencing of 18 stage IB cervical cancers treated with definitive radiotherapy, including two cases of local recurrence, followed by in vitro and in silico analyses. Simultaneous mutations in KRAS and SMAD4 (KRAS^mt/SMAD4^mt) were detected only in a local recurrence case, indicating potential association of this mutation signature with radioresistance. In isogenic cell-based experiments, a combination of activating KRAS mutation and SMAD4 deficiency led to X-ray resistance, whereas either of these factors alone did not. Analysis of genomic data from 55,308 cancers showed a significant trend toward co-occurrence of mutations in KRAS and SMAD4. Gene Set Enrichment Analysis of the Cancer Cell Line Encyclopedia dataset suggested upregulation of the pathways involved in epithelial mesenchymal transition and inflammatory responses in KRAS^mt/SMAD4^mt cancer cells. Notably, irradiation with therapeutic carbon ions led to robust killing of X-ray-resistant KRAS^mt/SMAD4^mt cancer cells. These data indicate that the KRAS^mt/SMAD4^mt signature is a potential predictor of radioresistance, and that carbon ion radiotherapy is a potential option to treat early-stage cervical cancers with the KRAS^mt/SMAD4^mt signature.     

Interactive visualization of three-dimensional magnetic fields

In order to observe the physical values (magnetic flux density and eddy current) in 3D magnetic field analysis, an interactive and highly manipulative visualization system depicting stereo images is intalled in a graphics workstation with high functional graphic processors. The system has the following characteristics:

• 1 An interactive and highly manipulative menu window with many functions: it enables visualization of complex phenomena in a 3D field through observation of various combinations of physical values from various viewpoints.
• 2 Simultaneous display of both magnetic flux density and eddy current by using the appropriate use of two colour display methods for stream lines and distribution maps of density: this function facilitates observation of the mutual relations between two physical values in a 3D field.
• 3 Animations and stereo displays: since they give extremely distinct images, observers can easily understand even highly complex 3D phenomena.

In this paper, the calculation method of density vectors, their display methods, and interactive functions are described. Some examples are also illustrated.     

Investigation of radiation-induced surface activation effect in austenitic stainless steel under ultraviolet and γ-ray irradiations

The radiation-induced surface activation (RISA) effect will be applied to the core design in supercritical light water reactor (SCWR) in order to achieve a high performance with excellent economy and safety. The purpose of the present study is to investigate the RISA effect in the candidate fuel cladding materials in SCWR such as PNC1520. The change of weldability due to RISA effect and the related microstructure analysis were performed in oxidized PNC1520 and 304 stainless steel with various oxidization periods. The phases contained in the surface oxide layer of the present specimen were identified as Fe₂CrO₄, γ-Fe₂O₃, and Fe₂O₃. The lifetime of 13.8 days for wettability improving factor was confirmed in the ultraviolet (UV) irradiation. Meanwhile, the long life of 13.8 days and short life of 0.8 days for wettability improving factors were identified in the γ-ray irradiation. Based on the fact that the band gap energies of Fe₂CrO₄, γ-Fe₂O₃, and Fe₂O₃ were, respectively, 2.1, 2.0, and 2.2 eV, and the photo energies of UV and γ-ray irradiation were 4.48 eV and 13.3 MeV, it is therefore clarified that the hydrophilization on the oxide layer is ascribed to the RISA effect.     

Open dumping site in Asian developing countries: a potential source of polychlorinated dibenz-p-dioxins and polychlorinated dibenzofurans

Open landfill dumping areas for municipal wastes in Asian developing countries have recently received particular attention with regard to environmental pollution problems. Because of the uncontrolled burning of solid wastes, elevated contamination by various toxic chemicals including dioxins and related compounds in these dumping sites has been anticipated. In this study, concentrations of polychlorinated dibenzo-p-dioxins (PCDDs), polychlorinated dibenzofurans (PCDFs), and coplanar polychlorinated biphenyls (PCBs) were determined in soils from dumping sites in the Philippines, Cambodia, India, and Vietnam. Residue concentrations of PCDD/Fs and coplanar PCBs in dumping site soils were apparently greater than those in soils collected in agricultural or urban areas far from dumping sites, suggesting that dumping sites are potential sources of PCDD/Fs and related compounds. Observed PCDD/F concentrations in soils from dumping sites in the Philippines and Cambodia were comparable or higher than those reported for dioxin-contaminated locations in the world (e.g., near the municipal waste incinerators and open landfill dumping sites). Homologue profiles of PCDD/Fs in dumping site soils from the Philippines and, to a lesser extent, from Cambodia and India reflected patterns of samples representing typical emissions, while profiles of agricultural or urban soils were similar to those of typical environmental sinks. This result suggests recent formation of PCDD/Fs in dumping site areas and that open dumping sites are a potential source of dioxins in Asian developing countries. Uncontrolled combustions of solid wastes by waste pickers, generation of methane gas, and low-temperature burning can be major factors for the formation of dioxins in dumping sites. Elevated fluxes of PCDD/Fs to soils in dumping sites were encountered in the Philippines, Cambodia, India, and Vietnam-Hanoi, and these levels were higher than those reported for other countries. Considerable loading rates of PCDD/Fs in the dumping sites of these countries were observed, ranging from 20 to 3900 mg/yr (0.12-35 mg TEQ/yr). PCDD/F concentrations in some soil samples from the Philippines, Cambodia, India, and Vietnam-Hanoi exceeded environmental guideline values, suggesting potential health effects on humans and wildlife living near these dumping sites. The estimated intakes of dioxins via soil ingestion and dermal exposure for children were higher than those for adults, suggesting greater risk of dioxin exposure for children in dumping sites. To our knowledge, this is the first comprehensive study on PCDD/Fs contamination in open dumping sites of Asian developing countries. On the basis of the result of this study, we have addressed a new environmental issue that open dumping sites are potential sources of PCDD/Fs and related compounds, and dioxin contamination in dumping sites may become a key environmental problem in developing countries.