Mobile robot localization: integrating measurements from atime-of-flight laser

This paper presents an algorithm for environment mapping by integrating scans from a time-of-flight laser and odometer readings from a mobile robot. The range weighted Hough transform (RWHT) is used as a robust method to extract lines from the range data. The resulting peaks in the RWHT are used as feature coordinates when these lines/walls are used as landmarks during navigation. The associations between observations over the time sequence are made in a systematic way using a decision directed classifier. Natural geometrical landmarks are described in the robot frame together with a covariance matrix representing the spatial uncertainty. The map is thus built up incrementally as the robot moves. If the map is given in advance, the robot can find its location and navigate relative to this a priori given map. Experimental results are presented for a mobile robot with a scanning range measuring laser having 2-cm resolution. The algorithm was also used for an autonomous plastering robot on a construction site. The sensor fusion algorithm makes few erroneous associations     

The first years as independent actors in the housing market: Young households in a Swedish municipality

This study deals with young households at the beginning of their housing career. During the 1990s, a tendency of the young to leave the parental home at a later age than during previous decades was discussed. With extended education, rising housing costs and a shortage of rental housing, difficulties in finding an affordable place to live could be expected to have increased. Parental resources are of increasing importance in times of recession. The aim of this study was to follow the first steps in the housing careers of young individuals in a Swedish municipality and to investigate the time of nest-leaving and the choice of tenure for their first and second moves. Individuals aged 16–25 years in the municipality of Gävle, Sweden, were included in the study. Longitudinal data for the years 1985–1995 were used. To capture changes over time, the nest-leaving situations of two cohorts were compared. Results indicate that the individuals in the 1973 cohort leave home at a higher age than do those in the 1968 cohort. A surprisingly large share move into tenant co-operatives. Such moves, as well as moves into owner occupation, occurred mainly within Gävleborg County. Individuals moving to other municipalities outside the county moved to a larger extent into rental housing.     

Comments on: Optimal stochastic control for discrete-time linear systems with interrupted observations

In a recent paper [1] a control law was found, which was claimed to be optimal. Here we point out an error in the proof and give a counterexample. In fact, the control law in [1] can be seen as a “passive open loop approximation”. We suggest also a control law which actively identifies the random variables in the loop.     

Variations in lipid composition and sound velocity in melon from the North Atlantic pilot whale,Globicephala melaena melaena

Nonpolar lipids and sound velocity at different distances from the skin surface within a sample of pilot whale melon were studied. Thin layer chromatography, sensitive radioisotopic methods, and an ultrasonic echo scanner were used. Wax esters had a maximum concentration at 11–12 cm from the skin surface. Non- and monoisovalero triglycerides both exhibited a minimum at 8–10 cm, whereas the diisovalero species increased steadily from the skin surface towards the center of the pilot whale head. A minimum of sound velocity, ca. 1340 m/s, was found at 9–11 cm, thus coinciding with a region rich in isovaleric acid esterified in wax and diisovalero triglycerides. These findings are compatible with predictions based on the known correlations between lipid structure and sound velocity. Consequently, additional evidence for refraction of sound in pilot whale melon is presented. This is important in understanding the system of echolocation of toothed whales.     

The effect of oxygen and volatile combustibles on the sulphation of gaseous KCl

Sulphur/sulphate containing additives, such as elemental sulphur (S) and ammonium sulphate (NH₄)₂SO₄), can be used for sulphation of KCl during biomass combustion. These additives convert KCl to an alkali sulphate and a more efficient sulphation is normally achieved for ammonium sulphate compared to sulphur. The presence of SO₃ is thus of greater importance than that of SO₂. Oxygen and volatile combustibles could also have an effect on the sulphation of gaseous KCl. This paper is based on results obtained during co-combustion of wood chips and straw pellets in a 12 MW circulating fluidised bed (CFB) boiler. Ammonium sulphate was injected at three positions in the boiler i.e. in the upper part of the combustion chamber, in the cyclone inlet, and in the cyclone. The sulphation of KCl was investigated at three air excess ratios (λ = 1.1, 1.2 and 1.4). Several measurement tools were applied including IACM (on-line measurements of gaseous alkali chlorides), deposit probes (chemical composition in deposits collected) and gas analysis. The position for injection of ammonium sulphate had a great impact on the sulphation efficiency for gaseous KCl at the different air excess ratios. There was also an effect of oxygen on the sulphation efficiency when injecting ammonium sulphate in the cyclone. Less gaseous KCl was reduced during air excess ratio λ = 1.1 compared to the higher air excess ratios. The optimal position and conditions for injection of ammonium sulphate were identified by measuring KCl with IACM. A correlation was observed between the sulphation of gaseous KCl and reduced chlorine content in the deposits. The experimental observations were evaluated using a detailed reaction mechanism. It was used to model the effect of volatile combustibles on the sulphation of gaseous KCl by SO₃. The calculations supported the proposition that the presence of combustibles at the position of SO₃ injection (i.e. AS) causes reduction of SO₃ to SO₂.     

FINITE ELEMENT MODELING AND SIMULATION OF WELDING. PART 3: EFFICIENCY AND INTEGRATION

Welding simulation has advanced from the analysis of laboratory setups to real engineering applications during the last three decades. This development is outlined and the directions for future research are summarized in this review, which consists of three parts. This parts focuses on computational strategies and how they are integrated with other methods to facilitate the use of simulations in engineering. These developments have lead to the increased application of welding simulations in industry.     

Realization of a resonant tunneling permeable base transistor withoptimized overgrown GaAs interfaces

A resonant tunneling permeable base transistor has been realized experimentally by overgrowing a tungsten grating placed in direct vicinity to a double barrier heterostructure. In this way, we can directly modulate the tunneling current via an embedded gate. Since the quality of the overgrown interface is critical, special attention is paid to this issue, and the effect of different wet etchants prior to overgrowth is studied both by electrical measurements and by the use of an atomic force microscope. A clear dependence of the electrical properties and the crystal quality on the etchants used is found. This is a key result for the realization of our resonant tunneling device