Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

Neoadjuvant intra-arterial chemotherapy based on chemosensitivity tests for locally invasive bladder cancer

We investigated the clinical usefulness of individualization of chemotherapeutic regimen in neoadjuvant intra-arterial chemotherapy for locally invasive bladder cancer. Anticancer drugs were selected according to the results of an in vitro chemosensitivity test (collagen matrix assay or succinic dehydrogenase inhibition test). Nine patients with locally invasive bladder cancer received 1 to 4 courses of neoadjuvant intra-arterial chemotherapy, followed by radical cystectomy. Histopathological responses in the cystectomized specimens were grade 3 in 3 cases, grade 2 in 2, grade 1b in 2 and no response in 2. Pathologically, a complete response and downstaging were observed in 3 and 4 cases, respectively. Seven of the 9 patients were alive no evidence of disease with a mean follow-up period of 38.9 months, whereas 2 patients died of metastasis within 2 years. Six of the 7 patients who showed a complete response or down staging have been free of recurrence. These findings suggest that our chemotherapeutic strategy may improve the prognosis for locally invasive bladder cancer.     

Influence of refraction on the visual field defects in normal tension glaucoma and primary open angle glaucoma eyes

The prevalence of normal tension glaucoma (NTG) or primary open angle glaucoma (POAG) is higher in myopic populations and the prevalence of myopia and NTG is relatively high in the Japanese. To evaluate the influence of myopic refractive error on the central visual field defect in NTG eyes, the data obtained from NTG eyes with the Humphrey Visual Field Analyser were analysed in comparison with those from POAG eyes. One hundred and twenty NTG eyes and one hundred and ninety-seven POAG eyes were included. All of them had clear ocular media, but no myopic degeneration in the fundus. Multiple linear regression analysis was performed with a dependent variable of the deviation of the measured threshold value from normal reference value (total deviation, STATPAC) and independent variables of refractive error and mean deviation (STATPAC). Myopic power was found to be positively correlated with the depression in the lower papillo-macular area in both NTG and POAG eyes, and it was negatively correlated with the depression in an upper arcuate area extending just nasal to the fixation only in NTG eyes.     

Precise Speed Estimation From a Low-Resolution Encoder by Dual-Sampling-Rate Observer

This paper describes an effective way to estimate state variables, such as motor speed and disturbance from a low-resolution encoder at low speed by using the dual-sampling-rate observer. The dual-sampling-rate observer estimates the state variables at every DSP control period and correct the estimation error at the instant that the measurement signal is detected. A novel pole assignment method, which considers the relation of the estimation and error correction periods, is proposed to maintain the stability for long error correcting period. Moreover, the dual-sampling-rate observer can be applied for higher order systems since it is generalized in state space. The effectiveness of the observer is verified through various simulations and experiments     

Characteristics of the Arc Voltage of a High‐Current Air Arc in a Sealed Chamber

The effect of the arc voltage on various factors of design and control was investigated for high currents in order to develop design guidelines for circuit breakers. In this study, the dependence on such factors, namely, the current, arc length, electrode surface area, and internal pressure of the arc voltage, was evaluated quantitatively. As a result of the evaluations, it was estimated that the arc voltage near the electrode surface rises linearly with the arc current and the power ?0.8 of the surface area, and that the voltage in the arc column rises as the 0.3 power of the pressure increase. We confirmed the validity of the estimated voltage characteristics by comparison with the generated voltage in an actual arc‐extinction chamber. The characteristics of the estimated voltage can provide effective guidelines for the design of arc extinguishing chambers. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(1): 34–42, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22487     

Control strategy for a distributed DC power system with renewable energy

This paper deals with a DC-micro-grid with renewable energy. The proposed method is composed of a gearless wind power generation system, a battery, and DC loads in a DC distribution system. The battery helps to avoid the DC over-voltages by absorbing the power of the permanent magnet synchronous generator (PMSG) during line-fault. In addition, the control schemes presented in this paper including the maximum power point tracking (MPPT) control and a pitch angle control for the gearless wind turbine generator. By means of the proposed method, high-reliable power can be supplied to the DC distribution system during the line-fault and stable power supply from the PMSG can be achieved after line-fault clearing. The effectiveness of the proposed method is examined in a MATLAB/Simulink^® environment.     

Applicability of the generalized scaling law to a pile-inclined ground system subject to liquefaction-induced lateral spreading

The generalized scaling law is based on the concept of two-stage scaling and allows currently available centrifuge facilities to model a large-scale prototype expanding over the spatial dimension ranging from 30 m or larger subject to earthquake motions. This paper presents the results of investigation on the applicability of the generalized scaling law to the fully nonlinear regime of soil-structure system with the induced strain level of 10% in the order of magnitude. The centrifuge model tests performed in this study under the modeling of models scheme consist of a pile model embedded in a inclined ground subject to liquefaction-induced lateral spreading. Four different centrifugal accelerations ranging from 13g to 50g are used whereas the actual size of the physical model is kept constant with an overall scaling factor of 1/100. The models are exposed to tapered sinusoidal input accelerations of frequency 0.59 Hz and amplitude 3.0 m/s² in prototype scale, and the results are compared in terms of prototype by applying the generalized scaling law. As for the response of the ground during shaking, essentially identical accelerations and excess pore water pressures are recorded for all cases, while the lateral displacement shows a variation ranging from 5% to 9% in terms of shear strain due to a slight variation in experimental conditions (e.g., input peak acceleration, achieved density distribution). Practically the same responses are measured among the cases in the dissipation phase of excess pore water pressure. With regard to pile behavior, nearly identical responses for the lateral displacements and bending moments are obtained for all cases both during and after shaking. These results demonstrated that the generalized scaling law is applicable to the fully nonlinear regime of soil-structure system subject to the cumulative shear strain in the order of 10% due to cyclic mobility of sands during earthquakes.     

Substitution effect on metal-insulator transition in Cu(Ir1−xMx)2S4 (M = Sn, Hf)

A spinel CuIr₂S₄ exhibits a temperature-induced metal-insulator (M-I) transition at around 226 K. Non-magnetic substitution effect on the M-I transition, T_M-I, in Cu(Ir_1−xM_x)₂S₄ (M = Sn, Hf) has been studied on the focus of the rather low composition region of x. Magnetic property of Cu(Ir_1−xM_x)₂S₄ (M = Sn, Hf) has been examined experimentally. The T_M-I decreases with increasing x and the temperature hysteresis becomes unclear within the experimental errors. The step anomaly in the magnetic susceptibility smears out and the T_M-I becomes ill defined around x = 0.20 in Cu(Ir_1−xSn_x)₂S₄, and x = 0.10 in Cu(Ir_1−xHf_x)₂S₄, respectively. These substitutions play an important role in decoupling the spin-dimerization of Ir⁴⁺-Ir⁴⁺ in CuIr₂S₄, and lead the destruction of the metal-insulator transition.     

Characterisation of optically driven microstructures for manipulating single DNA molecules under a fluorescence microscope

Optical tweezers are powerful tools for manipulating single DNA molecules using fluorescence microscopy, particularly in nanotechnology‐based DNA analysis. We previously proposed a manipulation technique using microstructures driven by optical tweezers that allows the handling of single giant DNA molecules of millimetre length that cannot be manipulated by conventional techniques. To further develop this technique, the authors characterised the microstructures quantitatively from the view point of fabrication and efficiency of DNA manipulation under a fluorescence microscope. The success rate and precision of the fabrications were evaluated. The results indicate that the microstructures are obtained in an aqueous solution with a precision ∼50 nm at concentrations in the order of 10⁶ particles/ml. The visibility of these microstructures under a fluorescence microscope was also characterised, along with the elucidation of the fabrication parameters needed to fine tune visibility. Manipulating yeast chromosomal DNA molecules with the microstructures illustrated the relationship between the efficiency of manipulation and the geometrical shape of the microstructure. This report provides the guidelines for designing microstructures used in single DNA molecule analysis based on on‐site DNA manipulation, and is expected to broaden the applications of this technique in the future.Inspec keywords: DNA, molecular biophysics, fluorescence, optical microscopy, radiation pressure, biological techniquesOther keywords: optically driven microstructures, single DNA molecule analysis, fluorescence microscopy, optical tweezers, nanotechnology‐based DNA analysis, manipulation technique, aqueous solution, fine tune visibility, yeast chromosomal DNA molecules, geometrical shape, on‐site DNA manipulation     

Physico-chemical characteristics and non-starch polysaccharide contents of Indica and Japonica brown rice and their malts

Brown rice malt from Indica and Japonica type rice were prepared and their nutrient composition as well as non-starch polysaccharide (NSP) contents and also some of the physico-chemical characteristics were determined. The activity of α- and β-amylases in the ungerminated (native) rice was negligible but increased considerably on germination. Malting altered the chemical composition of both Indica and Japonica rice to a small extent but caused noticeable changes in the pasting characteristics. The free sugars and water-soluble non-starch polysaccharide (NSP) contents of the malt samples were considerably higher than the native samples. The carbohydrate elution profile of native and malted rice on Sepharose CL-2B revealed partial degradation of starch. However, the electrophoresis patterns of the native and malt samples were comparable but exhibited decrease in their band intensity. The study revealed that, controlled germination or malting causes considerable changes in the physico-chemical and bio-chemical properties of both Indica and Japonica rice.