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.     

Development of an ozone gas sensor using single-walled carbon nanotubes

This study deals with the fabrication of an ozone gas sensor using single-walled carbon nanotubes (SWCNTs) as sensing material. The SWCNTs are dispersed by N,N-dimethylformamide (DMF). The CNT-DMF solution was dropped between interdigitated electrodes’ fingers to fabricate ozone gas sensor. For ozone environment, a commercial ozone generator was introduced. To improve sensor response, the deposited carbon nanotubes network was thermally treated at high temperature in a furnace. The sensor exhibits high sensitivity to ozone gas at concentration as low as 50 ppb, and fast response time, which is promising for future commercialization of carbon nanotubes based ozone gas sensor.     

Topological localization with kidnap recovery using sonar grid map matching in a home environment

This paper presents a method of topological localization with kidnap recovery capability in a home environment using only low-cost sonar sensors. The proposed method considers both pose tracking and relocation problems. The pose tracking is achieved by calculating node probability using grid-map matching and relative motion model. The relocation method detects the kidnap automatically and recovers it using multiple hypothesis tracking. After kidnap recovery, it also provides a criterion for selecting a reasonable hypothesis for returning to the pose tracking stage autonomously. Experimental results in a real home environment verify that the proposed localization method provides a reliable and convergent node probability when the robot is kidnapped.     

Getting closer and experiencing together: Antecedents and consequences of psychological distance in social media-enhanced real-time streaming video

Social media services such as YouTube and Flickr have become online necessities for millions of users worldwide. Social media are online services that enable users to share contents, opinions, and perspectives that support communication with other users. Social media places an emphasis on the shared experience between users, which we call co-experience. However, the online characteristics of social media increase psychological distance between users, which, in turn, results in a decrease in the quality of co-experience. Hence, as the goal of this study, we theoretically modeled and empirically verified the antecedents and user experience-based consequences of psychological distance in a social media-enhanced real-time streaming video service. In order to reduce psychological distance, we introduced two system elements: inhabited space (the degree of being situated in context and in a meaningful place) and isomorph effects (the degree of preserving the structure of a user’s actions). We constructed a social media-enhanced real-time streaming video service prototype and conducted a field experiment with actual social media users. The prototype, which streamed a live baseball game, enabled users to simultaneously view the game from remote locations and to interact with each other through cheering tools. The results indicate that inhabited space and isomorph effects reduce psychological distance between users, and this, in turn, enhances co-experience. This paper ends with theoretical as well as practical implications of the study.     

Numerical Analysis of Coaxial Double Gate Schottky Barrier Carbon Nanotube Field Effect Transistors

Carbon nanotube field-effect transistors (CNTFETs) have been studied in recent years as a potential alternative to CMOS devices, because of the capability of ballistic transport. The ambipolar behavior of Schottky barrier CNTFETs limits the performance of these devices. A double gate design is proposed to suppress this behavior. In this structure the first gate located near the source contact controls carrier injection and the second gate located near the drain contact suppresses parasitic carrier injection. To avoid the ambipolar behavior it is necessary that the voltage of the second gate is higher or at least equal to the drain voltage. The behavior of these devices has been studied by solving the coupled Schrödinger-Poisson equation system. We investigated the effect of the second gate voltage on the performance of the device and finally the advantages and disadvantages of these options are discussed.     

Shop-floor scheduling at shipbuilding yards using the multiple intelligent agent system

The intelligent agent system has become a typical approach to research distributed artificial intelligence and distributed problem solving. However, despite its various technical advantages, the distribution and expansion of the intelligent agent system approach has been limited because existing methodologies rely on specialized applications and therefore require intensive investment to develop new systems. In an attempt to conquer these difficulties, a standardized methodology to construct intelligent agent systems is proposed. This approach deviates from current agent system approaches of repeatedly constructing new and customized expert systems. Specifically, it provides an economical method for developing intelligent agent systems by investigating the possibility of standardizing message communication protocols in linguistics speech-act theory and by supplementing traditional algorithmic systems with intelligent segments using, among others, expert system tools. To verify effectiveness, the shop-floor scheduling system of a large-scale shipbuilding yard has been redesigned, developed, and tested using this approach. This shop-floor scheduling system requires the scheduling of when and where to process block construction under various constraints. It is a difficult four-dimensional time and space allocation problem involving traditional NP-complete search spaces. The tested intelligent agent system proposes an innovative method for reducing the search space into three levels: the algorithm level, the agent intelligence level, and the level of cooperation among agents. It also provides methods for solving deadlock occurrence and non-uniformity problems resulting from parallel processing. Test results demonstrate applicability and economy, among other technical advantages.     

High‐Performance Sodium‐Ion Hybrid Supercapacitor Based on Nb2O5@Carbon Core–Shell Nanoparticles and Reduced Graphene Oxide Nanocomposites

Sodium‐ion hybrid supercapacitors (Na‐HSCs) have potential for mid‐ to large‐scale energy storage applications because of their high energy/power densities, long cycle life, and the low cost of sodium. However, one of the obstacles to developing Na‐HSCs is the imbalance of kinetics from different charge storage mechanisms between the sluggish faradaic anode and the rapid non‐faradaic capacitive cathode. Thus, to develop high‐power Na‐HSC anode materials, this paper presents the facile synthesis of nanocomposites comprising Nb₂O₅@Carbon core–shell nanoparticles (Nb₂O₅@C NPs) and reduced graphene oxide (rGO), and an analysis of their electrochemical performance with respect to various weight ratios of Nb₂O₅@C NPs to rGO (e.g., Nb₂O₅@C, Nb₂O₅@C/rGO‐70, ‐50, and ‐30). In a Na half‐cell configuration, the Nb₂O₅@C/rGO‐50 shows highly reversible capacity of ≈285 mA h g^?1 at 0.025 A g^?1 in the potential range of 0.01–3.0 V (vs Na/Na⁺). In addition, the Na‐HSC using the Nb₂O₅@C/rGO‐50 anode and activated carbon (MSP‐20) cathode delivers high energy/power densities (≈76 W h kg^?1 and ≈20 800 W kg^?1) with a stable cycle life in the potential range of 1.0–4.3 V. The energy and power densities of the Na‐HSC developed in this study are higher than those of similar Li‐ and Na‐HSCs previously reported.     

A Modification of the Coates Gain Formula for the Analysis of Linear Systems

In this paper, the Coates flow-graph gain formula is modified by the introduction of the loop-set and the two-loop-set, baaed on the concepts of the tree and the two-tree in network topology. The analogy is evident by observing that the two-trees T _ij of a given graph G can be obtained by coalescing vertices i and j of G and thon removing the self-loops. In a similar manner, the two-loop-sets can be obtained from the flow graph by first modifying the graph and then obtaining the loop-sets of tho modified graph. Because of such modification, the derivation of tho gain formula is considerably simplified. Consequently, the evaluation of the terms in the formula becomes easier. Finally, a simple method of determining the number of terms in the formula is derived as a check against possible omission of terms due to carelessness.