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.     

Radical polymerization of methyl methacrylate with methyl 2,2-dimethyl-3,3-diphenyl-3-cyanopropionate as a thermal iniferter

Summary To clarify the mechanism of living radical polymerization of methyl methacrylate (MMA) with tetraphenylsuccinodinitrile (TPSN) as a thermal iniferter, a model compound for the end group of the poly(MMA) produced, methyl 2,2-dimethyl-3,3-diphenyl-3-cyanopropionate (2), was synthesized and found to initiate a living radical polymerization of MMA, indicating that the hexa-substituted C-C bond in 2 dissociated into radicals. The poly(MMA) thus obtained further initiated the radical polymerization of styrene (St) to give a block copolymer.     

Radical polymerization of methyl methacrylate with some 1,2-disubstituted tetraphenylethanes as thermal iniferters

Summary The bulk polymerization of methyl methacrylate (MMA) with 1,2-disubstituted tetraphenylethanes, tetraphenylsuccinodinitrile (TPSN), tetra(p-methoxyphenyl)succinodinitrile (TMPSN), and pentaphenylethane (PPE), was investigated. These compounds were found to serve as thermal iniferters to induce living radical polymerization via a mechanism close to the model proposed previously (see Eq. 2). However, the living nature was not so high, because undesirable side reactions occurred. The oligomer with molecular weight of 2500 was isolated from the reaction mixture of MMA with TPSN, which was found to cause further polymerization of MMA. From the polymerization of styrene (St) with the polymers obtained by these iniferters, the block copolymers were produced.     

Forming of aluminium alloy at temperatures just below melting point

In order to improve the mechanical properties of products, a forming process of a solid material at a temperature just below the melting point is proposed. The material is deformed at the semi-solid temperature due to the heat generation caused by plastic deformation. The tensile strength, elongation, hardness and toughness of the aluminium alloy (Al–7%Si–0.3%Mg) billet extruded at temperatures between 500 and 550 °C are compared with those of the billet extruded in the hot forming (450 °C) and the semi-solid (560 °C) temperatures. The billet temperature during forming is evaluated by the finite element simulation. The tensile strength and hardness of the billet extruded at 550 °C just below the solidus temperature are higher than those for a billet at 450 °C, and they are almost the same as those for a billet deformed at 560 °C in the semi-solid region. The elongation and toughness of the extruded billet at 550 °C are lower than those for a billet at 450 °C. The forming load at 550 °C is almost half of that at 450 °C. Cracking on the surface of the extruded billet occurs at a high punch speed. The calculated temperature when the solid billet is extruded in the semi-solid state agrees well with the experimental one at which the tensile and hardness are improved.     

Hebbian induction of LTP in visual cortex: perforated patch-clamp study in cultured neurons

1. To see whether presynaptic activation paired with postsynaptic depolarization is necessary for the induction of long-term potentiation (LTP) in visual cortex or whether an activation of postsynaptic receptors in conjunction with depolarization is sufficient, we carried out perforated patch-clamp recordings with nystatin from cultured cortical neurons of rats. 2. Recorded neurons were monosynaptically activated either by electrical stimulation of an adjacent neuron or by direct activation of glutamate on "hot spots" of dendrites through iontophoresis or pressure ejection. In experiments in which cultured neurons were stained immunocytochemically with antibody against synaptophysin after electrophysiological recordings, hot spots were found to correspond to probable synaptic sites. 3. Excitatory postsynaptic currents (EPSCs) evoked by test stimulation applied to the adjacent neuron at 0.1 Hz were recorded at a holding potential of -60 or -70 mV for 5-10 min after an establishment of the whole cell recording configuration. Then, stimulation was paired with postsynaptic depolarization (0 mV for 200 ms) at 1 Hz for 30 or 60 s. LTP of EPSCs was induced in 7 of the 15 cells from which stable recordings were obtained for 18-30 min after pairing. 4. When postsynaptic depolarization was paired with direct glutamate application in the absence of presynaptic stimulation in 12 cells, only 1 showed LTP. Postsynaptic depolarization alone did not induce LTP in any of the six cells tested. Also, presynaptic stimulation alone did not induce LTP in any of the five cells tested. 5. These results suggest that the concurrent activation of presynaptic elements with postsynaptic depolarization is necessary for the induction of LTP in visual cortex.     

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.