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1.
Kiyohiko Hattori Eri Homma Toshinori Kagawa Masayuki Otani Naoki Tatebe Yasunori Owada Lin Shan Katsuhiro Temma Kiyoshi Hamaguchi 《Artificial Life and Robotics》2016,21(4):451-459
Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %. 相似文献
2.
Combinatorial problems appear in many areas in science, engineering, biomedicine, business, and operations research. This article presents a new intelligent computing approach for solving combinatorial problems, involving permutations and combinations, by incorporating logic programming. An overview of applied combinatorial problems in various domains is given. Such computationally hard and popular combinatorial problems as the traveling salesman problem are discussed to illustrate the usefulness of the logic programming approach. Detailed discussions of implementation of combinatorial problems with time complexity analyses are presented in Prolog, the standard language of logic programming. These programs can be easily integrated into other systems to implement logic programming in combinatorics. 相似文献
3.
Tree is a data structure used to express various objects such as semistructured data and genes. When objects are represented as trees, computing tree similarity is essential for pattern recognition and retrieval. This paper considers the noisy subsequence tree recognition problem whose purpose is to recognize the original tree, given its noisy subsequence tree. Previous research on this problem relied on constrained tree edit distance to measure the dissimilarity. However, the number of relabelings must be predetermined to compute it. This paper proposes a new dissimilarity measure for this problem. Our dissimilarity measure is obtained by counting the node edit operations included in the unit‐cost tree edit distance that contribute to the matching of node labels. The number of relabelings need not be specified to compute our dissimilarity measure. Moreover, our measure achieves more accurate recognition performance and faster execution speed than the constrained tree edit distance. Our measure is also useful to solve the tree inclusion problem which is the problem of deciding whether a tree includes another tree and shows the extent of approximate tree inclusion when a tree incompletely includes another tree. © 2011 Wiley Periodicals, Inc. 相似文献
4.
5.
The viscoelastic properties of soybean curd (tofu) as affected by soymilk concentration and type of coagulant 总被引:1,自引:0,他引:1
Yongqiang Cheng Naoto Shimizu & Toshinori Kimura 《International Journal of Food Science & Technology》2005,40(4):385-390
The viscoelastic properties of different types of tofu were investigated. Soymilk concentrations were 5, 6, 7, 8 and 9%. Coagulants used were 30 mm CaSO4 or 30 mm glucono‐delta‐lactone (GDL). As the concentration of soymilk was increased viscosity and handling difficulties increased. A high concentration of soymilk in tofu gave a high break stress and produced hard tofu. The four‐element Burgers model fitted the creep behaviour and both viscous and elastic parameters could be acquired from model analysis, reflecting changes in elasticity and viscosity of tofu. The constant viscous parameter in the model increased with increasing soymilk concentration. The viscous parameters of viscoelastic materials like tofu gel, obtained from small deformation tests, seemed to correlate, to some extent, with the break stress obtained from large deformation tests. For hard tofu production increasing the soymilk concentration within a certain range and the partial replacement of calcium sulphate coagulant by GDL could be effective options. 相似文献
6.
Meng Guo Masakoto Kanezashi Hiroki Nagasawa Liang Yu Kazuki Yamamoto Takahiro Gunji Toshinori Tsuru 《American Institute of Chemical Engineers》2020,66(4):e16850
Fine-tuned, molecular-composite, organosilica membranes were fabricated via the co-condensation of organosilica precursors bis(triethoxysilyl)acetylene (BTESA) and bis(triethoxysilyl)benzene (BTESB). Fourier transform infrared and UV–vis spectra confirmed the co-condensation behaviors of BTESA and BTESB. The evolution of the network structure indicated that the incorporated BTESB decreased the membrane pore size, which was determined by a modified gas translation model according to the steric effect of the phenyl groups. The incorporation of BTESB to BTESA finely tuned the membrane structure and endowed the resultant composite membrane with improved separation properties. The BTESAB 9:1 membrane (molar ratio of BTESA/BTESB was 9:1) exhibited high C3H6 permeance at 4.5 × 10−8 mol m−2 s−1 Pa−1 and a C3H6/C3H8 permeance ratio of 33 at 50°C. One of the most important developments of this study involved clearly defining the relationship between membrane pore size and C3H6/C3H8 separation performance for organosilica membranes in single and binary separation systems. 相似文献
7.
Methylcyclohexane dehydrogenation for hydrogen production via a bimodal catalytic membrane reactor 下载免费PDF全文
Lie Meng Xin Yu Takuya Niimi Hiroki Nagasawa Masakoto Kanezashi Tomohisa Yoshioka Toshinori Tsuru 《American Institute of Chemical Engineers》2015,61(5):1628-1638
The dehydrogenation of methylcyclohexane (MCH) to toluene (TOL) for hydrogen production was theoretically and experimentally investigated in a bimodal catalytic membrane reactor (CMR), that combined Pt/Al2O3 catalysts with a hydrogen‐selective organosilica membrane prepared via sol‐gel processing using bis(triethoxysilyl) ethane (BTESE). Effects of operating conditions on the membrane reactor performance were systematically investigated, and the experimental results were in good agreement with those calculated by a simulation model with a fitted catalyst loading. With H2 extraction from the reaction stream to the permeate stream, MCH conversion at 250°C was significantly increased beyond the equilibrium conversion of 0.44–0.86. Because of the high H2 selectivity and permeance of BTESE‐derived membranes, a H2 flow with purity higher than 99.8% was obtained in the permeate stream, and the H2 recovery ratio reached 0.99 in a pressurized reactor. A system that combined the CMR with a fixed‐bed prereactor was proposed for MCH dehydrogenation. © 2015 American Institute of Chemical Engineers AIChE J, 61: 1628–1638, 2015 相似文献
8.
A photocatalytic membrane reactor for gas-phase reactions using porous titanium oxide membranes 总被引:10,自引:0,他引:10
Toshinori Tsuru Takehiro Kan-no Tomohisa Yoshioka Masashi Asaeda 《Catalysis Today》2003,82(1-4):41-48
Photocatalytic membrane reactors using porous titanium oxide membranes having pore sizes of several nanometers were utilized for a gas-phase reaction of methanol. Air mixed with methanol (MeOH) vapor, the concentration of which was controlled in the range of 500–6000 ppm, was fed to the photocatalytic membrane reactor in the range of 50–500 cm3/min using several types of flow patterns. Photocatalysis with membrane permeation resulted in a large decomposition rate, compared to photocatalysis without membrane permeation. The characteristics of the reaction such as decomposition ratio of MeOH, the conversion of the decomposed MeOH to CO2 and H2O were found to be a function of the residence time in the reactor. The photocatalytic reaction was analyzed based on pseudo-first-order kinetics to ascertain its simplicity, and the fitted curves were found to be in a relatively good agreement with the experimental data. Apparent rate constants with and without membrane permeation were 2.5 and 1.5×10−6 m s−1, respectively, indicating that the performance of the photocatalytic reaction system with membrane permeation was enhanced. 相似文献
9.
Toshinori Nakagawa Qinchang Zhu Hiroya Ishikawa Koichiro Ohnuki Kenichi Kakino Naoya Horiuchi 《木材化学与工艺学杂志》2016,36(1):42-55
This article presents multiple potential uses of the Yakushima native cedar (Cryptomeria japonica), known in Japan as the Yaku-sugi tree. The Yaku-sugi was divided into four parts: leaves, branches with leaves, branches, and stems. We obtained the essential oil, hydrosol, distillation residue, and distillation wastewater from the trees. Essential oil and hydrosol were determined to be volatile organic compounds. All samples were screened for the following bioactivities: antioxidative, antibacterial, and anti-melanogenesis activities. Freeze-dried distillation residue was tested to assess whether it had a deodorizing effect. The main component of the leaf essential oil was found to be monoterpenes. In contrast, the stem essential oil mainly contained sesquiterpenes. In terms of bioactivities, the leaf essential oil showed antibacterial activity and the stem essential oil showed anti-melanogenesis activity. Distillation residue and wastewater showed many activities, including antioxidant, antibacterial, and anti-melanogenesis activities. Moreover, the residue had a deodorizing effect against ammonia. 相似文献
10.
Qing Wang Liang Yu Hiroki Nagasawa Masakoto Kanezashi Toshinori Tsuru 《Journal of the American Ceramic Society》2020,103(8):4473-4488
Polytitanocarbosilane (TiPCS)-derived ceramic membranes were fabricated using a pre-ceramic polymer. Special attention was focused on a process of thermal-oxidative curing that was used to induce cross-linking and the effect of this process on the ceramic yield, thermal stability, oxidation resistance, and microstructure of TiPCS. The cross-linked TiPCS powders showed a ceramic yield and thermal stability that were higher than that from the non-cross-linked version. In addition, the cross-linked TiPCS with uniform micropores showed higher levels of N2 and CO2 adsorption capacity, BET surface area, and micropore volume than the non-cross-linked versions, and the cross-linking process enhanced the stability of the pore structure at high temperature. The cross-linked TiPCS membranes showed high H2 permeance (1.49 × 10−6 mol/(m2 s Pa)) with sub-nanopores (H2/SF6 selectivity: 12 000, H2/N2: 10), and in addition higher oxidation resistance than their non-cross-linked counterparts. Furthermore, the influence of the concentration of the TiPCS precursor coating solution was optimized and the hydrothermal stability of the membranes at high temperatures was also evaluated. The optimized membrane demonstrated great performance for the pervaporation removal of methanol in binary azeotropic systems of either MeOH/butyl acetate or MeOH/toluene, and it also showed high hydrothermal stability with excellent dehumidification performance under high temperatures. 相似文献