Traversable Region Estimation for Mobile Robots in an Outdoor Image

This paper describes a novel method to estimate appropriate traversable regions from an outdoor scene image. The traversable regions output by the proposed method reflect the common sense of people. For example, a candidate traversable region is “a paved road somewhat distant from the side ditch.” The input to the traversable region estimation is one color image. First, category is assigned to each pixel in the image. The categorization result is then input to the region estimator. Finally, the traversable region are estimated on the input image. An important aspect of this method is the application of two score functions in region estimation process. One score function places high value on categories selected as traversable paths by subjects. The other function places high value on categories that are not selected as traversable regions but are adjacent to categories with traversable paths. A combination of these two functions produces feasible estimation results. The effectiveness of the combined score functions was evaluated by experiments and a questionnaire.     

Analysis of spatial smoothing effect of short‐term fluctuation of global solar radiation based on data including quantization error

Photovoltaic (PV) systems are attracting attention as one of the promising countermeasures against global warming and the environmental issues. However, the generation output from PV systems is generally unstable and unpredictable. Therefore, large penetration of PV systems may cause some serious impacts on power system operation, such as load frequency control, voltage regulation, etc. Estimation of the influences of PV system installation is becoming important, but it requires simultaneous multipoint solar radiation measurements. The Japan Meteorological Business Support Center has provided 1‐minute meteorological data observed in Japan, but its solar radiation data includes quantization errors. This paper proposes a regeneration method for solar radiation data including quantization errors. It also analyzes the spatial smoothing effect of global solar radiation fluctuations. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 180(3): 55–63, 2012; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21274     

Grain Boundary Segregation Behavior of Boron in Low-Alloy Steel

The boron concentration profiles around prior austenite grain boundaries in Fe-0.05C-0.5Mo-0.001B (mass pct) are examined using aberration-corrected STEM-EELS. In order to obtain the precise distribution of boron around the boundaries, tilt series measurements with thin specimens (<30 nm) are performed and the EEL spectra are analyzed by principal component analysis (PCA) and multivariate curve resolution (MCR). The boron concentration profile changes with the cooling rate from the solid solution temperature. The concentration at grain boundaries is maximized at a medium rate (30 °C/s), where the concentration reaches 8 at. pct, and it decreases at a larger (250 °C/s) or smaller (5 °C/s) rate. On the other hand, the boron distribution becomes wider as the cooling rate becomes smaller. The current results suggest that the boron segregation in the alloy is formed by the “non-equilibrium segregation mechanism.”     

Optimal operation of cogeneration system coordinated by aggregator for providing the demand and supply regulation capacity

Recent growth of renewable energy generations with natural variability, such as photovoltaic generation and wind turbine generation, would make the demand and supply control in a whole power system more difficult, and therefore, alternatives for demand and supply regulation resources would be required. The authors focus on cogeneration system (CGS) as one of regulation resources. In order to procure adequate volume of regulation capability, an aggregator coordinates a number of CGSs efficiently and flexibly considering the wide variety of electricity/thermal demands of CGS owners. This paper proposes a novel optimal operation strategy of CGS coordinated by the aggregator considering the energy balance and operation cost of individual CGS owner. This paper also demonstrates the availability of CGSs for regulation capability by numerical case studies in which the actual consumption profile is employed.     

Pulverization mechanism of hydrogen storage alloys on microscale packing structure

In-situ and transient visualizations of the packing structure of a hydrogen storage alloy bed are carried out using an X-ray computed tomography (CT) system. The packing structure is clearly observed on the microscale using the CT system. When the alloy bed is subjected to hydrogen absorption–desorption cycles, the pulverization progresses from the lower to the upper regions of the bed. After several hydrogen absorption–desorption cycles, the packing structure in the lower region of the bed changes and the microstructural void decreases slightly. Based on these results, we propose a pulverization mechanism of the packed bed in which the friction between particles affects the pulverization process.     

Mammalian Cytochrome P450-Dependent Metabolism of Polychlorinated Dibenzo-p-dioxins and Coplanar Polychlorinated Biphenyls

Polychlorinated dibenzo-p-dioxins (PCDDs) and coplanar polychlorinated biphenyls (PCBs) contribute to dioxin toxicity in humans and wildlife after bioaccumulation through the food chain from the environment. The authors examined human and rat cytochrome P450 (CYP)-dependent metabolism of PCDDs and PCBs. A number of human CYP isoforms belonging to the CYP1 and CYP2 families showed remarkable activities toward low-chlorinated PCDDs. In particular, human CYP1A1, CYP1A2, and CYP1B1 showed high activities toward monoCDDs, diCDDs, and triCDDs but no detectable activity toward 2,3,7,8-tetrachlorodibenzo-p-dioxin (2,3,7,8-tetraCDD). Large amino acids located at putative substrate-recognition sites and the F-G loop in rat CYP1A1 contributed to the successful metabolism of 2,3,7,8-tetraCDD. Rat, but not human, CYP1A1 metabolized 3,3'',4,4'',5-pentachlorobiphenyl (CB126) to two hydroxylated metabolites. These metabolites are probably less toxic than is CB126, due to their higher solubility. Homology models of human and rat CYP1A1s and CB126 docking studies indicated that two amino acid differences in the CB126-binding cavity were important for CB126 metabolism. In this review, the importance of CYPs in the metabolism of dioxins and PCBs in mammals and the species-based differences between humans and rats are described. In addition, the authors reveal the molecular mechanism behind the binding modes of dioxins and PCBs in the heme pocket of CYPs.     

Impact of Dynamic Interlayer Interactions on Thermal Conductivity of Ca3Co4O9

The phonon thermal conductivity of misfit-layered Ca₃Co₄O₉ has been calculated by perturbed molecular dynamics using a classical force field. Detailed numerical analyses reveal that, in spite of its smaller cross-sectional area, the CoO₂ layer transports more heat than the thicker rock salt (RS) layer, although its local thermal conduction is more suppressed than in another layered cobaltite, Na _x CoO₂. The origins of these differences have been elucidated through careful examination of the atomic arrangements in each layer. Since thermal conduction in the RS layer can be reduced without deteriorating electronic properties for which the CoO₂ layer is responsible, it is suggested that the RS layer should be modified to further suppress the overall in-plane thermal conductivity. Computational experiments with increasing number of Ca–O planes in the RS layer showed the opposite trend to what can be predicted based on the misfit between two dissimilar layers. Further analyses to reveal the origin of these unexpected results provide yet another strategy to further decrease the thermal conductivity, namely to control the dynamic interference between atoms across the interface between two layers.     

Operation Assist by Vibration Suppression Control Using Impulse‐Shaped Signals for Power Assist Conveyance System

This paper presents an assist control method for a flexible parts conveyance task using a power assist conveyance system. The assist control method should be designed so as not only to suppress vibration but also to reduce the degradation of operating feel. For this purpose, multiple impulse‐shaped signals are used as feedforward signals in order to reduce the vibration of flexible parts during conveyance. In addition, the adjustment time is introduced to adjust the input timing of the impulse‐shaped signal and to suppress vibration. In order to improve the degradation of operating feel, the smaller amplitudes of the three impulse‐shaped signals are used and input repeatedly. The effectiveness of the proposed system was verified experimentally. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(2): 31–39, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22476     

Preparation of ultrafine polyurethane fiber web by laser‐electrospinning combined with air blowing

Thermoplastic polyurethane fiber webs were prepared using a laser‐heated electrospinning process combined with air blowing. The effect of spinning conditions such as air flow rate and air temperature on fiber diameter and molecular weight was investigated. Although the average fiber diameter decreased with increased air flow rate at each air temperature, the diameter increased when the air flow rate was >15 NL min^?1. In addition, the fiber was comparatively thicker with an increase in the air temperature. The variation in the fiber diameter tends to increase with the air flow rate, and a reduction in the molecular weight of the fiber by thermal degradation was suppressed. The thinnest and most uniform fiber with a diameter of 0.9 µm and a diameter coefficient variation of 15% was obtained at an air temperature of 25°C under an air flow rate of 15 NL min^?1. This fiber also had a minimum of decreased molecular weight. POLYM. ENG. SCI., 54:2605–2609, 2014. © 2013 Society of Plastics Engineers