Position and Rotation Estimation for Mobile Robots in Outside of Recording Path Using Ego‐Motion

In this research, estimating the position and rotation of a mobile robot outside of a recording path is realized by applying ego‐motion to view‐based navigation. The ego‐motion is calculated based on the differences in 3D positions of SURF feature points between recording and current images obtained by a Kinect sensor. In conventional view‐based navigation, it is difficult to plan another path when people and objects are found in the recording path. By using the authors’ proposed estimation method, it is possible to realize flexible path planning in actual environments that include people and objects. Based on the results of experiments performed in actual indoor environments, the authors evaluated measurement accuracy for the robot's position and rotation estimated under their method, and confirmed the viability of their method for actual environments including people and objects.     

Effect of shear history on flow instability at capillary extrusion for long‐chain branched polyethylene

Effect of applied processing history on flow instability at capillary extrusion is studied using a commercially available low‐density polyethylene (LDPE) having long‐chain branches. It is found that processing history in an internal mixer in a molten state depresses long‐time relaxation mechanism associated with long‐chain branches, which is known as “shear modification.” Consequently, the onset of output rate for melt fracture increases greatly. Furthermore, it should be noted that the sample having intense shear history shows shark‐skin failure without volumetric distortion, although it has been believed that LDPE exhibits gross melt fracture at capillary extrusion. The reduction of elongational viscosity by the alignment of long‐chain branches along to the main chain is responsible for the anomalous rheological response. As a result, the sample shows shark‐skin failure like a linear polyethylene at a lower output rate than the critical one for gross melt fracture. © 2011 Wiley Periodicals, Inc. J Appl Polym Sci, 2012     

Line constant measurements and loading current test inlong-distance 275 kV GIL

This paper reports on the results of a loading current test and measurements of the line constants of a long-distance gas-insulated transmission line (GIL) in a tunnel. The loading current test was carried out at 80% rated current, to verify the soundness of the thermal expansion and contraction of the GIL. As a result, the performance of the GIL was confirmed to be appropriate in terms of the thermal expansion and contraction. With respect to the line constants and transient enclosure voltage, each of the measured values was found to be at an appropriate level presenting no problem for the service operation of this line     

In Vitro and In Vivo Digestibility of Recrystallized Amylose and Its Application for Low Glycemic Foods

ABSTRACT: To predict physiologic functions of recrystallized amylose (RCA), the true resistant starch (RS) content of RCA in the small intestine was directly measured using ileorectostomized rats where the distal ileum was anastomosed to the rectum (the cecum and colon were surgically resected together). The estimated in vivo resistant starch content of RCA was the same as the value obtained from the in vitro enzymatic RS determination (∼50%). RCA resistance to amylolytic enzymes in the small intestine was retained even after RCA incorporation into processed foods, and a bread containing 20% RCA showed a significantly lower glycemic response in rats compared with that of a control bread. Also, RCA ingestion significantly and dose-dependently decreased the body fat accretion and lowered serum concentrations of cholesterol and triglycerides in rats compared with cornstarch. These lipid-lowering effects of RCA were comparable to those obtained with high-amylose cornstarch. The restricted energy value as well as suppressed insulin response with RCA ingestion might be related to preferable changes in lipid metabolism. These nutritional properties of RCA may suggest a possible benefit as an alternative source of resistant starch for preventing diabetes, hyperlipidemia and obesity, and so on.     

Ni/MgO–Al2O3 and Ni–Mg–O catalyzed SiC foam absorbers for high temperature solar reforming of methane

Ni catalyst supported on MgO–Al₂O₃ (Ni/MgO–Al₂O₃) prepared from hydrotalcite, and Ni–Mg–O catalyst are studied in regard to their activity in the CO₂ reforming of methane at high temperatures in order to develop a catalytically activated foam receiver–absorber for use in solar reforming. First, the activity of their powder catalysts is examined. Ni/MgO–Al₂O₃ powder catalyst exhibits a remarkable degree of high activity and thermal stability as compared with Ni–Mg–O powder catalyst. Secondly, a new type of catalytically activated ceramic foam absorber – Ni/MgO–Al₂O₃/SiC – and Ni–Mg–O catalyzed SiC foam absorber are prepared and their activity is evaluated using a laboratory-scale receiver–reactor with a transparent quartz window and a sun-simulator. The present Ni-based catalytic absorbers are more cost effective than conventional Rh/γ-Al₂O₃ catalyzed alumina and SiC foam absorbers and the alternative Ru/γ-Al₂O₃ catalyzed SiC foam absorbers. Ni/MgO–Al₂O₃ catalyzed SiC foam absorber, in particular, exhibits superior reforming performance that provides results comparable to that of Rh/γ-Al₂O₃ catalyzed alumina foam absorber under a high flux condition or at high temperatures above 1000 °C. Ni/MgO–Al₂O₃ catalyzed SiC foam absorber will be desirable for use in solar receiver–reactor systems to convert concentrated high solar fluxes to chemical fuels via endothermic natural-gas reforming at high temperatures.     

Redrawing analysis of aluminum–stainless-steel laminated sheet using FEM simulations and experiments

The behavior of two-layer aluminum–stainless-steel (AL-SUS) laminated sheets during deep drawing, direct and reverse redrawing processes (first and second drawing stages), have been examined by simulations and laboratory experiments. For the simulation a rigid-plastic finite element program has been used. The results of simulations are presented as the variation of drawing ratios with respect to various thickness ratios and setting conditions. They show that to achieve the highest drawing ratios in direct and reverse redrawing, the thickness ratio should be about (one-layer aluminum and three-layer stainless-steel) and the setting conditions are opposite to each other. Considering the FEM results, laminated sheets with a thickness ratio of 71.3% aluminum and 28.7% stainless-steel were used to prepare deep drawing and redrawing experiments. The results of experiments are presented as the variation of thickness strain distribution in the drawn cup and punch load–stroke curves with respect to the setting condition. Results show that while in direct redrawing, contact of stainless-steel with the punch leads to the maximum drawing ratio, in reverse redrawing, aluminum should contact the punch in order to achieve the highest drawing ratio. An explanation for this finding is offered based on the thickness strain distribution, and punch load–stroke curves.     

Room temperature redox reaction by oxide ion migration at carbon/Gd-doped CeO2 heterointerface probed by an in situ hard x-ray photoemission and soft x-ray absorption spectroscopies

Abstract

In situ hard x-ray photoemission spectroscopy (HX-PES) and soft x-ray absorption spectroscopy (SX-XAS) have been employed to investigate a local redox reaction at the carbon/Gd-doped CeO₂ (GDC) thin film heterointerface under applied dc bias. In HX-PES, Ce3d and O1s core levels show a parallel chemical shift as large as 3.2 eV, corresponding to the redox window where ionic conductivity is predominant. The window width is equal to the energy gap between donor and acceptor levels of the GDC electrolyte. The Ce M-edge SX-XAS spectra also show a considerable increase of Ce³⁺ satellite peak intensity, corresponding to electrochemical reduction by oxide ion migration. In addition to the reversible redox reaction, two distinct phenomena by the electrochemical transport of oxide ions are observed as an irreversible reduction of the entire oxide film by O₂ evolution from the GDC film to the gas phase, as well as a vigorous precipitation of oxygen gas at the bottom electrode to lift off the GDC film. These in situ spectroscopic observations describe well the electrochemical polarization behavior of a metal/GDC/metal capacitor-like two-electrode cell at room temperature.     

Preparation of [001]- and [107]-Oriented Epitaxial YbBa2Cu4O8 Films Prepared by Coating-Pyrolysis Process

YbBa ₂ Cu ₄ O ₈ (Yb124) films were prepared on SrTiO ₃ (001) and SrTiO ₃ (110) substrates by coating-pyrolysis process at ambient pressure, and the alignments of these films were investigated by XRD -2 scanning and XRD pole-figure analysis. Films prepared on SrTiO ₃ (001) consisted of almost single-phase [001]-oriented epitaxial Yb124. On the other hand, films on SrTiO ₃ (110) consisted of [107]-oriented epitaxial Yb124 and other impurity phases, one of which was considered to be so-called other perovskite phase.     

Microstructure and Mechanical Properties of ZrO2(2Y)-Toughened Al2O3 Ceramics Fabricated by Spark Plasma Sintering

Spark plasma sintering (SPS) has been performed for 5 min at 1500°C and 30 MPa using submicrometer-sized Al₂O₃/ZrO₂(2Y) composite powders in the Al₂O₃-rich region. Dense ZrO₂-toughened Al₂O₃ (ZTA) ceramics show excellent mechanical strength; the strength of 1620 MPa is achieved in the ZTA with 50 mol% ZrO₂. The grain size of Al₂O₃ in ZTA decreases from 1.5 to 0.6 m with increased ZrO₂ content. Almost all the ZrO₂ grains (0.3 m) are located in the boundaries of the Al₂O₃ grains. Mechanical properties are discussed, with an emphasis on the relation between t-/m-ZrO₂ ratios and microstructures of ZTA.     

Hadamard transform capillary electrophoresis

This paper reports the first demonstration of a multiplex sample injection technique in capillary electrophoresis. The sample was injected into a capillary (effective length, 4 cm) as a pseudorandam Hadamard sequence by a photodegradation technique using a high-power gating laser, and the fluorescence signal, which was measured using a probe excitation beam, was decoded by an inverse Hadamard transformation. The signal-to-noise ratio was improved by a factor of 8, which was in good agreement with the theoretically predicted value of 8.02. This approach is potentially useful for the enhancement of the sensitivity by 3 orders of magnitude in high-resolution capillary electrophoresis, combined with fluorescence detection.