Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

Synthesis of metal nitrides and carbide powders by a spark discharge method in liquid media

Metal nitrides and carbides powders were synthesized by the spark discharge method in liquid ammonia at 100 °C and 11 kV of the spark discharge voltage and in n-heptane at 25 °C and 7.5 kV using the pellets of aluminum, titanium, iron and chromium as the starting material. The main products were AlN, TiN_0.51, -Fe, -Cr₂N in liquid ammonia, and Al₄C₃, TiC, -Fe, Fe₂C and Cr₇C₃ in n-heptane. The agglomerated particle size decreased with increasing melting point of the metal used as the starting material.     

Enhancement of superconductivity in Pb-Bi-Sn and Pb-Bi-In alloy filaments produced by glass-coated melt spinning

The enhancement ofT _c in Pb-Bi-Sn and Pb-Bi-In system alloy filaments produced by glass-coated melt spinning was investigated as a means of producing a new type of superconducting filament with highT _c. Long filaments of Pb-Bi-Sn alloy withT _c higher than 10 K and Pb-Bi-In alloy withT _c higher than 9 K were obtained from the molten state at a temperature of 1500 K with a winding speed of 2.63 m sec^–1. For example, a Pb₄₅Bi₃₅Sn₂₀ filament withT _c of 10.1 K was 15 m in diameter and polycrystalline with a grain size of 100 nm. The structure of the filament was a mixture of , tin and bismuth phases and a metastable phase of mixed structure of bismuth and supersaturated solid solution of tin in -phase was detected. TheT _c of the filament decreased on heat treatment. A metastable phase of mixed structure of bismuth and -phase was also detected for a Pb₄₅Bi₄₅In₁₀ filament withT _c of 9.3 K. As the metastable phase for the Pb-Bi-In filament was more unstable than that for the Pb-Bi-Sn filament, theT _c of the filament was drastically decreased by heat treatment. The metastable phase was considered to play an important role in the enhancement ofT _c for Pb-Bi-Sn and Pb-Bi-In alloy filaments.     

Screening of Inhibitors Targeting Heat Shock Protein 47 Involved in the Development of Idiopathic Pulmonary Fibrosis

Heat shock protein 47 (HSP47), a collagen-specific molecular chaperone, is causally related to fibrotic diseases, including idiopathic pulmonary fibrosis. The identification of Compounds that interfere with the HSP47-collagen interaction is essential for the development of relevant therapeutics. Herein, we prepared human HSP47 as a soluble fusion protein expressed in E. coli and established an assay system for HSP47 inhibitor screening. We screened a natural and synthetic Compound library established at Nagasaki University. Among 1023 Compounds, 13 exhibited inhibitory activity against human HSP47, of which three inhibited its function in a dose-dependent manner. Epigallocatechin-3-O-gallate, one of these three Compounds, is a typical polyphenol Compound derived from tea leaves. Structurally related Compounds were synthesized and examined for their activity, revealing a hydroxyl group at A-ring position 5 as important for its activity. The present findings provide valuable insight for the development of natural product-derived therapeutics for fibrotic diseases, including idiopathic pulmonary fibrosis.     

Current Understanding of the Structure,Stability and Dynamic Properties of Amyloid Fibrils

Amyloid fibrils are supramolecular protein assemblies represented by a cross-β structure and fibrous morphology, whose structural architecture has been previously investigated. While amyloid fibrils are basically a main-chain-dominated structure consisting of a backbone of hydrogen bonds, side-chain interactions also play an important role in determining their detailed structures and physicochemical properties. In amyloid fibrils comprising short peptide segments, a steric zipper where a pair of β-sheets with side chains interdigitate tightly is found as a fundamental motif. In amyloid fibrils comprising longer polypeptides, each polypeptide chain folds into a planar structure composed of several β-strands linked by turns or loops, and the steric zippers are formed locally to stabilize the structure. Multiple segments capable of forming steric zippers are contained within a single protein molecule in many cases, and polymorphism appears as a result of the diverse regions and counterparts of the steric zippers. Furthermore, the β-solenoid structure, where the polypeptide chain folds in a solenoid shape with side chains packed inside, is recognized as another important amyloid motif. While side-chain interactions are primarily achieved by non-polar residues in disease-related amyloid fibrils, the participation of hydrophilic and charged residues is prominent in functional amyloids, which often leads to spatiotemporally controlled fibrillation, high reversibility, and the formation of labile amyloids with kinked backbone topology. Achieving precise control of the side-chain interactions within amyloid structures will open up a new horizon for designing useful amyloid-based nanomaterials.     

Identification of Tumor Suppressive Genes Regulated by miR-31-5p and miR-31-3p in Head and Neck Squamous Cell Carcinoma

We identified the microRNA (miRNA) expression signature of head and neck squamous cell carcinoma (HNSCC) tissues by RNA sequencing, in which 168 miRNAs were significantly upregulated, including both strands of the miR-31 duplex (miR-31-5p and miR-31-3p). The aims of this study were to identify networks of tumor suppressor genes regulated by miR-31-5p and miR-31-3p in HNSCC cells. Our functional assays showed that inhibition of miR-31-5p and miR-31-3p attenuated cancer cell malignant phenotypes (cell proliferation, migration, and invasion), suggesting that they had oncogenic potential in HNSCC cells. Our in silico analysis revealed 146 genes regulated by miR-31 in HNSCC cells. Among these targets, the low expression of seven genes (miR-31-5p targets: CACNB2 and IL34; miR-31-3p targets: CGNL1, CNTN3, GAS7, HOPX, and PBX1) was closely associated with poor prognosis in HNSCC. According to multivariate Cox regression analyses, the expression levels of five of those genes (CACNB2: p = 0.0189; IL34: p = 0.0425; CGNL1: p = 0.0014; CNTN3: p = 0.0304; and GAS7: p = 0.0412) were independent prognostic factors in patients with HNSCC. Our miRNA signature and miRNA-based approach will provide new insights into the molecular pathogenesis of HNSCC.     

A distribution kinetics model for chromatography of block-like molecules

We develop the theory for chromatographic separation of isomers such as polycyclic aromatic hydrocarbons, polychlorinated biphenyls, dioxins, steroids, and carotenoids based on shape-selective mechanisms for either exclusion or adsorption. Block-like solute transport and retention on oriented stationary phases are modeled by a dispersed-flow chromatographic equation combined with simultaneous exclusion partitioning and shaped-based adsorption. Molecules to be separated are considered distributed continuously with respect to the shape and sorption parameters. The population balance equations of distribution kinetics provide the governing differential equations that are solved for the temporal moments of the concentration in a chromatographic column. By including dispersive mass transport effects, the model allows estimation of peak variance and HETP and is thus an improvement over theories that focus solely on retention time. The model predictions are compared with experimental data from the literature for gas chromatography.     

Production of Ceramic Green Bodies Using a Microwave-Reactive Organic Binder

Because the pyrolysis of organic substances can result in the emission of harmful pollutant gases, a reduction in the use of organic binders is one aim of today's ceramics industry. A novel ceramic-forming process was developed that requires considerably less organic binder than conventional techniques. The process involves immobilizing reactive molecules on the surfaces of the particles, which on subsequent irradiation with microwaves, form bridges that bind the entire particle assembly together. The chemical forces involved produce strong bonds, resulting in a significant reduction in the amount of organic binder that is required to maintain the shape of the ceramic green body. This method will help to decrease emissions of harmful gases produced from pyrolysis of the binder.     

A Practical Model for the Interactions Between Hydrating Portland Cements and Poly-β-Naphthalene Sulfonate Condensate Superplasticizers

The performance of poly-β-naphthalene sulfonate condensate superplasticizer (BNS) as a dispersant for cement in concrete is affected severely by slight differences in the characteristics of the cement. In order to be able to predict these effects, a model for estimating the fluidity of cement paste containing BNS is proposed. This model is based on an assumption that the fluidity of cement paste is proportional to the BNS adsorption amount per surface area of hydrated cement (Ad/Hy). BNS is known to show two types of sorption on hydrated cement: one is the bulk absorption into initial hydrates and the other one is the superficial adsorption onto hydrates. Only the superficially adsorbed BNS is expected to work as a dispersant. By assuming a competitive Langmuir-type adsorption on hydrates between BNS and SO₄²⁻, a simple method to estimate Ad/Hy is developed, with the concentrations of BNS and SO₄²⁻ as the only two independent parameters. The resulting estimates of Ad/Hy show a good correlation with paste flow and its change with elapsed time for a broad range of cements. The SO₄²⁻ concentration in the aqueous phase of the cement paste just after the beginning of the mixing is known to affect the performance of BNS as a dispersant. By using the proposed model to discriminate between the superficial adsorption and bulk absorption of BNS, this phenomenon is explained quantitatively.