An Experimental Study of a Cooperative Positioning System

Several position identification methods are being used for mobile robots. Dead reckoning is a popular method but due to the error accumulation from wheel slippage, its reliability is low for measurement of long distances especially on uneven surfaces. Another popular method is the landmark method, which estimates current position relative to known landmarks, but the landmark method's limitation is that it cannot be used in an uncharted environment. Thus, this paper proposes a new method called Cooperative Positioning System (CPS) that is able to overcome these shortcomings. The main concept of CPS is to divide the robots into two groups, A and B where group A remains stationary and acts as a landmark while group B moves and then group B stops and acts as a landmark for group A. This process is repeated until the target position is reached. Compared with dead reckoning, CPS has a far lower accumulation of positioning errors, and can also work in three dimensions. Furthermore, CPS employs inherent landmarks and therefore can be used in uncharted environments unlike the landmark method. In this paper, we introduce the basic concept of CPS and its positioning principle. Next, we outline a second prototype CPS machine model (CPS-II) and discuss the method of position estimation using the variance of positioning error and weighted least squares method. Position identification experiments using the CPS-II model give a positioning accuracy of 0.12% for position and 0.32 degree for attitude after the robots traveled a distance of 21.5 m.     

Doping Mechanism and Permittivity Correlations in Nd-Doped BaTiO3

BaTiO₃ forms an extensive range of solid solutions with Nd₂O₃ by means of the double substitution mechanism: Ba + Ti 2Nd, as shown by both a phase diagram study and Rietveld refinement using powder neutron diffraction data. The solid solutions have the general formula Ba_1-xTi_1-xNd_2xO₃Odxd0.12 at 1300°C and 1300°C and O dxd at 1400°C. With increasing x, the symmetry changes from tetragonal to cubic at x 0.09. The sharp permittivity maximum at 127°C in stoichiometric BaTiO₃ broadens very rapidly with increasing x and gradually moves to lower temperatures: this appears to be because, with substitution of Nd onto Ti sites, formation of the ferroelectric domains is increasingly difficult because of the presence of dipole-inactive Nd³⁺ ions on the Ti sites.     

Clinicopathological study of cases with Mycobacterium szulgai infection

Pulmonary mycobacteriosis is usually caused by Mycobacterium tuberculosis, Mycobacterium avium complex, or Mycobacterium kansasii. There are, however, other slow-growing mycobacteria which can cause pulmonary infection. Mycobacterium szulgai, first reported in 1972, is a scotochromogenic species which can affect human lungs, although human-to-human spread of infection is thought to be unlikely. We have recently treated three cases of middle-aged to elderly persons (45-87 year-old), two of them had underlying diseases (one with intrapulmonary and the other with extrapulmonary). All patients had constitutional symptoms (cough, sputum, dyspnea), and chest roentgenograms demonstrated either cavitation with scattered nodules or peripheral infiltrates predominantly in upper lobes, resembling pulmonary tuberculosis. In two cases, M. szulgai was identified by using DNA-DNA hybridization method. The in vitro susceptibility of M. szulgai to antimycobacterial drugs was better than that of M. avium complex, and it was resistant only to paraaminosalicylate, cycloserine, and partially to isoniazid. Pulmonary disease of three patients were successfully treated with a combination of multiple antimycobacterial agents including rifampin, ethambutol, isoniazid, or streptomycin.     

Extralobar pulmonary sequestration mimicking cystic adenomatoid malformation in prenatal sonographic appearance and histological findings

An infant girl with extralobar pulmonary sequestration (PS) composed of congenital cystic adenomatoid malformation (CCAM)-like structure is presented. Initially, the antenatal sonographic findings indicated CCAM. The macroscopic findings of the resected specimen were compatible with extralobar PS; however, the microscopic findings showed cystic structure mimicking type II CCAM. The combination of PS and CCAM is rare, and it is likely that the embryological origin is common to both. There is confusion in the classification of these two congenital anomalies. In this report, the histological and sonographic findings of PS and CCAM are discussed.     

Finite strip analysis of curved composite girders with incomplete interaction

This paper presents a finite strip analysis of curved composite girders with incomplete interaction. In the present analysis curved composite girder bridges are modelled by curved strip elements for the concrete slab and steel girder and spring elements for the shear connectors. The shear connectors are assumed as a two-dimensional spring element along the nodal line. The proposed method is applied to the analysis of curved box girders, curved plates and curved composite girder bridges with complete and incomplete interaction. Some analytical results obtained by this method are compared with the test results and theoretical values obtained by other methods, and they are in good agreement. Slip behavior of curved composite box girders is also discussed based on the results by the proposed method.     

Renin and prorenin in hog brain: ubiquitous distribution and high concentration in the pituitary and pineal

With the objective of clarifying the nature of renin-like activity in the brain, we have devised methods to distinguish true renin from acid protease. These methods were used to determine the regional distribution of true renin in hog brain. The pineal was found to be the richest source of renin followed by the adenohypophysis and choroid plexus. The hypothalamus, cerebellum and amygdala contained moderately high concentrations of renin. Renin concentration in the neurohypophysis was negligible. Many regions contained activatable prorenin. The molecular weight and the pH-dependence of the brain renin were identical to these same properties of renal and plasma renins. Based upon its specific affinity to concanavalin A, brain renin was judged to be a glycoprotein. The electrofocusing pattern of renin from different regions of the brain differed from that of plasma and kidney renins, a discrepancy which could be interpreted as evidence for the endogenous synthesis of renin in the brain.     

Single-Mixture Audio Source Separation by Subspace Decomposition of Hilbert Spectrum

A novel technique is developed to separate the audio sources from a single mixture. The method is based on decomposing the Hilbert spectrum (HS) of the mixed signal into independent source subspaces. Hilbert transform combined with empirical mode decomposition (EMD) constitutes HS, which is a fine-resolution time-frequency representation of a nonstationary signal. The EMD represents any time-domain signal as the sum of a finite set of oscillatory components called intrinsic mode functions (IMFs). After computing the spectral projections between the mixed signal and the individual IMF components, the projection vectors are used to derive a set of spectral independent bases by applying principal component analysis (PCA) and independent component analysis (ICA). A k-means clustering algorithm based on Kulback-Leibler divergence (KLd) is introduced to group the independent basis vectors into the number of component sources inside the mixture. The HS of the mixed signal is projected onto the space spanned by each group of basis vectors yielding the independent source subspaces. The time-domain source signals are reconstructed by applying the inverse transformation. Experimental results show that the proposed algorithm performs separation of speech and interfering sound from a single mixture