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.     

PBPAF／PBPA共混物相容性的研究

研究了双酚ＡＦ基聚合物和双酚Ａ基聚合物的共混相容性。通过用ＤＳＣ，ＴＭＡ测定单一聚合物和共混物的玻璃化温度来判别它们的相容性．结果表明，两种聚合物在部分组成比时有一定的相容性。     

High-speed InGaAlAs/InAlAs multiple quantum well electrooptic phasemodulators with bandwidth in excess of 20 GHz

High-speed phase modulation (in the frequency bandwidth of 20 GHz, the highest yet reported for multiple quantum well (MQW) phase modulators) for waveguided InGaAlAs/InAlAs MQW optical modulators is reported. The modulator successfully operates at a long wavelength of 1-55 μm with a low required voltage for phase shift (Vπ=3.8 V), small intensity modulation depth below 1.5 dB, and without any modulation bandwidth degradation up to 20 GHz under high input optical power of 0 dBm in single-mode fiber     

Variations of rat brain calmodulin content in dark and light phases: effect of pentylenetetrazol-induced kindling

Calmodulin (CaM) through activation of CaM-kinase II may be involved in the molecular mechanisms underlying the epileptogenic processes. Some evidence suggests that kindling responses change across the day-night cycle. In order to test if kindling stimulation modifies CaM content, we measured CaM concentrations in amygdala, hippocampus and hypothalamus obtained from control and kindled rats during light and darkness. Male Wistar rats (250-300 g), were injected i.p. with Pentylenetetrazol (PTZ) (35 mg/kg/24 h). Once chemical kindling was established, rats were sacrificed by decapitation at 10:30 a.m. and 01:30 a.m. The brains were obtained, and the amygdala, hippocampus and hypothalamus dissected. CaM content was measured in the cytosol and membrane fractions by radioimmunoassay. We found a significant increase in CaM content in cytosol and membrane fractions of both control and kindled rats during the dark phase. No significant differences in CaM concentrations were observed between control and experimental rats, whether during the light or the dark phase. The data suggest a well defined photoperiodic variation in CaM concentrations in limbic structures, despite the neuronal excitability produced by kindling. In addition, the observed CaM increases during the dark time may be related to a protective mechanism against enhanced sensitivity to seizures observed during the night.     

Minimal effect of brain temperature changes on glutamate release in rat following severe global brain ischemia: a dialysis electrode study

Using a dialysis electrode, we recently developed an oxygen-independent system for real-time measurement of the glutamate concentration in the extracellular space ([Glu]e) during ischemia. This system allows separate evaluation of intra-ischemic biphase [Glu]e elevation, i.e. release from synaptic vesicles (1st phase), reversed uptake of glutamate from metabolic pools in neuronal cells (2nd phase), and post-ischemic glutamate re-uptake in ischemia-reperfusion models. Using the system, we attempted to clarify the relationship between biphase glutamate release and brain temperature in a model of acute global ischemia produced by transecting both carotid arteries. Our results showed that, in contrast to mild hyperthermia, hypothermia did not inhibit the 1st phase of [Glu]e release, and changes in intra-ischemic brain temperature had a minimal effect on the 2nd phase of [Glu]e elevation during severe acute ischemia. These findings, together with our previous data, indicate that brain temperature change in the intra-ischemic period plays an important role in disturbance of the glutamate re-uptake system during ischemia.     

Al对含P,Mo奥氏体不锈钢应力腐蚀性能的影响

用点焊接试验方法评价了合金元素Ａｌ对含Ｐ和Ｍｏ奥氏体不锈钢应力腐蚀破裂性能的影响。结果表明，单独添加Ａｌ没有改善应力腐蚀破裂性能，而复合添加Ａｌ和Ｃｕ有效地提高了抗应力腐蚀性能。１４Ｃｒ－１６Ｎｉ－２Ｃｕ－３Ａｌ钢中添加Ｍｏ，虽然降低应力腐蚀性能，但影响较小。含０．３％Ｍｏ时应力腐蚀破裂临界温度可达１２０℃。ＡＥＳ分析表明，Ａｌ和Ｃｕ元素在表面膜中富集。Ａｌ和ｃｕ的联合作用使钢表面膜的钝化能力得到加强，从而提高了抗应力腐蚀性能。     

Solubility and diffusivity of oxygen in aqueous sucrose solutions

Solubility and diffusivity of oxygen in aqueous sucrose solutions of various concentrations were measured at temperatures from 15° to 45°C and at atmospheric pressure. The solubility of oxygen could be correlated well by the method of van Krevelen and Hoftijzer. The diffusivity of oxygen was found to be proportional to the ?2/3 power of the viscosity of the solution.     

Advantages of counter-current operation for hydrodesulfurization in trickle bed reactors

The deep desulfurization of oil fraction is a central matter of concern to every refinery. Hydrogen sulfide is the product of hydrodesulfurization reaction and it is the inhibiter of the reaction. When products inhibit the reaction, the counter-current operation is expected to have an advantage over the co-current operation. Hydrodesulfurization of vacuum gas oil in a trickle bed reactor was simulated for both models of co-current operation and counter-current operation. The models were simulated on high and low gas and liquid velocities. Hydrogen sulfide was affected by mass transfer resistance in both gas-liquid and liquid-catalyst interface. The other component mass transfer resistances were negligible. When the deep desulfurization was required, simulation results showed that the counter-current operation was superior to the co-current operation in organic sulfur conversion     

Reduction of germination frequency in Anabaena akinetes by sediment drying: a possible method by which to inhibit bloom formation

The effect of desiccation on germination frequency of Anabaena akinetes was investigated to evaluate the practical usefulness of sediment drying in reservoirs as a measure of inhibition of Anabaena bloom formation. Sediment samples taken from a small reservoir, where an abundance of Anabaena blooms occur every summer were desiccated in the outdoors and in an incubator at 5, 10, 15, and 25 °C. As a result, the germination frequency of Anabaena akinetes was strongly inhibited in comparison with that of Anabaena akinetes preserved in a refrigerator without desiccation as a control. Greater inhibition of Anabaena germination found at a higher temperature was examined, and almost all akinetes lost the ability of germination at 25 °C after 3 days of the desiccation treatment. Therefore, sediment drying is considered to be a useful measure to reduce periods and scales of Anabaena blooms, and its effect will be enhanced by performance during the warmer seasons.