Curvature continuous path generation for autonomous vehicle using B-spline curves

In this paper we introduce a roadmap algorithm for generating collision-free paths in terms of cubic B-spline curves for unmanned vehicles used in mining operations. The algorithm automatically generates collision-free paths that are curvature continuous with an upper bounded curvature and a small slope discontinuity of curvature at knots, when we are given the locations of the obstacles, the boundary geometry of the working area, positions and directions of the vehicle at the start, loading, and the goal points. Our algorithm also allows us to find a switch back point where the vehicle reverses its direction to enter the loading area. Examples are provided to demonstrate the effectiveness of the proposed algorithms.     

Formation of conjugated diene and triene products in lipoxygenase oxidation of C18, C20, C22 PUFAs

The determination of conjugated diene formation revealed that the mol % conversions of allcis-6,9,12-octadecatrienoic acid [γ-linolenic, 18:3(n-6)], allcis-5,8,11,14-eicosatetraenoic acid [arachidonic, 20:4(n-6)], allcis-5,8,11,14,17-eicosapentaenoic acid [20:5(n-3)], and allcis-4,7,10,13,16,19-docosahexaenoic acid [22:6(n-3)] into conjugated diene products by soybean lipoxygenase-1 at pH 9.0 were 84, 86, 60 and 40% of that of allcis-9,12-octadecadienoic acid [linoleic, 18:2(n-6)], respectively. On the other hand, the conversions of allcis-9,12,15-octadecatrienoic acid [α-linolenic, 18:3(n-3)], allcis-5,9,12-octadecatrienoic acid (c5,c9,c12-18:3), andtrans-5,cis-9,cis-12-octadecatrienoic acid (t5,c9,c12-18:3) were equal to that of 18:2(n-6). The lowering of the conjugated diene formation in the oxidation of 18:3(n-6), 20:4(n-6), 20:5(n-3), and 22:6(n-3) by the lipoxygenase was thought to be caused by the further oxidation of conjugated diene monohydroperoxides to yield conjugated triene products. For this reason, the conventional lipoxygenase method gave erroneous values forcis,cis-methylene interrupted polyunsaturated fatty acids (PUFA) in oils containing a large amount of 20:5(n-3) and 22:6(n-3) such as fish oils. However, by changing the pH of reaction mixtures from 9.0 to 11.0, the secondary oxidation of conjugated diene monohydroperoxides was completely inhibited, and the PUFA values in fish oils obtained by this improved method were in good agreement with those obtained by a GLC method.     

Synthesis and surface properties of novel fluoroalkyl end-capped amphiphilic fullerene cooligomers

New fluoroalkyl end-capped fullerene cooligomers were prepared by the reactions of fluoroalkanoyl peroxides with fullerene and comonomers such as acryloylmorpholine, N,N-dimethylacrylamide and acrylic acid. These fluorinated fullerene cooligomers were easily soluble in water and common organic solvents, and were able to reduce the surface tensions of both water and benzene, quite effectively. Additionally, these fullerene cooligomers were found to form a stable monomolecular film at the air-water interface, and the modified polystyrene surface treated with these cooligomers was shown to have a strong hydrophilicity with good oil repellency.     

A High-Frequency Resonant Inverter Using Current-Vector Control Scheme and Its Performance Evaluations

The authors introduce a new configuration of resonant-type high-frequency inverter having inherent fast control response of the output power and variable-voltage variable-frequency (VVVF) capability. The circuit is composed of a parallel combination of two series-resonant inverters with common input and output terminals. Both inverter units are operated at synchronous frequency and with an adjustable phase difference from 0° to 180°, allowing control of the output power from full to null power, respectively. Operation of this inverter is explained and computer-simulated operating waveforms and characteristic curves are shown in terms of normalized control variables and circuit parameters. A prototype inverter using Power MOSFET modules has been originally tested with a high-frequency induction heating and melting load to demonstrate experimentally the proposed control principle and the steady-state inverter performances under parallel tuned load conditions.     

Polonium evaporation and adhesion experiments for the development of polonium filter in lead–bismuth cooled reactors

Fundamental experiments were performed to determine the adhesion characteristics of polonium to different metals and to develop a filter for polonium evaporated from neutron-irradiated LBE. The results of the first experiments suggested that adhesion characteristics are almost the same for stainless steel and nickel metal. The results of the preliminary experiments for a polonium filter suggested that stainless steel mesh with thin wires could effectively collect polonium evaporated from neutron-irradiated LBE. In the experiments, stainless steel wire mesh was used, but from the results of adhesion experiment, it is expected that the same effect can be obtained with wire mesh made of other kinds of metal.     

Processing of ethanol fermentation broths by Candida krusei to separate bioethanol by pervaporation using silicone rubber‐coated silicalite membranes

BACKGROUND: Pervaporation employing ethanol‐permselective silicalite membranes as an alternative to distillation is a promising approach for refining low‐concentration bioethanol solutions. However, to make the separation process practicable, it is extremely important to avoid the problems caused by the adsorption of succinate on the membrane during the separation process. In this work, the pervaporation of an ethanol fermentation broth without succinate was investigated, as well as the influence of several fermentation broth nutrient components. RESULTS: Candida krusei IA‐1 produces an extremely low level of succinate. The decrease in permeate ethanol concentration through a silicone rubber‐coated silicalite membrane during the separation of low‐succinate C. krusei IA‐1 fermentation broth was significantly improved when compared with that obtained using Saccharomyces cerevisiae broth. By treating the fermentation broth with activated carbon, bioethanol was concentrated as efficiently as with binary mixtures of ethanol/water. The total flux was improved upto 56% of that obtained from the separation of binary mixtures, compared with 43% before the addition of activated carbon. Nutrients such as peptone, yeast extract and corn steep liquor had a negative effect on pervaporation, but this response was distinct from that caused by succinate. CONCLUSION: For consistent separation of bioethanol from C. krusei IA‐1 fermentation broth by pervaporation, it is useful to treat the low nutrient broth with activated carbon. To further improve pervaporation performance, it will be necessary to suppress the accumulation of glycerol. Copyright © 2009 Society of Chemical Industry     

Experimental and analytical studies of the thermal stratification phenomenon in the outlet plenum of fast breeder reactors

Water and sodium experiments were conducted with scaled models to study the in-vessel thermal stratification. The models simulate the outlet plenum in a loop-type LMFBR with an inner barrel and a closed-type UIS (upper instrumentation structure). An examination of the threshold for thermal stratification, the rising rate of the stratification interface, and the flow regime above the interface has been conducted and is reported in the present paper. In parallel, the phenomenon in the experiments has been evaluated with the multi-dimensional analysis.     

Removal of polonium from stainless steel surface contaminated by neutron irradiated lead-bismuth eutectic

Lead-bismuth eutectic (LBE) has good characteristics for the coolant and/or target of various nuclear systems, but it also has a problem of polonium contamination. In the study, baking experiment was performed to remove polonium contamination on type 316 stainless steel plate that was originated from neutron irradiated LBE. The contaminated type 316 stainless steel plate was baked in a vacuum condition at various temperatures from 200°C to 600°C. In the previous preliminary study, the effect of short time baking was investigated. In the study, the effect of long time baking was investigated. The detail of the experimental method was also described. The result of long time baking experiment showed that the baking method was effective for removal of polonium from stainless steel surface contaminated by neutron irradiated LBE, if the baking was performed at 500°C and higher in a vacuum condition. The obtained result was consistent to the previous preliminary study.     

Experimental study of the flow in helical circular pipes: Torsion effect on the flow velocity and turbulence

An objective of the present paper is to experimentally clarify the torsion effect on the flow in helical circular pipes. We have made six helical circular pipes having different pitches and common non-dimensional curvature δ of about 0.1. The torsion parameter β0, which is defined by β0 = τ/（2δ）1/2 with non-dimensional torsion r, are taken to be 0.02, 0.45, 0.69, 1.01, 1.38 and 1.89 covering from small to very large pitch. The velocity distributions and the turbulence of the flow are measured using an X-type hot-wire anemometer in the range of the Reynolds number from 200 to 20000. The results obtained are summarized as follows： The mean secondary flow pattern in a cross section of the pipe changes from an ordinary twin-vortex type as is seen in a curved pipe without torsion （toroidal pipe） to a single vortex type after one of the twin-vortex gradually disappears as β0 increases. The circulation direction of the single vortex is the same as the direction of torsion of the pipe. The mean velocity distribution of the axial flow is similar to that of the toroidal pipe at small β0, but changes its shape as β0 increases, and attains the shape similar to that in a straight circular pipe when ,β0 = 1.89. It is also found that the critical Reynolds number, at which the flow shows a marginal behavior to turbulence, decreases as ,β0 increases for small ,β0, and then increases after taking a minimum at ,β0 ≈ 1.4 as ,β0 increases. The minimum of the critical Reynolds number experimentally obtained is about 400 at ,β0 ≈ 1.4.