Real-time exploration of a multi-robot rescue system in disaster areas

A system procedure is proposed for a multi-robot rescue system that performs real-time exploration over disaster areas. Real-time exploration means that every robot exploring the area always has a communication path to human operators standing by at a base station and that the communication path is configured by ad hoc wireless networking. Real-time exploration is essential in multi-robot systems for USAR (urban search and rescue) because operators must communicate with every robot to support the victim detection process and ad hoc networking is suitable to configure a communication path among obstacles. The proposed system procedure consists of the autonomous classification of robots into search and relay types and behavior algorithms for each class of robot. Search robots explore the areas and relay robots act as relay terminals between search robots and the base station. The rule of the classification and the behavior algorithm refer to the forwarding table of each robot constructed for ad hoc networking. The table construction is based on DSDV (destination-sequenced distance vector) routing that informs each robot of its topological position in the network and other essentials. Computer simulations are executed with a specific exploration strategy of search robots. The results show that a multi-robot rescue system can perform real-time exploration with the proposed system procedure and reduce exploration time in comparison with the case where the proposed scheme is not adopted.     

Rules for robust generation of accurate reduced-order models forhigh-speed coupled interconnections

Recently, robust algorithms have been established fur passive order reduction of electrical models of complex interconnection networks. However, very little is known about the way the order of the reduced model should be chosen to ensure accuracy in subsequent transient simulation studies, in this paper, a rule is derived for the selection of the order of the reduced model for interconnections modeled as transmission lines. It is shown that pulse rise time, interconnection length, and physical properties impact the order of the reduced model. The proposed rule is validated through numerical studies involving both analytic and numerical results from the frequency- and time-domain response of multiconductor transmission line circuits     

Serologic evidence that streptococcal superantigens are not involved in the pathogenesis of Kawasaki disease

We retrospectively reviewed 11 patients with culture-proven Acanthamoeba keratitis who presented at the National Taiwan University Hospital between 1989 and 1996. We assessed predisposing factors, initial diagnosis, clinical presentation, treatment, and outcome. A history of contact lens-wear, poor contact lens hygiene, intractable eye pain, and ring infiltrates in the cornea were the most prominent characteristics and clinical manifestations. Acanthamoeba keratitis was often misdiagnosed, with herpetic keratitis (7/11) being the most common initial diagnosis from referring hospitals. These patients were usually treated on the basis of the inaccurate diagnosis for more than 1 month (range 1-8 mo) before referral. All patients ultimately received penetrating keratoplasty because of poor response to delayed medical treatment. We suggest that inadequate contact lens hygiene may be important in Acanthamoeba keratitis. This condition is often misdiagnosed and, as early diagnosis is a major factor for successful medical treatment in such patients, awareness in clinical practice is critical.     

Pressure carbonization of pitch/phenolic resin mixtures

Phenolic resins and the benzene-soluble fraction of a coal tar pitch were mixed in a solvent (pyridine) and carbonized at 600° C in a gold tube under a pressure of 30 MPa. Yields, optical textures and graphitizabilities of the carbons were studied. Large carbon yields (>80%) were obtained from sealed tubes under pressure (closed system). In open tubes under pressure (open system), only slight improvements in carbon yields were observed. As the resin content in the starting mixtures increased, the optical texture of the resultant carbons decreased from coarse mosaic to isotropic through intermediates with a gradual decrease in size of mosaic units. These intermediate optical textures occurred with a wider range of resin content under pressure than under atmospheric pressure, especially from closed systems. Changes in structural parameters of the carbons after the 2800° C treatment corresponded to the changes in optical texture with resin content.     

A robot language for parts handling based on hierarchical structure of verbs

An operation-level robot language for parts handling has been developed, in which stress is laid on the systematization of the hierarchical structure of verbs (and verb phases) and the realization of and interpreter of the language for controlling a robot arm. In this research, the circumstances are defined as a robot arm, shelves (work benches), boxes and objects on a floor. In the user's programming, eighteen verbs can be utilized: [Level 3] place on, stack on, lift down, carry, direct to, put in, put out, push and draw; [Level 2] have, lift and put; [Level 1] go, raise, lower, seize (grip), detach and turn. In the system, a verb module is reduced to a sequence of the verb modules immediately one level below it, and a series of control commands to a robot controller is automatically generated.     

Survey of actual viewing conditions at home and appropriate luminance of LCD‐TV screens

Abstract— To understand actual viewing conditions at home is important for TV design. And the preferred luminance level of LCD TVs under actual viewing conditions is also important in order to obtain both good picture quality and low power consumption. The actual viewing conditions of households and the preferred luminance levels was investigated. In a field test of 83 households, the display luminance, screen illuminance, and viewing locations were measured on site. In laboratory experiments, young and elderly subjects adjusted the luminance of an LCD‐TV screen to their preferred levels under different screen illuminance levels, angular screen sizes, and average luminance levels (ALL) of the images. As a result, two equations, which represent the preferred luminance level of LCD‐TV screens corresponding to different viewing conditions for young and elderly subjects were obtained. When the ALL of the images was 25% and the screen illuminance and angular screen size were set at 100 lx and 20°, respectively, the preferred luminance was 1 60 cd/m² for the young subjects and 248 cd/m² for the elderly subjects. By using the setting of the preferred luminance of an LCD TV under actual viewing conditions, it is possible to conserve energy consumption.