Motion planning for mobile robots using a laser range finder

We have designed a mobile robot with a distribution structure for intelligent life space. The mobile robot was constructed using an aluminum frame. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 40 cm, 80 cm, and 40 kg, respectively. There are six systems in the mobile robot, including structure, an obstacle avoidance and driving system, a software development system, a detection module system, a remote supervision system, and others. In the obstacle avoidance and driving system, we use an NI motion control card to drive two DC servomotors in the mobile robot, and detect obstacles using a laser range finder and a laser positioning system. Finally, we control the mobile robot using an NI motion control card and a MAXON driver according to the programmed trajectory. The mobile robot can avoid obstacles using the laser range finder, and follow the programmed trajectory. We developed the user interface with four functions for the mobile robot. In the security system, we designed module-based security devices to detect dangerous events and transmit the detection results to the mobile robot using a wireless RF interface. The mobile robot can move to the event position using the laser positioning system.     

A Distribution Management System for Relational Databases in Cloud Environments

For a transaction processing system to operate effectively and efficiently in cloud environments, it is important to distribute huge amount of data while guaranteeing the ACID (atomic, consistent, isolated, and durable) properties. Moreover, database partition and migration tools can help transplanting conventional relational database systems to the cloud environment rather than rebuilding a new system. This paper proposes a database distribution management (DBDM) system, which partitions or replicates the data according to the transaction behaviors of the application system. The principle strategy of DBDM is to keep together the data used in a single transaction, and thus, avoiding massive transmission of records in join operations. The proposed system has been implemented successfully. The preliminary experiments show that the DBDM performs the database partition and migration effectively. Also, the DBDM system is modularly designed to adapt to different database management system (DBMS) or different partition algorithms.     

Injection Molding Nanoscale Features with the Aid of Induction Heating

During injection molding of micron or submicron scale features, incomplete filling frequently occurs, resulting from premature freezing of the polymer melt in contact with a cold mold. In order to overcome the filling difficulty without increasing the total cycle time, the mold surface temperature was raised rapidly by induction heating. A prototype mold insert with cooling channels was fabricated and integrated with a nickel stamp having nanoscale-grating structures. The nickel stamp surface was successfully heated from 25 to 258°C in 2.7 sec. Four different mold surface temperatures, 100, 150, 200 and 250°C, were tested to determine if the nanograting structures can be replicated with an optical quality cyclic olefin copolymer. Experimental results indicate that the nanocavities were successfully filled when the surface temperature reached 250°C, but mold release caused drag damages on the nanogratings. Further, coupled thermoelectromagnetic analyses were carried out to simulate the induction heating process of the nanostructured mold insert. The predicted surface temperature responses in general agree with the experimental ones and the simulation model can be used in the further development of process control and mold design in micro/nano molding.     

Effectivity date analysis and scheduling

The impact of design on logistics cannot be ignored, and design for logistics is a new concept similar to design for manufacturing or design for assembly. Engineering change is one of the scenarios that would require logistics support. Change control of a product data management (PDM) system is one of the major approaches for handling engineering changes today. According to principles of configuration management, during the change control workflow, there are three different dates: release date, effective date, and effectivity date utilised for controlling and managing change planning and scheduling. Effective date is the exact date that a released change takes effect to the shop floor workshop. Effectivity date is the expected date that decision makers plan for the change to take effect. In normal situations, multiple disciplines, such as design and development, purchasing, shop floor workshop, quality control, and so on, are involved in making a change decision on when a change is to become effective. In this paper, a linear programming effectivity decision model is proposed to concurrently support changes of design scheduling, and production planning and scheduling when an engineering change occurs. The proposed model succeeded in solving an integration problem of design scheduling, production planning and shop floor scheduling.     

Benchmarking and analysis of superscalar architecture

Abstract

Superscalar processing can improve the performance of a single CPU beyond that of traditional RISC machines by exploiting instruction‐level parallelism. It is the objective of this study to design a superscalar system which will best exploit a given program's instruction‐level parallelism.

Three different architectural models, XPCB, XXPB, and X4P2, are used as vehicles in evaluating system performance and the degree of utilization of each individual functional unit. The XPCB model is used as a preliminary model to analyze the loading breakdowns of the various function types. It was found that the performance improvement of the XPCB model relative to a single‐instruction stream model is only about 4.3 percent. In addition, the fixed‐point operations are in great demand, and dominate the behavior as well as performance of the processor. Two enhanced models, the XXPB and the X4P2, are suggested to improve on the performance of the XPCB model by distributing fixed‐point, and even floating‐point operation loads among multiple functional units of the same type(s). Simulations show that the XXPB and X4P2 models can improve the performance of the sequential model by 50.8 and 61.6 percent, respectively.     

The structure of the Reynolds stress in a turbulent flow over windbreaks of half‐circular sections

Abstract

The structure of the Reynolds stress in a turbulent flow over the multiple windbreaks of half‐circular sections across‐wind was investigated experimentally in the boundary layer wind tunnel. The quadrant analysis theory was applied to analyze the turbulent stress signals by partitioning the Reynolds stress into inward interaction, ejection, outward interaction, and sweep events in accordance with whichever quadrant the (u’, w‘)belongs to. u’ and w’ are the stream wise and transversewise velocity fluctuations, respectively The results show that when Z/H < 1, X/H < 20, the sweep events are the largest contributors to the Reynolds stress followed by the ejection events while the inward and outward interactions are negative contributors. Z is the distance from the wall, X is the downstream distance, and H is the height of windbreak. The stress contributions by sweeps and ejections are almost the same when Z/H < 1, X/H > 30.     

Identification and Synthesis of the Sex Pheromone of the Passionvine Mealybug, Planococcus minor (Maskell)

The sex pheromone of the mealybug, Planococcus minor was isolated by fractionation of crude pheromone extract obtained by aeration of virgin females. The pheromone was identified as the irregular terpenoid, 2-isopropyl-5-methyl-2,4-hexadienyl acetate, by mass spectrometry, microchemical tests, and ¹H NMR spectroscopy. The stereochemistry of the pheromone was assigned as (E) by comparison with synthetic standards of known geometry. The compound was highly attractive to males in laboratory bioassays, whereas the (Z)-isomer appeared to antagonize attraction.     

Capability assessment for processes with multiple characteristics: A generalization of the popular index Cpk

Process capability index C_pk is the most popular capability index widely used in the manufacturing industry. Existing research on the yield‐based measure index C_pk to date is restricted to processes with single characteristics. However, many manufacturing processes are commonly described with multiple characteristics, for example, the gold bumping process in the TFT‐LCD (thin film transistor‐liquid crystal display) manufacturing industry. In the gold bumping process, gold bumps have multiple characteristics all having effects on the process yield. Obtaining accurate gold bumping manufacturing yield is very important for quality assurance and in providing guidance toward process improvement. To obtain accurate yield assessment for processes with multiple characteristics, we propose a new overall yield‐measure index C, which is a generalization of the index C_pk, and a natural estimator of C. For the purpose of making inferences on the process capability, we derive a quite accurate approximation of the distribution of since the distribution is analytically intractable. With this distribution, we tabulate the lower confidence bounds of the new index under various sample sizes for in‐plant applications. In addition, we construct a statistical test on the new yield‐measure index in order to examine whether the yield meets the customers' requirements. For illustration purpose, a real case in a gold bumping factory located in the Science‐based Industrial Park at Hsinchu, Taiwan is presented. Copyright © 2011 John Wiley & Sons, Ltd.     

Dietary biotin requirement for maximum growth of juvenile grass shrimp, Penaeus monodon

A feeding trial was conducted to estimate the minimal dietary biotin requirement for juvenile grass shrimp, Penaeus monodon. Purified diets with eight levels (0, 0.2, 0.5, 1.0, 3.0, 6.0, 10.0 and 20.0 mg/kg) of supplemental biotin were fed to P. monodon (mean weight 0. 26 +/- 0.01 g) for 8 wk. Each diet was fed to three replicate groups of shrimp. Shrimp fed diets supplemented with biotin (0.2-20.0 mg/kg) had significantly (P < 0.05) higher weight gain, feed efficiency and protein efficiency ratio than those fed the unsupplemented control diet. Weight gain was high in shrimp fed 3. 0-10.0 mg biotin/kg diet and lowest in shrimp fed 相似文献   

Free amino acids and peptides as related to antioxidant properties in protein hydrolysates of mackerel (Scomber austriasicus)

Mackerel (Scomber austriasicus) hydrolysates were prepared by an autolytic process and accelerated hydrolysis with a commercial enzyme, Protease N. Changes in the levels and compositions of free amino acids and small peptides during hydrolysis were investigated to find out their relationships with antioxidant activities. Increased levels of free amino acids, anserine, carnosine and other peptides of the hydrolysates obtained with protease were much higher than those by autolysis. Different antioxidant measurements including the inhibition of linoleic acid autoxidation, the scavenging effect on ,-diphenyl-β-picrylhydrazyl free radical, and the reducing power showed that mackerel hydrolysates possessed noticeable antioxidant activities. A good correlation existed between the amount of peptides and antioxidant activity. Three peptide fractions were separated from the hydrolysate by size exclusion chromatography. Results revealed that the peptide with molecular weight of approximately 1400 Da possessed a stronger in vitro antioxidant activity than that of the 900 and 200 Da peptides.