Terrain classification and identification of tree stems using ground‐based LiDAR

To operate autonomously in forested terrain, unmanned ground vehicles must be able to identify the load‐bearing surface of the terrain (i.e., the ground) and obstacles in the environment. To travel long distances, they must be able to track their position even when the forest canopy obstructs GPS signals, e.g., by tracking progress relative to tree stems. This paper presents a novel, robust approach for modeling the ground plane and tree stems in forests from a single viewpoint using a lightweight LiDAR scanner. Ground plane identification is implemented using a two‐stage approach. The first stage, a local height‐based filter, discards most nonground points. The second stage, based on a support vector machine classifier, identifies which of the remaining points belong to the ground. Main tree stems are modeled as cylinders or cones to estimate the diameter 130 cm above the ground plane. To fit these models, candidate main stem data are selected by finding points approximately 130 cm above the ground. These points are clustered into separate point clouds for each stem. Cylinders and cones are fit to each point cloud, and heuristic filters identify which fits correspond to tree stems. Experimental results from five forested environments demonstrate the effectiveness of this approach. For ground plane estimation, the overall classification accuracy was 86.28% with a mean error for the ground height of approximately 4.7 cm. For stem estimation, up to 50% of the main stems were accurately modeled using cones, with a root mean square diameter error of 13.2 cm.© 2012 Wiley Periodicals, Inc.     

Abstract picture generation and zooming user interface for intuitive music browsing

Today many people store music media files in personal computers or portable audio players, thanks to recent evolution of multimedia technologies. The more music media files these devices store, the messier it is to search for tunes that users want to listen to. We propose MusCat, a music browser to interactively search for the tunes according to features, not according to metadata (e.g. title, artist name). The technique firstly calculates features of tunes, and then hierarchically clusters the tunes according to the features. It then automatically generates abstract pictures, so that users can recognize characteristics of tunes more instantly and intuitionally. It finally visualizes the tunes by using abstract pictures. MusCat enables intuitive music selection with the zooming user interface.     

Investigation of Precipitation Behavior in Age-Hardenable Cu-Ti Alloys by an Extraction-Based Approach

We investigated the precipitation processes in Cu-4 mol pct Ti alloy specimens aged at 723 K (450 °C), by means of X-ray diffraction and chemical analyses of the precipitates extracted from the parent alloy specimens. Aging-induced precipitate particles of a spinodally decomposed disorder, α′; those of a metastable order, β′-Cu₄Ti; and those of a stable order, β-Cu₄Ti, were continuously formed in the aged specimens. The extraction of the precipitate particles from the aged specimens by submergence in a nitric solution allowed for not only the structural analyses of the constituent precipitate phases but also the quantitative evaluation of their chemical compositions and volume fractions. Early during the aging process, the supersaturated Cu solid solution decomposes spinodally in a continuous manner, and an unstable disorder, α′, appears. Then, fine needle-shaped β′-Cu₄Ti particles, which have a Ti content of approximately 37.5 mol pct, form in the Cu matrix. During prolonged aging, coarse cellular components composed of the terminal Cu solid solution and stable β-Cu₄Ti particles which have a Ti content of 20.5 mol pct nucleate and grow, primarily in the grain boundaries, at the expense of the metastable β′-Cu₄Ti particles. The volume fraction of the β′-Cu₄Ti particles in the alloy reaches a maximum of approximately 1.7 pct after aging for 24 hours, while that of the β-Cu₄Ti particles increases steadily to more than 18 pct after 480 hours. The volume fraction of the fine β′-Cu₄Ti particles in the alloy specimens remained constant throughout the age-hardening, indicating that the hardening is primarily owing to the fine dispersion of the β′-Cu₄Ti particles and not because of the large volume fraction of coarse β-Cu₄Ti particles.     

Investigation report of geotechnical disaster on river area due to typhoon landfall three times on Okhotsk region,Hokkaido, Japan

For one week from August 17 to 23, 2016, three consecutive typhoons made landfall in Hokkaido for the first time on record. These typhoons and the front they stimulated brought record-breaking torrential rain over the eastern part of Hokkaido. To investigate the damage to grounds and rivers resulting from this rainfall, the Japan Society of Civil Engineers (JSCE) and the Japanese Geotechnical Society (JGS) formed a disaster research group to conduct an investigation. This report provides the results of the investigation into damage to the grounds of areas along the Tokoro River of the Okhotsk region, Hokkaido, that suffered from this tremendous and diverse disaster. Specifically, the report describes the situation of the levees which were broken and eroded by the overflowing water, the shape of the levee bodies, the levee body soil properties examined by observation of the sections, as well as the occurrence of sand boiling and air blows. The washout of road embankments as well as damage to road bridge mounting fills and abutment backfills were also investigated. The investigation has demonstrated the need to clarify the resistance of the abutment backfills and levee bodies to flowing water as well as the geotechnical predominant factors in order to clarify the mechanisms behind erosion and washout, the need to review new measures that allow for the scale of sand boiling and resultant changes in levee body stability, and the fact that the existing embankments were able to temporarily suppress the flooding water which had spilled over from the river. Furthermore, although it has been identified that the findings of a study on an embankment washout associated with a tsunami can be applied to measures taken against the overflowing water, it has also been found necessary to clarify the predominant geotechnical factors using model tests and to use a more sophisticated analytical approach to establish a geotechnical stability review as soon as possible in order to prevent the levees and embankments from being eroded and washed out due to overflowing water.     

Polypropylene plasticization and photodegradation with a TiO2/poly(ethylene oxide)/methyl linoleate paint photocatalyst system

The photodegradation of polypropylene (PP) film was performed by a TiO₂/polyethylene oxide (PEO)/plant oil paint photocatalyst system. The photodegradation underwent two stages of development as follows: Initially PP reacted with linoleic acid radical originated from the photoreaction of plant oil component. Second, the linoleic acid graft‐polymer was decomposed, and then PP chain scission was caused. The process was studied using methyl linoleate (ML) in detail. The melting point of the 24 h‐photodegraded PP slightly decreased, and those of the 48 h‐ and 96 h‐ones drastically did as compared with the pristine PP. The crystallinity (χ_c) decreased at the 48 h photodegradation time and drastically increased at the 96 h one. The 24 h‐photodegraded PP showed the 77% Young's modulus, 88% tensile strength, and 103% strain at break values to those of the pristine PP. The ML graft‐polymerization and decomposition brought about the PP plasticizing and chemi‐crystallization, causing the PP degradation. © 2013 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2014 , 131, 39909.     

Nucleotide sequences of alcohol acetyltransferase genes from lager brewing yeast,Saccharomyces carlsbergensis

The nucleotide sequences of alcohol acetyltransferase genes isolated from lager brewing yeast, Saccharomyces carlsbergensis have been determined. S. carlsbergensis has one ATF1 gene and another homologous gene, the Lg-ATF1 gene. There was a high degree of homology between the amino acid sequences deduced for the ATF1 protein and the Lg-ATF1 protein (75·7%), but the N-terminal region has a relatively low degree of homology. Southern analysis and contour-clamped homogeneous electric field analysis of Saccharomyces strains suggest that the ATF1 gene is located on chromosome XV in S. cerevisiae and that the Lg-ATF1 gene might originate from the ‘non-S. cerevisiae’ genome of S. carlsbergensis, which is similar to that of S. bayanus and S. pastorianus. The nucleotide sequence data reported in this paper will appear in the DDBJ, EMBL and GenBank data banks with the Accession Numbers D63449 (ATF1) and D63450 (Lg-ATF1).     

Deoxidation of Ti Melt by Newly Developed Two-Step Plasma Arc Melting Process Using Hydrogen

Metallurgical and Materials Transactions B - A two-step plasma arc melting process, comprising a first step under Ar-30 pct H2 gas flow and the second step under Ar gas flow, has been...     

Temperature- and pH-responsive photosensitization activity of polymeric sensitizers based on poly-N-isopropylacrylamide

We previously reported that a copolymer consisting of N-isopropylacrylamide (NIPAM) and benzophenone (BP) units, behaves as a photosensitizer showing temperature-controlled oxygenation activity in water (J. Am. Chem. Soc.2006, 128, 8751). This polymer shows a heat-induced oxygenation enhancement at low temperature region (5-20 °C), while showing a heat-induced oxygenation suppression at high temperature region (20-60 °C), resulting in an off-on-off activity profile against the temperature window. This is driven by a heat-induced phase transition of the polymer from coil to micelle and then to globule states. In the present work, effects of adding an amine component (N-[3-(dimethylamino)propyl]acrylamide: DMAPAM) to the polymer on the sensitization activity were studied, where the relationship between the phase transition behavior and the activity was clarified by several spectroscopic analyses. The polymers, poly(NIPAM_x-co-BP_y-co-DMAPAM_z), show activity controlled by temperature and pH. The off-on-off activity profile shifts to higher temperature with a pH decrease. This is because protonation of the DMAPAM units leads to an increase in the polymer polarity and, hence, the polymer aggregates at higher temperature. In addition, increase in the DMAPAM content of the polymer leads to further shift of the activity profile. In contrast, at pH < 8, no activity enhancement is observed because complete protonation of the DMAPAM units suppresses polymer aggregation.     

Enhanced Light Storage of SrAl2O4 Glass‐Ceramics Controlled by Selective Europium Reduction

A luminescent Eu, Dy: SrAl₂O₄ glass‐ceramics with high transparency in the visible region was successfully synthesized using the frozen sorbet technique with the control of O₂ partial pressure () for the oxidation of Eu²⁺ ions. The glass‐ceramics include Eu²⁺, Eu³⁺, and Dy³⁺ ions, and thus exhibits three characteristic types of emission bands, 4f–5d at around 520 nm (Eu²⁺ ions), 4f–4f at 610 nm (Eu³⁺ ions), and 480 nm (Dy³⁺ ions). The Eu, Dy: SrAl₂O₄ glass‐ceramics provide remarkable long‐persistent luminescence under dark condition. The glass‐ceramics also exhibits color‐changing luminescence in the visible region based on their remarkable light storage properties. The luminescent Eu, Dy: SrAl₂O₄ glass‐ceramics using the frozen sorbet technique with control of are promising materials for application in novel photonic and light storage materials.     

Contact and friction between catheter and blood vessel

Therapeutic vascular catheterization techniques are sometimes hampered by the frictional forces between the blood vessel and the catheter, when contact points of the vessel are changing and deforming during the movement of the catheter. The goal of the present study was to characterize frictional interactions between the blood vessel wall and the catheter using experimental and numerical analysis. First, the frictional force was measured with an experimental apparatus that uses a ball and flattened porcine aorta to simulate frictional forces between the catheter and the vessel. Second, catheter motion was characterized by two-dimensional numerical calculations based on the experimental results. Experimental analysis demonstrated that slip occurred and that friction coefficient between the vessel and the catheter and the deformation of the specimen were small when the contact between the ball and the aorta occurred at a small angle. The compliance of the specimen in the normal direction obtained by the experiment was by far larger than that calculated according to the Hertzian contact theory. Numerical analysis shows that this difference of the parameter of the vessel, which must be determined accurately in surgical simulator, could affect the trajectory of the catheter.