Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots

Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %.     

The effects of qi-gong and acupuncture on human cerebral evoked potentials and electroencephalogram

Although a number of studies on traditional Chinese medicine, such as qi-gong (QG), acupuncture (AC), moxibustion and Chinese herbal drugs, have been reported in recent years, there are few reports on human cerebral evoked potentials (EPs), especially relating only to QG and AC. In the present study, we examined the changes in EPs and electroencephalogram (EEG) by QG, and by AC stimulation to the point called "Zusanli" on the left lower leg, with one healthy male adult. 1. With regard to the effect of QG, significant changes in EP-components originated from the cortex suggest both facilitating and inhibitory effects of QG on the cortex. However, no significant changes in EP-components originated from the subcortex and no significant changes in EEG power% suggest that QG does not affect the subcortex. 2. With regard to the effects of AC, significant changes in EP-components originated from the cortex suggest facilitating and inhibitory effects of AC stimulation on the cortex. Furthermore, it is suggested that AC stimulation has few effects on the somatosensory and the visual pathways up to the cortex, while it has complicated effects on the auditory pathway up to the cortex.     

Logic programming for combinatorial problems

Combinatorial problems appear in many areas in science, engineering, biomedicine, business, and operations research. This article presents a new intelligent computing approach for solving combinatorial problems, involving permutations and combinations, by incorporating logic programming. An overview of applied combinatorial problems in various domains is given. Such computationally hard and popular combinatorial problems as the traveling salesman problem are discussed to illustrate the usefulness of the logic programming approach. Detailed discussions of implementation of combinatorial problems with time complexity analyses are presented in Prolog, the standard language of logic programming. These programs can be easily integrated into other systems to implement logic programming in combinatorics.     

New dissimilarity measure for recognizing noisy subsequence trees

Tree is a data structure used to express various objects such as semistructured data and genes. When objects are represented as trees, computing tree similarity is essential for pattern recognition and retrieval. This paper considers the noisy subsequence tree recognition problem whose purpose is to recognize the original tree, given its noisy subsequence tree. Previous research on this problem relied on constrained tree edit distance to measure the dissimilarity. However, the number of relabelings must be predetermined to compute it. This paper proposes a new dissimilarity measure for this problem. Our dissimilarity measure is obtained by counting the node edit operations included in the unit‐cost tree edit distance that contribute to the matching of node labels. The number of relabelings need not be specified to compute our dissimilarity measure. Moreover, our measure achieves more accurate recognition performance and faster execution speed than the constrained tree edit distance. Our measure is also useful to solve the tree inclusion problem which is the problem of deciding whether a tree includes another tree and shows the extent of approximate tree inclusion when a tree incompletely includes another tree. © 2011 Wiley Periodicals, Inc.     

Analgesic Effect of Tranilast in an Animal Model of Neuropathic Pain and Its Role in the Regulation of Tetrahydrobiopterin Synthesis

Trigeminal neuralgia is unilateral, lancinating, episodic pain that can be provoked by routine activities. Anticonvulsants, such as carbamazepine, are the drugs of choice; however, these possess side-effects. Microvascular decompression is the most effective surgical technique with a higher success rate, although occasionally causes adverse effects. The potential treatment for this type of pain remains unmet. Increased tetrahydrobiopterin (BH4) levels have been reported in association with axonal injury. This study aimed to evaluate the effect of tranilast on relieving neuropathic pain in animal models and analyze the changes in BH4 synthesis. Neuropathic pain was induced via infraorbital nerve constriction. Tranilast, carbamazepine, or saline was injected intraperitoneally to assess the rat’s post-intervention pain response. In the von Frey’s test, the tranilast and carbamazepine groups showed significant changes in the head withdrawal threshold in the ipsilateral whisker pad area. The motor coordination test showed no changes in the tranilast group, whereas the carbamazepine group showed decreased performance, indicating impaired motor coordination. Trigeminal ganglion tissues were used for the PCR array analysis of genes that regulate the BH4 pathway. Downregulation of the sepiapterin reductase (Spr) and aldoketo reductase (Akr) genes after tranilast injection was observed compared to the pain model. These findings suggest that tranilast effectively treats neuropathic pain.     

Multiple uses of Essential Oil and By-Products from Various Parts of the Yakushima Native Cedar (Cryptomeria Japonica)

This article presents multiple potential uses of the Yakushima native cedar (Cryptomeria japonica), known in Japan as the Yaku-sugi tree. The Yaku-sugi was divided into four parts: leaves, branches with leaves, branches, and stems. We obtained the essential oil, hydrosol, distillation residue, and distillation wastewater from the trees. Essential oil and hydrosol were determined to be volatile organic compounds. All samples were screened for the following bioactivities: antioxidative, antibacterial, and anti-melanogenesis activities. Freeze-dried distillation residue was tested to assess whether it had a deodorizing effect. The main component of the leaf essential oil was found to be monoterpenes. In contrast, the stem essential oil mainly contained sesquiterpenes. In terms of bioactivities, the leaf essential oil showed antibacterial activity and the stem essential oil showed anti-melanogenesis activity. Distillation residue and wastewater showed many activities, including antioxidant, antibacterial, and anti-melanogenesis activities. Moreover, the residue had a deodorizing effect against ammonia.     

High-performance molecular-separation ceramic membranes derived from oxidative cross-linked polytitanocarbosilane

Polytitanocarbosilane (TiPCS)-derived ceramic membranes were fabricated using a pre-ceramic polymer. Special attention was focused on a process of thermal-oxidative curing that was used to induce cross-linking and the effect of this process on the ceramic yield, thermal stability, oxidation resistance, and microstructure of TiPCS. The cross-linked TiPCS powders showed a ceramic yield and thermal stability that were higher than that from the non-cross-linked version. In addition, the cross-linked TiPCS with uniform micropores showed higher levels of N₂ and CO₂ adsorption capacity, BET surface area, and micropore volume than the non-cross-linked versions, and the cross-linking process enhanced the stability of the pore structure at high temperature. The cross-linked TiPCS membranes showed high H₂ permeance (1.49 × 10⁻⁶ mol/(m² s Pa)) with sub-nanopores (H₂/SF₆ selectivity: 12 000, H₂/N₂: 10), and in addition higher oxidation resistance than their non-cross-linked counterparts. Furthermore, the influence of the concentration of the TiPCS precursor coating solution was optimized and the hydrothermal stability of the membranes at high temperatures was also evaluated. The optimized membrane demonstrated great performance for the pervaporation removal of methanol in binary azeotropic systems of either MeOH/butyl acetate or MeOH/toluene, and it also showed high hydrothermal stability with excellent dehumidification performance under high temperatures.     

The viscoelastic properties of soybean curd (tofu) as affected by soymilk concentration and type of coagulant

The viscoelastic properties of different types of tofu were investigated. Soymilk concentrations were 5, 6, 7, 8 and 9%. Coagulants used were 30 mm CaSO₄ or 30 mm glucono‐delta‐lactone (GDL). As the concentration of soymilk was increased viscosity and handling difficulties increased. A high concentration of soymilk in tofu gave a high break stress and produced hard tofu. The four‐element Burgers model fitted the creep behaviour and both viscous and elastic parameters could be acquired from model analysis, reflecting changes in elasticity and viscosity of tofu. The constant viscous parameter in the model increased with increasing soymilk concentration. The viscous parameters of viscoelastic materials like tofu gel, obtained from small deformation tests, seemed to correlate, to some extent, with the break stress obtained from large deformation tests. For hard tofu production increasing the soymilk concentration within a certain range and the partial replacement of calcium sulphate coagulant by GDL could be effective options.     

Estimation of forest area near deserts — production of Global Bio-Methanol from solar energy

This paper proposes a new synthesis method for methanol as a future alternative fuel, by the combination of carbon supplied from wood and hydrogen supplied from the electrolysis of water using a solar power generation system in the desert. In the developed countries, more than half of the potential forest area has already been converted into other land uses, while existing forests are well organized and available for wood production. In the developing countries, potential forest sites are expected to be available for wood production, even though they are presently grasslands or secondary forests, while natural tropical forests will not be allowed to be converted into artificial forests. The area available for plantations within 500 km distant from deserts was estimated to be 65 Mha in the world, except for the mountain areas. Biomass production from these sites will be converted annually into 980 Mt methanol with hydrogen from the deserts. This amount is equal to 34% of the world's fuel consumption by vehicles.