Position estimation of mobile robots based on coded infrared signal transmission

A system based on coded infrared signal transmission for the estimation of position of mobile robots in a structured environment is reported. Particular emphasis is placed on the polar coordinate arrangement in which signals are sent from the transmitters situated at the corners of the boundaries of operation. A multisensor system, strategically situated onboard the robot, has been found to improve the accuracy of the position estimation substantially. The information detected by the sensors is suitably processed to calculate the central position of the robot geometrically. The algorithms for the position calculations and the operational strategy are presented. This system forms the basis for the coordination and cooperation philosophy of multiple mobile robots sharing the same environment and performing cooperative or competitive tasks

Detection of electrode asymmetry in electrochemical noise analysis

The electrochemical noise resistance is a calculation that can be used for estimating the rate of corrosion of a pair of metal samples purely from the electrochemical noise that they generate. Ideally these metal samples (electrodes) would be identical, but it is not uncommon, for various reasons, for the electrodes to be significantly different. In that case, the theory linking the noise resistance to the more conventional electrochemical parameter, the polarisation resistance, breaks down. This link is important because it is only via the polarisation resistance that noise resistance can be used for corrosion rate estimation. It is therefore important to be able to detect an asymmetric electrode pair. This paper describes how the cross correlation between voltage and current noise can be used to detect an asymmetr

Operando STM study of the interaction of imidazolium-based ionic liquid with graphite

Understanding interactions at the interfaces of carbon with ionic liquids (ILs) is crucially beneficial for the diagnostics and performance improvement of electrochemical devices containing carbon as active materials or conductive additives in electrodes and ILs as solvents or additives in electrolytes. The interfacial interactions of three typical imidazolium-based ILs, 1-alkyl-3-methylimidazolium bis(trifluoromethanesulfonyl)imide (AMImTFSI) ILs having ethyl (C2), butyl (C4) and octyl (C8) chains in their cations, with highly oriented pyrolytic graphite (HOPG) were studied in-situ by electrochemical scanning tunneling microscopy (EC-STM). The etching of HOPG surface and the exfoliation of graphite/graphene flakes as well as cation intercalation were observed at the HOPG/C2MImTFSI interface. The etching also takes place in C4MImTFSI at −1.5 V vs Pt but only at step edges with a much slower rate, whereas C8MIm+ cations adsorbs strongly on the HOPG surface under similar conditions with no observable etching or intercalation. The EC-STM observations can be explained by the increase in van der Waals interaction between the cations and the graphite surface with increasing length of alkyl chains

Interstory drift based scaling of earthquake ground motions

A novel amplitude scaling procedure is proposed in this study where the ground motion scaling factors are defined as the ratio of interstory drift distributions under target spectrum versus under the associated ground motion spectrum. The advantage of employing interstory drift ratio in ground motion scaling, compared to employing spectral intensity directly, is that it provides a strong theoretical link between the target spectrum intensity and the fundamental dynamic characteristics of the structure. Hence, scaling is conditioned on structural response, which is in turn a function of seismic intensity. The interstory drift-based scaling procedure (IDS) is presented herein for planar frames for brevity. Accuracy and efficiency of the IDS procedure is assessed under a set of near fault strong motions from large magnitude events. The results revealed that the proposed procedure is accurate since the resulting bias in estimating linear elastic interstory drifts is negligibly small. Further, it is noticeably more effective as compared to the conventional procedures suggested in recent seismic codes, yet it is simpler

Combined bearing and shear-out capacity of structural steel bolted connections

This study is concerned with the strength limit state of serial bolted connections in structural steel plates. It points out that the ultimate load capacity of a serial bolted connection failing in combined bearing and shear-out cannot be computed as the simple sum of the respective ultimate bearing and ultimate shear-out capacities, which is implicitly permitted in design specifications worldwide. Based on the laboratory test results of 10 hot-rolled steel plate specimens composed of three different grades with nominal thicknesses ranging from 5 to 8 mm, the paper first establishes the ultimate bearing coefficient of a 20-mm bolted connection in a structural steel plate to be 3.5. Coupled with the shear-out equation previously derived, a design equation where the shear-out capacity of the downstream bolt varying quadratically with the end distance is then proposed to determine the combined bearing and shear-out capacity. The proposed equation is demonstrated through verification against independent laboratory test results involving 5-mm plates of three different grades to be significantly more accurate than the simple sum. Explanation for the unexplained results obtained by another researcher using his own equation is provided in this paper

Mass distributions for nuclear disintegration from fission to evaporation

By a proper choice of the excitation energy per nucleon we analyze the mass distributions of the nuclear fragmentation at various excitation energies. Starting from low energies (between 0.1 and 1 MeV/nucleon) up to higher energies about 12 MeV/n, we classified the mass yield characteristics for heavy nuclei (A>200) on the basis of Statistical Multifragmentation Model. The evaluation of fragment distribution with the excitation energy show that the present results exhibit the same trend as the experimental ones.Comment: 5 pages, 3 figure

Critical Success factors for Six Sigma Implementation in Gaziantep Carpet companies

Aim of this study was to determine the critical factors that will support the success of the six sigma implementation and to investigate the different obstacles that make difficult to implement Six Sigma (SS) in the Gaziantep Carpet companies. Survey data collected from 108 companies that chosen randomly around Gaziantep and analyzed by SPSS. The research concluded that the highest requirements of SS available were Top management support and commitment that according to previous literature of the most important requirements or factors. According to the results of research, the teamwork and employee training & education on Six Sigma (SS) are the most critical factors for SS success. Also, there are important factors about implementing SS such as effectiveness of communication on SS Program, support and involvement of Top management, changing the culture effectively for SS and Project Management Skills. Research results have shown that; Lack of project management, lack of resources and lack of involvement in management are the most common problems in the SS implementation. A large amount of companies does not show resistance to the implementation of SS. Key Words: Six Sigma, Critical Success Factors, continuous improvemen

Effects of Hypovolemia on Cerebral Blood Velocity and Autoregulation During Upright Tilt: Implications for Post-Spaceflight Orthostasis

Orthostatic stability depends on maintenance of adequate cerebral blood flow. Orthostatic instability experienced by returning astronauts is associated with microgravity-induced hypovolemia, suggesting that hypovolemia may disrupt the ability of the cerebral vasculature to regulate blood flow. PURPOSE: To test the hypothesis that hypovolemia reduces cerebral blood velocity and impairs cerebral autoregulation (CA) during upright tilt. METHODS: Nine males (age 23 ± .5 yrs; height 172 ± 2 cm; weight 87 ± 3 kg; mean ± SE) were tilted head-up to 70° on two occasions separated by at least 5 days under euhydration (EUH) and dehydration (DEH) conditions. Dehydration was induced with 40 mg Furosemide and 8 h water restriction. Plasma volumes (PV) and blood volumes (BV) were estimated from venous hemoglobin and hematocrit. ECG, beat-by-beat finger arterial pressures, and cerebral blood velocity (CBV) were measured during a five min supine baseline, and during the first (T1) and last (T2) five min of upright tilt. Dynamic CA was assessed in the frequency domain with cross-spectral analysis of mean arterial pressure (MAP) and mean CBV within the frequency range of 0.07-0.2 Hz. RESULTS: Furosemide reduced PV by 10 ± 2 % and BV by 6 ± 2 % (P = .005 and P = .07). MAP decreased during tilt (P \u3c .007), but the reduction was similar between hydration conditions. CBV during DEH was lower during the entire 10-min tilt by about 7 cm/s (P \u3c .004) compared with EUH. Low frequency coherence was higher during DEH T1 compared with EUH T1 (.67 ± .04 vs .51 ± .04; P = .02), but coherence decreased as tilt continued, and was similar to EUH during T2 (P = 0.7). CONCLUSIONS: Increased coherence during the first 5 min of tilt suggests that reductions of CBV with hypovolemia might be explained by a reduced autoregulatory capacity. However, maintenance of lower CBV despite reduced coherence during the second 5 min of tilt suggests that disruptions of autoregulatory capacity with hypovolemia are transient. Our results provide evidence that hypovolemic astronauts may be at greatest risk for orthostatic intolerance immediately upon assumption of upright posture

Genome reconstructions indicate the partitioning of ecological functions inside a phytoplankton bloom in the Amundsen Sea, Antarctica

© The Author(s), 2015. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Frontiers in Microbiology 6 (2015): 1090, doi:10.3389/fmicb.2015.01090.Antarctica polynyas support intense phytoplankton blooms, impacting their environment by a substantial depletion of inorganic carbon and nutrients. These blooms are dominated by the colony-forming haptophyte Phaeocystis antarctica and they are accompanied by a distinct bacterial population. Yet, the ecological role these bacteria may play in P. antarctica blooms awaits elucidation of their functional gene pool and of the geochemical activities they support. Here, we report on a metagenome (~160 million reads) analysis of the microbial community associated with a P. antarctica bloom event in the Amundsen Sea polynya (West Antarctica). Genomes of the most abundant Bacteroidetes and Proteobacteria populations have been reconstructed and a network analysis indicates a strong functional partitioning of these bacterial taxa. Three of them (SAR92, and members of the Oceanospirillaceae and Cryomorphaceae) are found in close association with P. antarctica colonies. Distinct features of their carbohydrate, nitrogen, sulfur and iron metabolisms may serve to support mutualistic relationships with P. antarctica. The SAR92 genome indicates a specialization in the degradation of fatty acids and dimethylsulfoniopropionate (compounds released by P. antarctica) into dimethyl sulfide, an aerosol precursor. The Oceanospirillaceae genome carries genes that may enhance algal physiology (cobalamin synthesis). Finally, the Cryomorphaceae genome is enriched in genes that function in cell or colony invasion. A novel pico-eukaryote, Micromonas related genome (19.6 Mb, ~94% completion) was also recovered. It contains the gene for an anti-freeze protein, which is lacking in Micromonas at lower latitudes. These draft genomes are representative for abundant microbial taxa across the Southern Ocean surface.This work was performed with financial support from NSF Antarctic Sciences awards ANT-1142095 to AP

Sleep stage and obstructive apneaic epoch classification using single-lead ECG

<p>Abstract</p> <p>Background</p> <p>Polysomnography (PSG) is used to define physiological sleep and different physiological sleep stages, to assess sleep quality and diagnose many types of sleep disorders such as obstructive sleep apnea. However, PSG requires not only the connection of various sensors and electrodes to the subject but also spending the night in a bed that is different from the subject's own bed. This study is designed to investigate the feasibility of automatic classification of sleep stages and obstructive apneaic epochs using only the features derived from a single-lead electrocardiography (ECG) signal.</p> <p>Methods</p> <p>For this purpose, PSG recordings (ECG included) were obtained during the night's sleep (mean duration 7 hours) of 17 subjects (5 men) with ages between 26 and 67. Based on these recordings, sleep experts performed sleep scoring for each subject. This study consisted of the following steps: (1) Visual inspection of ECG data corresponding to each 30-second epoch, and selection of epochs with relatively clean signals, (2) beat-to-beat interval (RR interval) computation using an R-peak detection algorithm, (3) feature extraction from RR interval values, and (4) classification of sleep stages (or obstructive apneaic periods) using one-versus-rest approach. The features used in the study were the median value, the difference between the 75 and 25 percentile values, and mean absolute deviations of the RR intervals computed for each epoch. The k-nearest-neighbor (kNN), quadratic discriminant analysis (QDA), and support vector machines (SVM) methods were used as the classification tools. In the testing procedure 10-fold cross-validation was employed.</p> <p>Results</p> <p>QDA and SVM performed similarly well and significantly better than kNN for both sleep stage and apneaic epoch classification studies. The classification accuracy rates were between 80 and 90% for the stages other than non-rapid-eye-movement stage 2. The accuracies were 60 or 70% for that specific stage. In five obstructive sleep apnea (OSA) patients, the accurate apneaic epoch detection rates were over 89% for QDA and SVM.</p> <p>Conclusion</p> <p>This study, in general, showed that RR-interval based classification, which requires only single-lead ECG, is feasible for sleep stage and apneaic epoch determination and can pave the road for a simple automatic classification system suitable for home-use.</p