Development of Navigation Control Algorithm for AGV Using D* Search Algorithm

In this paper, we present a navigation control algorithm for Automatic Guided Vehicles (AGV) that move in industrial environments including static and moving obstacles using D* algorithm. This algorithm has ability to get paths planning in unknown, partially known and changing environments efficiently. To apply the D* search algorithm, the grid map represent the known environment is generated. By using the laser scanner LMS-151 and laser navigation sensor NAV-200, the grid map is updated according to the changing of environment and obstacles. When the AGV finds some new map information such as new unknown obstacles, it adds the information to its map and re-plans a new shortest path from its current coordinates to the given goal coordinates. It repeats the process until it reaches the goal coordinates. This algorithm is verified through simulation and experiment. The simulation and experimental results show that the algorithm can be used to move the AGV successfully to reach the goal position while it avoids unknown moving and static obstacles. [Keywords— navigation control algorithm; Automatic Guided Vehicles (AGV); D* search algorithm

Two Circular-Rotational Eigenmodes in Vortex Gyrotropic Motions in Soft Magnetic Nanodots

We found, by micromagnetic numerical and analytical calculations, that the clockwise (CW) and counterclockwise (CCW) circular-rotational motions of a magnetic vortex core in a soft magnetic circular nanodot are the elementary eigenmodes existing in the gyrotropic motion with respect to the corresponding CW and CCW circular-rotational-field eigenbasis. Any steady-state vortex gyrotropic motions driven by a linearly polarized oscillating in-plane magnetic field in the linear regime can be perfectly understood according to the superposition of the two circular eigenmodes, which show asymmetric resonance characteristics reflecting the vortex polarization. The relative magnitudes in the amplitude and phase between the CCW and CW eigenmodes determine the elongation and orientation of the orbital trajectories of the vortex core motions, respectively, which trajectories vary with the polarization and chirality of the given vortex as well as the field frequency across the resonance frequency.Comment: 30 pages, 7 figure

Isobar of an ideal Bose gas within the grand canonical ensemble

We investigate the isobar of an ideal Bose gas confined in a cubic box within the grand canonical ensemble, for a large yet finite number of particles, N. After solving the equation of the spinodal curve, we derive precise formulae for the supercooling and the superheating temperatures which reveal an N^{-1/3} or N^{-1/4} power correction to the known Bose-Einstein condensation temperature in the thermodynamic limit. Numerical computations confirm the accuracy of our analytical approximation, and further show that the isobar zigzags on the temperature-volume plane if N is greater than or equal to 14393. In particular, for the Avogadro's number of particles, the volume expands discretely about 10^5 times. Our results quantitatively agree with a previous study on the canonical ensemble within 0.1% error.Comment: 6 pages, 2 figures; Reference added. Accepted for publication in Phys. Rev.

Regional Characteristics of NO2 Column Densities from Pandora Observations during the MAPS-Seoul Campaign

Vertical column density (VCD) of nitrogen dioxide (NO2) was measured using Pandora spectrometers at six sites on the Korean Peninsula during the Megacity Air Pollution Studies-Seoul (MAPS-Seoul) campaign from May to June 2015. To estimate the tropospheric NO2 VCD, the stratospheric NO2 VCD from the Ozone Monitoring Instrument (OMI) was subtracted from the total NO2 VCD from Pandora. European Centre for Medium-Range Weather Forecasts (ECMWF) reanalysis wind data was used to analyze variations in tropospheric NO2 VCD caused by wind patterns at each site. The Yonsei/SEO site was found to have the largest tropospheric NO2 VCD (1.49 DU on average) from a statistical analysis of hourly tropospheric NO2 VCD measurements. At rural sites, remarkably low NO2 VCDs were observed. However, a wind field analysis showed that trans-boundary transport and emissions from domestic sources lead to an increase in tropospheric NO2 VCD at NIER/BYI and KMA/AMY, respectively. At urban sites, high NO2 VCD values were observed under conditions of low wind speed, which were influenced by local urban emissions. Tropospheric NO2 VCD at HUFS/Yongin increases under conditions of significant transport from urban area of Seoul according to a correlation analysis that considers the transport time lag. Significant diurnal variations were found at urban sites during the MAPS-Seoul campaign, but not at rural sites, indicating that it is associated with diurnal patterns of NO2 emissions from dense traffic

Physical properties of metal-doped zinc oxide films for surface acoustic wave application

Metal-doped ZnO [MZO] thin films show changes of the following properties by a dopant. First, group III element (Al, In, Ga)-doped ZnO thin films have a high conductivity having an n-type semiconductor characteristic. Second, group I element (Li, Na, K)-doped ZnO thin films have high resistivity due to a dopant that accepts a carrier. The metal-doped ZnO (M = Li, Ag) films were prepared by radio frequency magnetron sputtering on glass substrates with the MZO targets. We investigated on the optical and electrical properties of the as-sputtered MZO films as dependences on the doping contents in the targets. All the MZO films had shown a preferred orientation in the [002] direction. As the quantity and the variety of metal dopants were changed, the crystallinity and the transmittance, as well as optical band gap were changed. The electrical resistivity was also changed with changing metal doping amounts and kinds of dopants. An epitaxial Li-doped ZnO film has a high resistivity and very smooth surface; it will have the most optimum conditions which can be used for the piezoelectric devices

Thermodynamic instability and first-order phase transition in an ideal Bose gas

We conduct a rigorous investigation into the thermodynamic instability of ideal Bose gas confined in a cubic box, without assuming thermodynamic limit nor continuous approximation. Based on the exact expression of canonical partition function, we perform numerical computations up to the number of particles one million. We report that if the number of particles is equal to or greater than a certain critical value, which turns out to be 7616, the ideal Bose gas subject to Dirichlet boundary condition reveals a thermodynamic instability. Accordingly we demonstrate - for the first time - that, a system consisting of finite number of particles can exhibit a discontinuous phase transition featuring a genuine mathematical singularity, provided we keep not volume but pressure constant. The specific number, 7616 can be regarded as a characteristic number of 'cube' that is the geometric shape of the box.Comment: 1+21 pages; 3 figures (2 color and 1 B/W); Final version to appear in Physical Review A. Title changed from the previous one, "7616: Critical number of ideal Bose gas confined in a cubic box

Existence of a critical point in the phase diagram of the ideal relativistic neutral Bose gas

We explore the phase transitions of the ideal relativistic neutral Bose gas confined in a cubic box, without assuming the thermodynamic limit nor continuous approximation. While the corresponding non-relativistic canonical partition function is essentially a one-variable function depending on a particular combination of temperature and volume, the relativistic canonical partition function is genuinely a two-variable function of them. Based on an exact expression of the canonical partition function, we performed numerical computations for up to hundred thousand particles. We report that if the number of particles is equal to or greater than a critical value, which amounts to 7616, the ideal relativistic neutral Bose gas features a spinodal curve with a critical point. This enables us to depict the phase diagram of the ideal Bose gas. The consequent phase transition is first-order below the critical pressure or second-order at the critical pressure. The exponents corresponding to the singularities are 1/2 and 2/3 respectively. We also verify the recently observed `Widom line' in the supercritical region.Comment: 1+25 pages, 6 B/W figures: Comment on the Widom line added. Minor improvement. Version to appear in `New Journal of Physics

Mean Field Bias Correction to Radar QPE as Input to Flood Modeling for Malaysian River Basins

The occurrence of unprecedented flood events has increased in Malaysia recently. To mitigate the impact of the disaster, the National Flood Forecasting and Warning System (NaFFWS) has endeavored to improve the system so as to produce more accurate and reliable early warning to the public. The paper describes the use of radar composites from the radar network in Peninsular Malaysia to produce quantitative precipitation estimates (QPE) as input to the NaFFWS flood model. The processing of the raw radar data and the conversion of rain rate are described. The comparison between radar QPE and gauge rainfall shows that radar QPE underestimates the gauge rainfall, and the results are better at the western parts of Peninsular Malaysia compared to the eastern parts of Peninsular Malaysia. The comparison between Marshall Palmer (MP) and Rosenfeld (RF) conversion equations shows that there is not much difference in performance between the two equations. Both underestimate the rainfall, although RF estimates higher radar QPE for high rainfall intensity. The underestimated radar QPE is improved by calibration process via the Mean Field Bias (MFB) correction technique. The study introduced zoning into smaller regions for the MFB factors derivation.  Results indicated that the radar QPE is much improved after the calibration process. Simulation of flood event in December 2021 for the case study of Langat River basin indicates the improvement of correlation coefficient from 0.67 to 0.99 after the calibration process via MFB for smaller zones

Mean Field Bias Correction to Radar QPE as Input to Flood Modeling for Malaysian River Basins

The occurrence of unprecedented flood events has increased in Malaysia recently. To mitigate the impact of the disaster, the National Flood Forecasting and Warning System (NaFFWS) has endeavored to improve the system so as to produce more accurate and reliable early warning to the public. The paper describes the use of radar composites from the radar network in Peninsular Malaysia to produce quantitative precipitation estimates (QPE) as input to the NaFFWS flood model. The processing of the raw radar data and the conversion of rain rate are described. The comparison between radar QPE and gauge rainfall shows that radar QPE underestimates the gauge rainfall, and the results are better at the western parts of Peninsular Malaysia compared to the eastern parts of Peninsular Malaysia. The comparison between Marshall Palmer (MP) and Rosenfeld (RF) conversion equations shows that there is not much difference in performance between the two equations. Both underestimate the rainfall, although RF estimates higher radar QPE for high rainfall intensity. The underestimated radar QPE is improved by calibration process via the Mean Field Bias (MFB) correction technique. The study introduced zoning into smaller regions for the MFB factors derivation.  Results indicated that the radar QPE is much improved after the calibration process. Simulation of flood event in December 2021 for the case study of Langat River basin indicates the improvement of correlation coefficient from 0.67 to 0.99 after the calibration process via MFB for smaller zones

Robot-assisted posterior retroperitoneoscopic adrenalectomy: single port access

Laparoscopic adrenalectomy has become a gold standard in adrenal gland surgery. More recently, some minimally invasive trials have been conducted on single access surgery on the adrenal gland. In this study, we introduce our first experiences of robot-assisted posterior retroperitoneoscopic adrenalectomy using single-port access and the da Vinci system