Laser-Based Pedestrian Tracking in Outdoor Environments by Multiple Mobile Robots

This paper presents an outdoors laser-based pedestrian tracking system using a group of mobile robots located near each other. Each robot detects pedestrians from its own laser scan image using an occupancy-grid-based method, and the robot tracks the detected pedestrians via Kalman filtering and global-nearest-neighbor (GNN)-based data association. The tracking data is broadcast to multiple robots through intercommunication and is combined using the covariance intersection (CI) method. For pedestrian tracking, each robot identifies its own posture using real-time-kinematic GPS (RTK-GPS) and laser scan matching. Using our cooperative tracking method, all the robots share the tracking data with each other; hence, individual robots can always recognize pedestrians that are invisible to any other robot. The simulation and experimental results show that cooperating tracking provides the tracking performance better than conventional individual tracking does. Our tracking system functions in a decentralized manner without any central server, and therefore, this provides a degree of scalability and robustness that cannot be achieved by conventional centralized architectures

Two melts phase separation in the liquid Sb-Sb2S3 system: critical sound wave propagation and metal-non-metal transition

The sound velocity and magnetic susceptibility as a function of temperature and composition were measured to investigate critical sound wave propagation and metal-non-metal transition in the liquid Sb-Sb2S3 system. The sound velocity in a homogeneous alloy around 60 at.% of Sb decreases very rapidly and the rate of decrease increases as the two melts phase is approached, which is the typical temperature dependence of the sound velocity in a liquid with a miscibility gap. Below the critical point, the sound velocity was measured along the phase boundary. Using those data, the phase boundary was precisely determined. The critical point is located at 901±2°C and 41.5 ±0.5 at.% S, and the critical exponent of the phase boundary is about 1/3. On the other hand, the magnetic susceptibility as a function of temperature and composition indicates that the electronic state is metallic in liquid Sb and non-metallic in molten Sb2Se3, and crossover form the metallic to non-metallic state occurs around the critical composition

Two melts phase separation in the liquid Sb-Sb

The sound velocity and magnetic susceptibility as a function of temperature and composition were measured to investigate critical sound wave propagation and metal-non-metal transition in the liquid Sb-Sb2S3 system. The sound velocity in a homogeneous alloy around 60 at.% of Sb decreases very rapidly and the rate of decrease increases as the two melts phase is approached, which is the typical temperature dependence of the sound velocity in a liquid with a miscibility gap. Below the critical point, the sound velocity was measured along the phase boundary. Using those data, the phase boundary was precisely determined. The critical point is located at 901±2°C and 41.5 ±0.5 at.% S, and the critical exponent of the phase boundary is about 1/3. On the other hand, the magnetic susceptibility as a function of temperature and composition indicates that the electronic state is metallic in liquid Sb and non-metallic in molten Sb2Se3, and crossover form the metallic to non-metallic state occurs around the critical composition