IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink

This paper proposes an integrated development framework that enables co-simulation and operation of a Robot Operating System (ROS)-based self-driving system using MATLAB/Simulink (IDF-Autoware). The management of self-driving systems is becoming more complex as the development of self-driving technology progresses. One approach to the development of self-driving systems is the use of ROS; however, the system used in the automotive industry is typically designed using MATLAB/Simulink, which can simulate and evaluate the models used for self-driving. These models are incompatible with ROS-based systems. To allow the two to be used in tandem, it is necessary to rewrite the C++ code and incorporate them into the ROS-based system, which makes development inefficient. Therefore, the proposed framework allows models created using MATLAB/Simulink to be used in a ROS-based self-driving system, thereby improving development efficiency. Furthermore, our evaluations of the proposed framework demonstrated its practical potential

Di-higgs enhancement by neutral scalar as probe of new colored sector

We study a class of models in which the Higgs pair production is enhanced at hadron colliders by an extra neutral scalar. The scalar particle is produced by the gluon fusion via a loop of new colored particles, and decays into di-Higgs through its mixing with the Standard Model Higgs. Such a colored particle can be the top/bottom partner, such as in the dilaton model, or a colored scalar which can be triplet, sextet, octet, etc., called leptoquark, diquark, coloron, etc., respectively. We examine the experimental constraints from the latest Large Hadron Collider (LHC) data, and discuss the future prospects of the LHC and the Future Circular Collider up to 100TeV. We also point out that the 2.4$\sigma$ excess in the $b\bar b\gamma\gamma$ final state reported by the ATLAS experiment can be interpreted as the resonance of the neutral scalar at 300GeV.Comment: 27 pages, 10 figures (v1); references added, 28 pages (v2); minor modifications, published version (v3

Application of a Burkholderia cepacia lipase-immobilized silica monolith to batch and continuous biodiesel production with a stoichiometric mixture of methanol and crude Jatropha oil

<p>Abstract</p> <p>Background</p> <p>The enzymatic production of biodiesel through alcoholysis of triglycerides has become more attractive because it shows potential in overcoming the drawbacks of chemical processes. In this study, we investigate the production of biodiesel from crude, non-edible Jatropha oil and methanol to characterize <it>Burkholderia cepacia </it>lipase immobilized in an <it>n</it>-butyl-substituted hydrophobic silica monolith. We also evaluate the performance of a lipase-immobilized silica monolith bioreactor in the continuous production of biodiesel.</p> <p>Results</p> <p>The Jatropha oil used contained 18% free fatty acids, which is problematic in a base-catalyzed process. In the lipase-catalyzed reaction, the presence of free fatty acids made the reaction mixture homogeneous and allowed bioconversion to proceed to 90% biodiesel yield after a 12 hour reaction time. The optimal molar ratio of methanol to oil was 3.3 to 3.5 parts methanol to one part oil, with water content of 0.6% (w/w). Further experiments revealed that <it>B. cepacia </it>lipase immobilized in hydrophobic silicates was sufficiently tolerant to methanol, and glycerol adsorbed on the support disturbed the reaction to some extent in the present reaction system. The continuous production of biodiesel was performed at steady state using a lipase-immobilized silica monolith bioreactor loaded with 1.67 g of lipase. The yield of 95% was reached at a flow rate of 0.6 mL/h, although the performance of the continuous bioreactor was somewhat below that predicted from the batch reactor. The bioreactor was operated successfully for almost 50 days with 80% retention of the initial yield.</p> <p>Conclusions</p> <p>The presence of free fatty acids originally contained in Jatropha oil improved the reaction efficiency of the biodiesel production. A combination of <it>B. cepacia </it>lipase and its immobilization support, <it>n</it>-butyl-substituted silica monolith, was effective in the production of biodiesel. This procedure is easily applicable to the design of a continuous flow-through bioreactor system.</p

Effect of Hot-Air Room Treatment on Peripheral Leucocytes in Guinea Pigs 1. Effect of Single 30 Min. Hot-Air Room Treatment on Leucocytes Count

Effect of hot-air room treatment on peripheral leucocytes was examined in guinea pigs by observing the numerical changes after the treatment. The results were as follows. 1. Number of totalleucocytes was decreased immediately after hot-air room treatment with a room temperature of 43℃, humidity of 75-87% and rapidly increased from 30 to 120 min after the treatment. Numerical changes of neutrophils showed a same tendency as that of total leucocytes. 2. Lymphocyte count was not changed or slightly decreased after the hot-air room treatment. 3. Number of basophils was decreased 30 min after the treatment and then increased, differing from that of eosinophils which showed a decreased tendency 120 min after the treatment. 4. Numbers of monocytes and Kurloff cells were slightly increased after the treatment

Durability investigation of burner rig of Yb2SiO5 environmental barrier coatings

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Pulmonary lesions in rheumatoid arthritis-survey of chest radiographs in patients admitted with rheumatoid arthritis during last ten years

Chest radiographs were examined in 147 patients with rheumatoid arthritis who were admitted at the Department ofInternal Medicine, Okayama University, Misasa Medical Branch during last ten years. The results were as follows. 1) Diffuse micronodular shadow on chest radiographs was shown in eighty nine out of 147 cases (60.5%), although the incidence of micronodular shadow was 47.3% in the other types except type 1, demonstrating the shadow limitted in the part of lower lung fields. The incidence in type 2 and 3, revealing micronodular shadow distributed over lung fields, was 22.4%. 2) The incidence of micronodular shadow was more frequently found in females than in males. The results obtained here was different from those previously reported. 3) The cases with type 2 and 3 tended to demonstrate a long duration of the desease, acceleration of ESR, positive rheumatoid factors, and elevation of serum γ-globulin and IgG levels, compared with the other types and cases without radiological findings. 4) Pulmonary lesions induced by treatment of gold or penicillamine were not recognized, except one suspected case with gold therapy

Graphical Evaluation Method for Void Distribution in Direct Energy Deposition

AbstractDirect energy deposition (DED) process attracts attention from industries because of its applicability to production of complex shape parts. However, technical challenges still remain in DED, such as void evolution inside of the produced object. This paper provides a new graphical evaluation method of void distribution. Binarizing a cross-sectional image of the cladded object and applying a 2-dimensional Gaussian window, the void distribution rate is separately evaluated in each local area on the cross section. To clarify the relation between void evolution and deposition condition in Inconel 625, the void distribution is experimentally evaluated through the various tests