Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing

This paper describes an improved running control algorithm based on the visual servoing in consideration of the turning back of a running path to avoid an obstacle on the path by changing the running path. This paper also describes an experimental autonomous running vehicle to demonstrate the algorithm. As a vision sensor, the vehicle equips with a video-rate stereo rangefinder which processes color images from stereo CCD cameras and is developed in the authors' laboratory. From the several basic autonomous running experiments, it is concluded that the experimental vehicle runs smoothly any planned path composed of several teaching routes by transferring routes. It is also concluded that the vehicle can turn back on a path including turning back of route transference</p

Nuclear Magnetic Relaxation Times of Mn⁵⁵ in Dilute MnFe Alloys

Nuclear magnetic relaxation times (T₁ and T₂) were measured in dilute MnFe alloys. The relaxation processes are effected by the Mn-impurity and related by the functions with impurity concentrations.Article信州大学理学部紀要 10(2): 81-84(1976)departmental bulletin pape

Discriminatory Analysis of Discharged Gas and Heavy Oils in the Sea

Gas and heavy oils discharged into the sea were discriminated using gas chromatography-mass spectrometry (GC-MS), gas chromatography (GC-FID) and infrared spectroscopy (FT-IR). The GC-MS focused on the determination of the biomarkers, such as hopanes, norhopanes and triaromatic steranes, which were detected from heavy oil, but were hardly observed from gas oil. The discriminative analysis using GC-FID of the methylnaphthalenes showed a discrimination with a ratio of ((2-methylnaphthalene)+(1-methylnaphthalene))/tridecane. The ratios for the gas oils were less than 1.0, but those for the heavy oils were 1.0 or higher. These oils were distinguished in comparison to the FT-IR data from three peaks at 811, 742 and 723 cm-1 which were assigned to the CH bending modes for 2 and 4 hydrogens and a methylene framework, respectively. The order for the heavy oil was 723 < 742 < 811 cm-1, while that for the gas oil was 742 < 811< 723 cm-1. Moreover, the absorption intensity at 1603 cm-1 for the heavy oil was higher than that for the gas oil. An absorption at 475 cm-1 (out-of-plane ring vibration) was also observed for the heavy oil, but not for the gas oil. In combination of the GC results with the FT-IR, 2-methylnaphthalene and 1-methylnaphthalene were contained in greater amounts in the heavy oil than in the gas oil, which were derived from the light cycle oil. Thus, the heavy oils discharged from ships and drifted on the seashore were discriminated from the original heavy oils and the gas oils.Key words: Heavy oil, Gas oil, Identification, Methylnaphthalene, Hopan

One-loop renormalization factors and mixing coeffecients of bilinear quark operators for improved gluon and quark actions

We calculate one-loop renormalization factors and mixing coefficients of bilinear quark operators for a class of gluon actions with six-link loops and O(a)-improved quark action. The calculation is carried out by evaluating on-shell Green's functions of quarks and gluons in the standard perturbation theory. We find a general trend that finite parts of one-loop coefficients are reduced approximately by a factor two for the renormalization-group improved gluon actions compared with the case of the standard plaquette gluon action.Comment: LATTICE98(improvement), 3 page