Mobile robot localization: integrating measurements from atime-of-flight laser

This paper presents an algorithm for environment mapping by integrating scans from a time-of-flight laser and odometer readings from a mobile robot. The range weighted Hough transform (RWHT) is used as a robust method to extract lines from the range data. The resulting peaks in the RWHT are used as feature coordinates when these lines/walls are used as landmarks during navigation. The associations between observations over the time sequence are made in a systematic way using a decision directed classifier. Natural geometrical landmarks are described in the robot frame together with a covariance matrix representing the spatial uncertainty. The map is thus built up incrementally as the robot moves. If the map is given in advance, the robot can find its location and navigate relative to this a priori given map. Experimental results are presented for a mobile robot with a scanning range measuring laser having 2-cm resolution. The algorithm was also used for an autonomous plastering robot on a construction site. The sensor fusion algorithm makes few erroneous associations     

Siderophore Transport in Mycobacteria Analyzed by Mössbauer Spectroscopy: Possible Routes to Novel Antibiotics against These Organisms?

Iron uptake of the ⁵⁷Fe-siderophores ferricrocin, rhizoferrin and citrate in M. smegmatis was analyzed by in situ Mössbauer spectroscopy. Siderophore dependent uptake and metabolic utilization patterns of ⁵⁷Fe were found. Rhizoferrin is accumulated in the organism and, therefore, represents a suitable candidate for the synthesis of novel siderophore-antibiotics conjugates.     

Induced smectic C* phases

Induced ferroelectric S*_C phases are formed by non-chiral S_C host phases doped with chiral dipolar guest molecules. In those mixtures the spontaneous polarization P_s and the tilt angle Θ has been investigated as a function of the mole fraction x_G of the chiral dopant. In most cases the reduced polarization P₀ = P_S/ sin Θ has been found to depend linearly on x_G. The polarization power which is defined by δ_P=(∂P₀/∂x_G)ΔT is discussed in terms of the molecular structure of the chiral dopants. There are systems in which P₀(x_G) deviates positively from linearity. This behaviour can be understood by considering a local field correction to P₀. By assuming a local field of Lorentz type a theoretical relation for P₀(x_G) has been derived which explains the experimental results. The effect of a local field is considerable if the transverse dipole moment and the polarizability of the chiral dopant are large.     

Linewidth and alpha-factor of detuned-loaded DBR lasers

The authors report measurements of the α-factor and linewidth of DBR (distributed Bragg reflector) lasers fabricated with weak grating constants. Such devices exhibit detuned-loading effects, and the measured values depend strongly on the tuning current of the Bragg section. α-factor behavior is found to agree with earlier theoretical predictions. Linewidth behavior is shown to be dominated by carrier shot noise in the tuning section. A theoretical analysis of the DBR laser is outlined including detuned loading and carrier shot noise effect     

Electrical and optical properties of oxygen doped GaN grown by MOCVD using N2O

Oxygen doped GaN has been grown by metalorganic chemical vapor deposition using N₂O as oxygen dopant source. The layers were deposited on 2″ sapphire substrates from trimethylgallium and especially dried ammonia using nitrogen (N₂) as carrier gas. Prior to the growth of the films, an AIN nucleation layer with a thickness of about 300? was grown using trimethylaluminum. The films were deposited at 1085°C at a growth rate of 1.0 μm/h and showed a specular, mirrorlike surface. Not intentionally doped layers have high resistivity (>20 kW/square). The gas phase concentration of the N₂O was varied between 25 and 400 ppm with respect to the total gas volume. The doped layers were n-type with carrier concentrations in the range of 4×10¹⁶ cm⁻³ to 4×10¹⁸ cm⁻³ as measured by Hall effect. The observed carrier concentration increased with increasing N₂O concentration. Low temperature photoluminescence experiments performed on the doped layers revealed besides free A and B exciton emission an exciton bound to a shallow donor. With increasing N₂O concentration in the gas phase, the intensity of the donor bound exciton increased relative to that of the free excitons. These observations indicate that oxygen behaves as a shallow donor in GaN. This interpretation is supported by covalent radius and electronegativity arguments.     

Repetitively pulsed Nd-glass slab lasers

The possibility of obtaining high laser output energies at a 1.32-μm wavelength using thin LiNdLa phosphate glass slabs with a high Nd³⁺ concentration is discussed. In the experiments, 3×14×125-mm slabs were prepared from LiNdLa phosphate glass with a Nd-concentration of 1.2×10²¹ cm^-3. The facets of the slabs were not antireflection-coated. They were tested in a silver-coated quartz tube reflector of 25-mm diameter and pumped by 450-μs pulses from a flash lamp with a 120-mm arc length. In this construction the light, which passes through the slab, returns to it after reflection from the tube surface. Most of the radiation falls on the wider side of the slab at large angles of incidence, thus maximizing its path inside the slab. The quartz reflector was water cooled. The 150-mm laser resonator was formed by two flat mirrors. At 1.32-μm lasing wavelength an output mirror of r=95% reflectivity was used with less than 10% reflectivity at 1.32 μm     

On a new class of function systems of Faber-Schauder type

In this paper, we introduce a new class of function systems generalizing the classical Faber-Schauder system. Under the condition that the generating sequence is bounded, we show that systems of such a class constitute bases in the space of continuous functions and prove some properties of series expansions of functions in these systems.     

On the Analysis of the Bluetooth Time Division Duplex Mechanism

Efficient communication in Bluetooth networks requires design of intra and inter-piconet scheduling algorithms, and therefore, numerous algorithms have been proposed. However, due to complexities of the Bluetooth MAC, the performance of these algorithms has been analyzed mostly via simulation. We present analytic results regarding the exhaustive, gated, and limited (pure round robin) scheduling algorithms in piconets with bidirectional and unidirectional traffic. We show that a piconet operated according to the limited scheduling algorithm is equivalent to a 1-limited polling system and present exact results regarding symmetric piconets with bidirectional traffic. Then, the difficulties in analyzing the performance of the exhaustive and gated algorithms in a piconet with bidirectional traffic are demonstrated. In addition, we present exact analytic results for piconets with unidirectional traffic. We show that, surprisingly, in symmetrical piconets with only uplink traffic, the mean waiting time is the same for the exhaustive and limited algorithms. This observation results from the differences between piconets and traditional polling systems and can be extended for time-division-duplex systems with arbitrary packet lengths. Furthermore, we show that the mean waiting time in a piconet with only uplink traffic is significantly higher than its corresponding value in a piconet with only downlink traffic. Finally, we numerically compare the exact results to approximate results, presented in the past.     

Mg 2p shallow core-level and local atomic structure of i-ZnMgRE quasicrystals

We present a detailed analysis of the Mg 2p shallow core-levels measured on icosahedral single-grain ZnMgY, ZnMgHo, and ZnMgEr quasicrystals during a photoelectron microscopy study. The synchrotron radiation photoemission measurements were performed on in situ cleaved samples at a pressure of 10⁻¹⁰ mbar and at low temperature, typically 90-150 K. The Mg 2p photoemission lines are essentially broadened as compared to those of the Mg 2p spin-orbit doublet recorded on the Zn₂Mg crystalline Laves phase. The broadening is associated to the coordination shifts of the Mg 2p level due to the inequivalent magnesium sites in the quasicrystalline lattice. The coordination shifts are calculated on the basis of i-ZnMg(Ho, Y) atomic structure data, recently determined from the pair distribution function analysis. The coordination shifts obtained are up to 0.2 eV. The Mg 2p experimental spectral intensity is nicely reproduced by a superposition of coordination-shifted Mg 2p spin-orbit doublets.