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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Autonomous robots 7 (1999), S. 187-200 
    ISSN: 1573-7527
    Keywords: map building ; mobile robot ; environment modeling ; laser range finder ; stochastic parameters
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper presents a stochastic map building method for mobile robot using a 2-D laser range finder. Unlike other methods that are based on a set of geometric primitives, the presented method builds a map with a set of obstacle regions. In building a map of the environment, the presented algorithm represents the obstacles with a number of stochastic obstacle regions, each of which is characterized by its own stochastic parameters such as mean and covariance. Whereas the geometric primitives based map sometimes does not fit well to sensor data, the presented method reliably represents various types of obstacles including those of irregular walls and sets of tiny objects. Their shapes and features are easily extracted from the stochastic parameters of their obstacle regions, and are used to develop reliable navigation and obstacle avoidance algorithms. The algorithm updates the world map in real time by detecting the changes of each obstacle region. Consequently, it is adequate for modeling the quasi-static environment, which includes occasional changes in positions of the obstacles rather than constant dynamic moves of the obstacles. The presented map building method has successfully been implemented and tested on the ARES-II mobile robot system equipped with a LADAR 2D-laser range finder.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Hoboken, NJ : Wiley-Blackwell
    AIChE Journal 21 (1975), S. 1158-1164 
    ISSN: 0001-1541
    Keywords: Chemistry ; Chemical Engineering
    Source: Wiley InterScience Backfile Collection 1832-2000
    Topics: Chemistry and Pharmacology , Process Engineering, Biotechnology, Nutrition Technology
    Notes: A new method is presented for the numerical solution of nonlinear minimum-time control problems where at least one of the state variables is monotone. A coordinate transformation converts the problem with fixed end point and free end time to one of free end point and fixed end time. The transformed problem can be solved efficiently by the use of the gradient method with penalty functions to force the system to achieve target values of state variables. Application of the method is illustrated by the synthesis of a minimum-time temperature path for the thermally initiated bulk polymerization of styrene.
    Additional Material: 6 Ill.
    Type of Medium: Electronic Resource
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  • 3
    Electronic Resource
    Electronic Resource
    Stamford, Conn. [u.a.] : Wiley-Blackwell
    Polymer Engineering and Science 34 (1994), S. 141-152 
    ISSN: 0032-3888
    Keywords: Chemistry ; Chemical Engineering
    Source: Wiley InterScience Backfile Collection 1832-2000
    Topics: Chemistry and Pharmacology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Physics
    Notes: The ultra-high strength/modulus, extended chain polyethylene fiber (Spectra® fiber) composite has shown great potential as a lightweight armor material with its extraordinary capability of absorbing the kinetic energy of projectiles. But the relatively low melting point of this fiber (∼ 145°C) has caused concerns regarding the effect of temperature rise during the impact/penetration process on the performance as armor material. In this article, an analysis of temperature rise in projectile and the fiber composite during the impact/penetration process is described. Combining the simulation of impact deformation by finite element analysis and the simulation of temperature rise by a finite difference approximation of the related dynamic equations, the temperature rise caused by the projectile/composite interaction was estimated. Results show that there is a significant temperature rise at the projectile/composite interface due to the friction but that the short length of time involved in the process and the low thermal conductivity of Spectra fiber composite keep the temperature rise in a very small region (in the order of 0.001 cm) around the interface during the impact/penetration process. Consequently, the volume that is affected by the temperature rise is very small, in the order of total 0.001 cm3 around the projectile, and this is too small to generate any detectable effect on the armor performance. After the projectile is stopped, however, substantial heating of fiber composite can occur under specific conditions as the result of heat flow from the hot projectile embedded in the composite. This heating of fibers, however, is a postmortem effect and hence inconsequential to the ballistic performance of the composite armor.
    Additional Material: 11 Ill.
    Type of Medium: Electronic Resource
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