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A simple local navigation system inspired by hippocampal function and its autonomous mobile robot implementation

Miki T., Hayashi H., Goto Y., Watanabe M., Inoue T.

Journal of Automation Mobile Robotics and Intelligent Systems

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2010

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Vol. 4, No. 2

31-38

EN

We propose a practical simple local navigation system inspired by the sequence learning mechanism of the entorhino-hippocampal system. The proposed system memorizes a route as sequences of landmarks in the same way humans do. The proposed local navigation system includes a local route memory unit, landmark extraction unit, and learning-type matching unit. In the local route memory unit, the concept of the sequence learning mechanism of the entorhino-hippocampal system is implemented using a fully connected network, while a sequence of landmarks is embedded in the connection matrix as the local route memory. This system has two operation modes: learning and recall modes. In learning mode, a sequence of landmarks, i.e. a local route, is represented by enhanced loop connections in the connection matrix. In recall mode, the system traces the stored route comparing current landmarks with the stored landmarks using the landmark extraction and learning-type matching units. The system uses a prospective sequence to match the current landmark sequence with the recalled one. Using a prospective sequence in the route comparison allows confirmation of the correct route and deals with any slight change in the current sequence of landmarks. A certainty index is also introduced for judging the validity of the route selection. We describe a basic update mechanism for the stored landmark sequence in the case of a small change in the local route memory. The validity of the proposed system is confirmed using an autonomous mobile robot with the proposed navigation system.

2

Fluorescence Studies on Benzene and Benzene Aqueous Solution in Mesoporous Silica

Okada T., Yamanaka K., Goto Y., Inagaki S.

Polish Journal of Chemistry

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2008

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Vol. 82, nr 4

729-739

EN

We have measured fluorescence spectra as well as fluorescence decay curves of highly ordered mesoporous silica, SBA-15 and FSM-16 including benzene or benzene aqueous solution as a function of temperature. An efficient energy transfer from benzene excited singlet state to a defect in the wall of mesoporous silica emitted at about 300 nm was found. On the basis of the decay analysis, it was suggested strongly that many of the benzene molecules exist in the proximity to the surface of porewallowing to the strong molecular interactions between benzene and silica wall. It is noted that the defects in the silica wall seem to play an important role in understanding of the luminescence characteristics of chromophores embedded in mesopores.

3

Development project of a hydrogen fuelled internal combustion engine for heavy duty truck - outline and preliminary test

Sato Y., Yanai T., Goto Y.

Journal of KONES

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2007

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Vol. 14, No. 3

543-549

EN

The hydrogen fuelled internal combustion engine represent a promising solution to the issues of global warming, fossil fuel break point and environmental protection. The development of a hydrogen fuelled internal combustion engine for heavy-duty truck has been being carried out at Hydrogen Energy Research Centre (HERC) of Musashi Institute of Technology and National Traffic Safety and Environment Laboratory (NTSEL) since FY 2005 in the Next-Generation, Low-Emission Vehicle Development - Practical Implementation Project (EFV21) of Ministry of Land, Infrastructure and Transport (MLIT). As the most important key technology, the development of the common-rail type electronic high pressure hydrogen injectors is performed. Now the development of a hydrogen fuelled engine with 6 cylinders, the total displacement of 7.7 litters, direct injection and spark ignition is about to start. In this paper, the development concept, the characteristics of the injectors, some performance in the engine output power and the effects of nox reduction catalyst ever obtained experimentally by using a single cylinder engine are demonstrated.

4

A unified structural analysis method to predict long-term mechanical performance of steel structures considering corrosion and repair

Goto Y., Kawanishi N.

International Journal of Applied Mechanics and Engineering

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2004

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Vol. 9, no 1

91-104

EN

A unified structural analysis method is developed in order to take into account the histories of corrosion loss of material and repair on their long-term mechanical performance of steel structures in addition to the histories of the damages caused by excessive external loads, e.g. big seismic loads. This analysis method is characterized by the point that the volume change in material due to corrosion or repair is adopted as a new controlling parameter in addition to the conventional parameters such as load and displacement. By introducing this new parameter, the histories of corrosion and repair process under dead loads is precisely simulated. That is, the change in residual stress and deformation caused by corrosion under dead loads can be accurately evaluated at an arbitrary point of their lifetime. As a result, the effect of this change in residual stress and deformation can be reflected in assessing the ultimate behavior of steel structures, thus improving the accuracy of predicting the long-term mechanical performance of steel structures.