A survey on coverage path planning for robotics

Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works

Market Opportunities for Paper Industry in Radio Frequency Identification

The paper industry has been experiencing remarkable structural changes since paper demand growth has ceased and some markets are declining. One reason behind the declined demand is the Internet, which has partially substituted the newspaper as a source of information. Paper products alone can no longer provide livelihood, and the paper industry has to find new business areas. In this research, we studied radio frequency identification (RFID), and the market opportunities it could provide for paper industry. The research combined a quantitative industry analysis and qualitative interviews. RFID is a growing industry in the beginning of its life cycle, in which value chains and technologies still evolve significantly. The industry is going to concentrate on the future, and in the long term RFID-identifiers will probably be printed on paper substrate or directly onto products. Paper industry has the chance to enter the RFID industry, but it has to obtain the required competences, for example through acquisitions. The business potential RFID offers to paper industry is inadequate, and while reviewing new strategic options, the paper industry must consider more options, for example the entire printed intelligence.

Radio Frequency Measurement Method for Detecting Bearing Currents in Induction Motors

Induction motors are widely used in industry, and they are generally considered very reliable. They often have a critical role in industrial processes, and their failure can lead to significant losses as a result of shutdown times. Typical failures of induction motors can be classified into stator, rotor, and bearing failures. One of the reasons for a bearing damage and eventually a bearing failure is bearing currents. Bearing currents in induction motors can be divided into two main categories; classical bearing currents and inverter-induced bearing currents. A bearing damage caused by bearing currents results, for instance, from electrical discharges that take place through the lubricant film between the raceways of the inner and the outer ring and the rolling elements of a bearing. This phenomenon can be considered similar to the one of electrical discharge machining, where material is removed by a series of rapidly recurring electrical arcing discharges between an electrode and a workpiece. This thesis concentrates on bearing currents with a special reference to bearing current detection in induction motors. A bearing current detection method based on radio frequency impulse reception and detection is studied. The thesis describes how a motor can work as a “spark gap” transmitter and discusses a discharge in a bearing as a source of radio frequency impulse. It is shown that a discharge, occurring due to bearing currents, can be detected at a distance of several meters from the motor. The issues of interference, detection, and location techniques are discussed. The applicability of the method is shown with a series of measurements with a specially constructed test motor and an unmodified frequency-converter-driven motor. The radio frequency method studied provides a nonintrusive method to detect harmful bearing currents in the drive system. If bearing current mitigation techniques are applied, their effectiveness can be immediately verified with the proposed method. The method also gives a tool to estimate the harmfulness of the bearing currents by making it possible to detect and locate individual discharges inside the bearings of electric motors.

X-ray and radio observations of RX J1826.2-1450/LS 5039

RX J1826.2-1450/LS 5039 has been recently proposed to be a radio emitting high mass X-ray binary. In this paper, we present an analysis of its X-ray timing and spectroscopic properties using different instruments on board the RXTE satellite. The timing analysis indicates the absence of pulsed or periodic emission on time scales of 0.02-2000 s and 2-200 d, respectively. The source spectrum is well represented by a power-law model, plus a Gaussian component describing a strong iron line at 6.6 keV. Significant emission is seen up to 30 keV, and no exponential cut-off at high energy is required. We also study the radio properties of the system according to the GBI-NASA Monitoring Program. RX J1826.2-1450/LS 5039 continues to display moderate radio variability with a clearly non-thermal spectral index. No strong radio outbursts have been detected after several months.

Sudenmorsian : radio-ooppera 1940 [!]

Äänitetty: 1968, Yleisradio.

Énfasis en los eslóganes publicitarios de radio y televisión

El objetivo de este trabajo es determinar las características básicas de la entonación de los eslóganes publicitarios tanto de radio como de televisión. Con este propósito se analizan los valores de la Fº de las vocales que aparecen en el fragmento que corresponde al eslogan. Para evitar en la medida de lo posible las diferencias que pueden venir determinadas por el soporte físico en el que aparecen los eslóganes publicitarios, se escogió el mismo producto, diferentes marcas de vehículos, y se seleccionaron aquellos enunciados óptimos para un posterior análisis de la señal. Para la segmentación de los eslóganes dentro de los enunciados publicitarios y el análisis de las curvas melódicas se utilizó el programa PRAAT. Para cada enunciado se han ido anotando los valores de la F0 de cada vocal, teniendo en cuenta las tres partes de cada unidad melódica: el anacrusis, el cuerpo y la inflexión final. Para minimizar las variaciones debidas al tono de voz característico de cada locutor, se ha procedido a una estandarización de los valores frecuenciales. Los resultados obtenidos muestran que todos los eslóganes analizados presentan énfasis, que a veces afecta a una parte del contorno (anacrusis, cuerpo e inflexión final), a veces a más de una y otras, incluso a todo el contorno. Aunque en radio y televisión se suelen presentar características prosódicas similares, existen características propias del medio de comunicación que se utiliza.

Review of Robust Cooperative Spectrum Sensing Techniques for Cognitive Radio Networks

Cognitive radio networks sense spectrum occupancy and manage themselvesto operate in unused bands without disturbing licensed users. The detection capability of aradio system can be enhanced if the sensing process is performed jointly by a group of nodesso that the effects of wireless fading and shadowing can be minimized. However, taking acollaborative approach poses new security threats to the system as nodes can report falsesensing data to reach a wrong decision. This paper makes a review of secure cooperativespectrum sensing in cognitive radio networks. The main objective of these protocols is toprovide an accurate resolution about the availability of some spectrum channels, ensuring thecontribution from incapable users as well as malicious ones is discarded. Issues, advantagesand disadvantages of such protocols are investigated and summarized.

Soil water evaporation under densities of coverage with vegetable residue

This study was conducted at the Agronomic Institute of Paraná (IAPAR) in Londrina, State of Paraná (PR), Brazil (latitude 23º18'S, longitude 51º09'W and average altitude of 585 m). The local climate, according to the classification of Köeppen, is Cfa type, i.e., humid subtropical climate, with rain in all seasons and can occur dry seasons during the winter. It was determined soil evaporation (E) under different coverage densities with residue from the wheat crop. The treatments were installed in weighting lysimeters of 2.66 m² and 1.3 m deep, which allows to determine E by the mass difference with measuring precision of 0.1mm at one hour intervals. Treatments consisted of 0; 2.5; 5 and 10 t ha-1 of wheat crop residues, placed evenly over each lysimeter. In the first cycle (September 22nd to October 20th, 2008), the reduction of E, as compared to a bare soil, was 4; 15 and 24%, while in the second cycle (December 1st to 30th, 2008), the reduction was of 15; 22 and 25%, respectively, for the treatments of 2.5; 5 and 10 t ha-1.

Coverage mobilization by different no-tillage in-line handling mechanisms

Vegetation cover on soil acts positively in maintaining temperature and soil moisture, yet, it has been imposing specific operational conditions on seeders. The objective of this study was to evaluate performance of different mechanisms regarding straw mobilization, employed in a no-till seeder. The experimental area was conducted on clayey soil under no-tillage with a large quantity of sorghum residue. The experiment was established in a randomized block design, as the treatments consisted of a combination of two mechanisms at front of the furrow opener composed of cutting disc and row cleaners, and three mechanisms behind the seed furrower, covering discs prototype model M1, Spider and commercial model, with the combination of cutting disc and Spider model not being evaluated. We assessed the coverage permanence on soil index, vegetation mass on surface and inside the line. The treatment containing the row cleaner mechanism efficiently removed straw from the surface of sowing line as well as the return one acted on straw replacement. It was identified that use of the cutting disc at the front of seeder contributed to the increase of straw installation inside the line, three times more than in the row cleaner system when operating individually. Covering mechanism with row cleaners reduced straw inside the line and kept line covering similar to treatment of cutting disc operating alone.

Coverage mobilization in the sowing line and its influence on temperature and water content and on maize emergence

Straw on sowing line modifies seed germination environment regarding temperature and water content. Given these considerations, the aim of this study was to evaluate different mechanisms for coverage mobilization on the sowing line and their effect on germination environment of maize seeds, mainly in relation to the dynamics of straw in the seedbed, water content and soil temperature. Treatments consisted on the combination of two mechanisms at front of furrow opener, composed of cutting disc and row cleaners, with three mechanisms behind the seed furrower for returning the soil, consisting of three covering mechanisms, commercial and prototype models. It was found that straw presence on the surface of sowing line contributed to germination of maize seeds, maintenance of temperature and soil water content. The cutting disc treatment, associated with prototype, introduced percentages of water content near the ones in bottom layer, and this soil water content was 29.7% with 93.75% of straw coverage and deeper seeding depth, granting better conditions for seed germination. However, the straw coverage removal on soil by the row cleaners and its low sowing depth caused water loss in the lines resulting in great reduction of the emergence speed index in maize seedlings.

Vatikaanin radio 80 vuotta

Vatikaanin radion 80-vuotisnäyttely Vatikaanin museossa.

Tunable lumped-element bandpass filters for Cognitive Radio application

In this thesis the design of bandpass filters tunable at 400 MHz – 800 MHz was under research. Microwave filters are vital components which provide frequency selectivity in wide variety of electronic systems operating at high frequencies. Due to the occurrence of multi-frequency bands communication and diverse applications of wireless devices, requirement of tunable filters exists. The one of potential implementation of frequency-agile filters is frontends and spectrum sensors in Cognitive Radio (CR). The principle of CR is to detect and operate at a particular available spectrum without interfering with the primary user’s signals. This new method allows improving the efficiency of utilizing allocated spectrum such as TV band (400 MHz – 800 MHz). The focus of this work is development of sufficiently compact, low cost tunable filters with quite narrow bandwidth using currently available lumped-element components and PCB board technology. Filter design, different topologies and methods of tuning of bandpass filters are considered in this work. As a result, three types of topologies of bandpass filter were simulated and realised. They use digitally tunable capacitors (DTCs) for adjusting central frequency at TV "white space" spectrum. Measurements revealed that schematics presented in this work have proper output response and filters are successfully tuned by DTCs.

KAVA:n radio- ja tv-arkisto : ohjelmavirtaa ja talletuksia tutkimuskäyttöön

Teemanumero 1/2012: Arkisto.

VIRVE-tukiaseman peittoalueen mallintaminen

Tekniikan kehityksen myötä reaalimaailman ilmiöitä voidaan mallintaa yhä tarkemmin. Tässä työssä tutkitaan VIRVE-radioverkon tukiaseman peittoalueen mallintamista. Työn tavoitteena oli mallintaa VIRVE-tukiaseman peittoalue mahdollisimman tarkasti. Tavoitteena oli myös löytää VIRVE-tukiasemaan peittoalueen kannalta nykyistä paremmat antenniratkaisut. Tutkimuksen teoreettisessa osuudessa selvitettiin tukiaseman peittoalueen mallintamiseen liittyviä tekijöitä, kuten radioaaltojen ominaisuuksia ja etenemismalleja sekä antennien teoriaa. Eri etenemismalleilla laskettuja tukiasemien peittoennusteita verrattiin empiirisesti toteutettuihin tukiasemien peittoalueiden mittaustuloksiin. Työn tuloksena löydettiin radioaaltojen etenemismalli, jolla mallinnettavien tukiasemien peittoalue-ennusteet vastasivat hyvin empiirisesti mitattuja tuloksia. Lisäksi löydettiin nykyistä paremmat antenniratkaisut VIRVE-tukiasemiin.