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Localization and 3D mapping are important tasks, for a humanoid robot to move in a complex human environment. In This work, we present a feature tracking based visual odometry system using stereo vision to achieve simultaneous 6D localization and 3D mapping. A camera position can be estimated from 3D environmental depth data and a previous 3D map, and used to incrementally update the 3D map. Visual odometry was employed to compute the view transformation relating a pair of views. Experimental results that estimate camera trajectory and build a 3D map are accurately obtained. The system is more accurate than typical dead-reckoning system such as gyro sensors.

Impulse flashover strength between foil conductors on printed wiring boards with and without backside electrode was measured in air at 20/spl deg/C and 40-45%RH. The smallest gap distance between the conductors is 0.05 mm. The thicknesses of the board were 0.3 mm and 0.8 mm. The experimental results show that the flashover for the board without backside electrode occurs when the electric field strength on the foil conductor edge reaches to about 100 kV/mm, which is independent of the gap distance. For the board with backing electrode, the flashover occurs at the independent value of the field strength only in the positive flashover at 0.8 mm of board thickness. In the other cases, the field strength at the flashover increases with the gap distance.

Aspect ratios increase as metal device design rules decrease and, in the current metal etching process, this higher aspect ratio has lead to increased electron shading (Hashimoto, 1993) which has been shown to cause electrical and physical damage (Tabara, 1996) to the device. In case of Al etching, it is very difficult to satisfy the device's requirements due to its own characterization. In poly etching, the electron shading effect can be reduced by replacing the photoresist mask with a SiO/sub 2/ hard mask (Lee et al., 1998). This same method has been applied to Al etching and has demonstrated similar results. In this paper, we show that using an SiO/sub 2/ hard mask instead of photoresist is effective in preventing electrical damage in Al etching.

The authors introduce an expert system for supporting the operation of a primary substation which plays an important role in an electric power system. The system provides the substation operators with the results of diagnosis and necessary guidance. The system is provided with an event-driven reasoning system which flexibly changes the flow of reasoning in response to the events or changes in the state of the electric power system. To realize this event-driven reasoning, the system is composed of multiple inference modules centered around a blackboard. To verify the operation of the expert system on a real-time basis, a prototype of the expert system was connected with a simulator which simulates a power system and its faults. >

Engineers have to refer to various technical information to perform their job. Technical information have been accumulated in an electronic form as documents which contain texts, pictures and movies in enterprises. However, it needs expert knowledge to make use of these technical information. In this paper, we describe an ontology-centric framework, called intelligent corporate base (ICoB) which organizes a technical information into documents, assists a comprehension of documents and helps share information. We explain a prototype system for planning on repair work of transformers. Furthermore, we describe development and use of ontology for technical information sharing.

The present study was designed to compare the clinical efficacy of low-dose step-up follicle stimulating hormone (FSH) administration with conventional FSH protocol (FSH was injected daily starting with a dose of 150 IU), both combined with intrauterine insemination (IUI), for the treatment of unexplained infertility. A total of 97 unexplained infertility couples was randomly assigned to one or other of the two treatment groups, either conventional FSH with IUI (48 patients) or low-dose step-up FSH with IUI (49 patients), and only the first treatment cycle was evaluated in each protocol. The difference in pregnancy rates per cycle was not statistically significant between the low-dose FSH group and the conventional group [seven of 49 (14.3%) and seven of 48 (14.6%) respectively]. A significant reduction in the incidence of ovarian hyperstimulation syndrome (OHSS) was observed in the low-dose group (8.3% versus 27.1%, P < 0.05). The incidence of moderate OHSS requiring hospitalization was reduced significantly in the low-dose group (low-dose 0% versus conventional 16.7%, P < 0.01). However, the low-dose protocol did not completely prevent multiple pregnancies. Our results suggest that the low-dose step-up FSH treatment appeared to be useful for the treatment of unexplained infertility because of the high pregnancy rates and the significant decrease in the incidence of OHSS.

The use of gonadotrophin-releasing hormone agonist (GnRHa) in combination with human menopausal gonadotrophin (HMG) for ovulation induction has been advocated for the treatment, particularly by in-vitro fertilization (IVF) of various types of infertility. The present study was designed to compare the clinical efficacy of HMG alone with a short protocol of GnRHa/HMG for treatment of unexplained infertility. A total of 91 couples with unexplained infertility were randomly assigned to one of two treatments; either HMG with intra-uterine insemination (IUI) (45 patients, 62 cycles) or GnRHa/HMG with IUI (46 patients, 69 cycles) treatments. Progesterone concentrations on the day of human chorionic gonadotrophin (HCG) administration were significantly higher in HMG (1.5 +/- 0.9 ng/ml) versus GnRHa/HMG (0.8 +/- 0.6 ng/ml; P < 0.05) cycles. Furthermore, GnRHa suppressed the occurrences of premature luteinization (GnRHa/HMG 5.8% and HMG 24.2% respectively). However, there were no significant differences in HMG dose requirements, plasma oestradiol concentrations or follicular development on the day of HCG administration between the two groups. Nor were any significant differences found in the pregnancy rates between the two treatment protocols (GnRHa/HMG 13.0% and HMG 11.3% respectively). Our results suggest no beneficial effect of GnRHa/HMG compared to HMG alone for the treatment of unexplained infertility, based on pregnancy rates.

Electron emission characteristics of needle-shaped titanium dioxide (TiO2) cathodes fabricated by a printing method and the change in current densities before and after ultraviolet (UV) light irradiation were investigated. A field enhanced surface treatment by applying a high electric field to the printed TiO2 cathodes was found to be effective for improvement in field emission, resulting in protrusion of TiO2 nanorods from the cathode surface and field emission at and above 2.5V∕μm with a current density of about 1mA∕cm2 at 8V∕μm. The emission current density of TiO2 cathodes can be increased by UV light irradiation with gradual increase and decrease from and to the initial level with and without UV light.

Four cases of hepatoma seen on follow-up angiograms of patients with liver cirrhosis are described. Hepatic angiography is the most useful method of detecting a hepatoma complicating liver cirrhosis, and it should be repeated following any minimal change in the serum alpha-fetoprotein level or when the radionuclide image suggests hepatoma, since a small hepatoma may be resectable.