One of the most common problems of autonomous mobile robots is object avoidance in a dynamically changing environment. The effectiveness of algorithms responsible for trajectory planing is largely dependent on the correct sensory input. It is necessary to equip a mobile robot with the proper sensors to allow a correct functioning in unknown terrain. With the high degree of complexity standard point distance sensors are insufficient for high speed movement. The recent development of compact laser range finders allowed the minimization of robot dimensions. Hokuyo UTM-30LX is an example of such a sensor. For a precise understanding of the measurements, a characterization of a sensor is needed. This paper is summarizes the parameters of Hokuyo UTM-30LX laser range finder, in particular: drift effect, influence of target distance, surface brightness, color and material, and the sensor orientation. The parameters measured prove that the Hokuyo UTM-30LX can be used in a mobile robot system for complex object detection and avoidance.

关键词：机器人；激光测距仪；自主移动机器人；对象回避

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We provide satellite-based evidence of the spectral dependence of absorption in biomass burning aerosols over South America using near-UV measurements made by the Ozone Monitoring Instrument (OMI) during 2005-2007. In the current near-UV OMI aerosol algorithm (OMAERUV), it is implicitly assumed that the only absorbing component in carbonaceous aerosols is black carbon whose imaginary component of the refractive index is wavelength independent. With this assumption, OMI-derived aerosol optical depth (AOD) is found to be significantly over-estimated compared to that of AERONET at several sites during intense biomass burning events (August-September). Other well-known sources of error affecting the near-UV method of aerosol retrieval do not explain the large observed AOD discrepancies between the satellite and the ground-based observations. A number of studies have revealed strong spectral dependence in carbonaceous aerosol absorption in the near-UV region suggesting the presence of organic carbon in biomass burning generated aerosols. A sensitivity analysis examining the importance of accounting for the presence of wavelength-dependent aerosol absorption in carbonaceous particles in satellite-based remote sensing was carried out in this work. The results convincingly show that the inclusion of spectrally-dependent aerosol absorption in the radiative transfer calculations leads to a more accurate characterization of the atmospheric load of carbonaceous aerosols.

关键词：生物质能；气溶胶；吸收光谱；卫星观测；生物质燃烧

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The endocytic trafficking pathway is the site of action for receptor- targeted drug-delivery strategies, including Antibody-Drug- Conjugates (ADCs) and nanoparticle drug-delivery systems. Effective drug-release requires trafficking of the endocytosed receptor-bound cargo into the lysosomes for efficient disintegration. However, cancer-cell specific alterations that lead to receptor recycling, instead of lysosomal-degradation, can dampen the efficiency of drug delivery. Such changes include receptor overexpression, increased association with the molecular chaperone, chaperones such as HSP90 or alterations in regulators of recycling versus lysosomal pathways (Rab GTPases, c-Src, deubiquitinases). While substantial effort has gone into designing receptor-targeted drug delivery systems, the consequence of factors leading to altered recycling versus lysosomal trafficking on the efficiency of drug delivery have not been considered. The receptor tyrosine kinases ErbB2 and EGFR, which are often overexpressed in breast cancer, are examples of cell surface receptors used for evaluating nanoparticle-based targeted drug delivery systems. However, several studies have established that the ErbB2 receptor is either endocytosis-impaired or undergoes rapid recycling, suggesting that the strategies to enhance receptor internalization and lysosomal routing could further enhance the efficacy of cytotoxic drug being delivered. While, the molecular chaperone HSP90 is critical for maintaining oncogenic ErbB2-activity, it also is thought to be responsible for the altered trafficking of the receptor. The objective of this synergistic DOD-IDEA grant proposal was to evaluate our innovative hypothesis that HSP90 inhibitors can facilitate ErbB2- targeted delivery of chemotherapeutic payloads.

关键词：治疗技术；纳米粒子；乳腺癌

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This paper describes the application of the optimization algorithm based on particle swarms known by its acronym as PSO, used to adjust the parameters of membership functions of a fuzzy logic controller (FLC) to find the optimal intelligent control for a wheeled autonomous mobile robot. Results of several simulations show that the PSO is able to optimize the type-1 and type 2 FLCs for this specific application.

关键词：机器人；控制器；PSO；自主移动

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Cofiring of biomass and coal at electrical generation facilities is gaining in importance as a means of reducing fossil fuel consumption, and more than 40 facilities in the United States have conducted test burns. Given the large size of many coal plants, cofiring at even low rates has the potential to utilize relatively large volumes of biomass. This could have important forest management implications if harvest residues or salvage timber are supplied to coal plants. Other feedstocks suitable for cofiring include wood products manufacturing residues, woody municipal wastes, agricultural residues, short-rotation intensive culture forests, or hazard fuel removals. Cofiring at low rates can often be done with minimal changes to plant handling and processing equipment, requiring little capital investment. Cofiring at higher rates can involve repowering entire burners to burn biomass in place of coal, or in some cases, repowering entire powerplants. Our research evaluates the current status of biomass cofiring in North America, identifying current trends and success stories, types of biomass used, coal plant sizes, and primary cofiring regions. We also identify potential barriers to cofiring. Results are presented for more than a dozen plants that are currently cofiring or have recently announced plans to cofire.

关键词：生物质能；化石燃料；燃烧；工厂排放

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Turning organic waste into resources like bio-fuels and other valuable products, in addition to recovering stable carbon and nutrients, promotes economic vitality and aides in the protection of the environment. This creates robust markets and sustainable jobs in multiple sectors of the economy and facilitates closed-loop material management where a by-product from one process becomes feedstock for another with no or minimal waste generated. The objective of this review is to describe existing technologies to create clean, non-polluting pyrolysis units for the production of energy, fuels and valuable by-products. The Department of Ecology and Washington State University provide this publication to help the public understand and take advantage of existing technologies to handle and pre-treat biomass resources that will be converted via fast or slow pyrolysis into liquid transportation fuels, bio-chemicals and biochar. Another goal of this project is to identify what new technologies need to be developed or what hurdles need to be overcome to convert organic waste resources available in Washington State into valuable products. This review does not represent an endorsement of the processes described and does not intend to exclude any technology or company offering similar services which, due to time and space limitations, was not cited in this report.

关键词：生物质能；生物炭；燃料；热解；农作物生物质；副产品；碳储存；温室气体；生物燃料

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The opening decade of the twenty-first century has been marked by substantial increases in the cost of fossil-fuel based energy. This increase in energy costs has been driven by a variety of factors including the diminishing availability of these resources, political uncertainty in some of the major fossil-fuel producing regions of the world and a rapidly increasing demand from growing economies such as China and India (Clancy et al. 2008). Ireland, given its limited availability of domestic fossil-fuel, is particularly vulnerable to the uncertainty regarding future energy supply and prices.

关键词：生物质能；经济；生产；发电

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The goals of the research programs in the Center for Autonomous Solar Power are to conduct research and development in thin film solar cells on flexible substrates for low cost fabrication on roll-to-roll manufacturing. The materials chosen are earth abundant and non-toxic. The expected outcome is very low cost solar cells that will be competitive in performance and well below current market prices in dollars/wall. Flexible solar cells are useful in building integrated photovoltaic systems and in military applications in austere environments. A related research program focuses on ultracapacitors using new materials. With sufficiently high energy densities, ultracapacitors can replace batteries for energy storage and offer other advantages in long lifetimes and in tolerating operating temperature ranges.

关键词：储能；电容器；高密度；高能量系统；集成光伏效应；太阳能储能电池

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This report describes the activities of the Energy Storage group over FY2012. The National Renewable Energy Laboratory (NREL) supports energy storage R&D under the Vehicle Technologies Program at the U.S. Department of Energy (DOE). The DOE Energy Storage Programs charter is to develop battery technologies that will enable large market penetration of electric drive vehicles. These vehicles could have a significant impact on the nation's goal of reducing dependence on imported oil and gaseous pollutant emissions. DOE has established several program activities to address and overcome the barriers limiting the penetration of electric drive battery technologies: cost, performance, safety, and life. These programs are: (1) Advanced Battery Development (through the United States Advanced Battery Consortium (USABC)); (2) Battery Testing, Analysis and Design; (3) Applied Battery Research (ABR), and (4) Focused Fundamental Research, or Batteries for Advanced Transportation Technologies (BATT).

关键词：储能系统；设计；电气电池；电动车

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Characterization of biomass burning from space has been the subject of an extensive body of literature published over the last few decades. Given the importance of this topic, we review how satellite observations contribute toward improving the representation of biomass burning quantitatively in climate and air-quality modeling and assessment. Satellite observations related to biomass burning may be classified into five broad categories: (i) active fire location and energy release, (ii) burned areas and burn severity, (iii) smoke plume physical disposition, (iv) aerosol distribution and particle properties, and (v) trace gas concentrations. Each of these categories involves multiple parameters used in characterizing specific aspects of the biomass-burning phenomenon. 

关键词：生物质能；气溶胶；气候模型；生物质燃烧；污染物；卫星观测；大气成分；微量元素

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