General Motors (United States)

The authors describe a general-purpose, representation-independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves and surfaces. The method handles the full six degrees of freedom and is based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point. The ICP algorithm always converges monotonically to the nearest local minimum of a mean-square distance metric, and the rate of convergence is rapid during the first few iterations. Therefore, given an adequate set of initial rotations and translations for a particular class of objects with a certain level of 'shape complexity', one can globally minimize the mean-square distance metric over all six degrees of freedom by testing each initial registration. One important application of this method is to register sensed data from unfixtured rigid objects with an ideal geometric model, prior to shape inspection. Experimental results show the capabilities of the registration algorithm on point sets, curves, and surfaces.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

The eighth edition of the classic Gradshteyn and Ryzhik is an updated completely revised edition of what is acknowledged universally by mathematical and applied science users as the key reference work concerning the integrals and special functions. The book is valued by users of previous editions of the work both for its comprehensive coverage of integrals and special functions, and also for its accuracy and valuable updates. Since the first edition, published in 1965, the mathematical content of this book has significantly increased due to the addition of new material, though the size of the book has remained almost unchanged. The new 8th edition contains entirely new results and amendments to the auxiliary conditions that accompany integrals and wherever possible most entries contain valuable references to their source.

Wireless indoor positioning systems have become very popular in recent years. These systems have been successfully used in many applications such as asset tracking and inventory management. This paper provides an overview of the existing wireless indoor positioning solutions and attempts to classify different techniques and systems. Three typical location estimation schemes of triangulation, scene analysis, and proximity are analyzed. We also discuss location fingerprinting in detail since it is used in most current system or solutions. We then examine a set of properties by which location systems are evaluated, and apply this evaluation method to survey a number of existing systems. Comprehensive performance comparisons including accuracy, precision, complexity, scalability, robustness, and cost are presented.

Boron doses of 1×1012–5×1015/cm2 were implanted at 60 keV into 1-μm-thick polysilicon films. After annealing at 1100 °C for 30 min, Hall and resistivity measurements were made over a temperature range −50–250 °C. It was found that as a function of doping concentration, the Hall mobility showed a minimum at about 2×1018/cm3 doping. The electrical activation energy was found to be about half the energy gap value of single-crystalline silicon for lightly doped samples and decreased to less than 0.025 eV at a doping of 1×1019/cm3. The carrier concentration was very small at doping levels below 5×1017/cm3 and increased rapidly as the doping concentration was increased. At 1×1019/cm3 doping, the carrier concentration was about 90% of the doping concentration. A grain-boundary model including the trapping states was proposed. Carrier concentration and mobility as a function of doping concentration and the mobility and resistivity as a function of temperature were calculated from the model. The theoretical and experimental results were compared. It was found that the trapping state density at the grain bound was 3.34×1012/cm2 located at 0.37 eV above the valence band edge.

This paper describes a general purpose, representation independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves and surfaces. The method handles the full six-degrees of freedom and is based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point. The ICP algorithm always converges monotonically to the nearest local minimum of a mean-square distance metric, and experience shows that the rate of convergence is rapid during the first few iterations. Therefore, given an adequate set of initial rotations and translations for a particular class of objects with a certain level of 'shape complexity', one can globally minimize the mean-square distance metric over all six degrees of freedom by testing each initial registration. For examples, a given 'model' shape and a sensed 'data' shape that represents a major portion of the model shape can be registered in minutes by testing one initial translation and a relatively small set of rotations to allow for the given level of model complexity. One important application of this method is to register sensed data from unfixtured rigid objects with an ideal geometric model prior to shape inspection. The described method is also useful for deciding fundamental issues such as the congruence (shape equivalence) of different geometric representations as well as for estimating the motion between point sets where the correspondences are not known. Experimental results show the capabilities of the registration algorithm on point sets, curves, and surfaces.

Catalysts based on single atoms of scarce precious metals can lead to more efficient use through enhanced reactivity and selectivity. However, single atoms on catalyst supports can be mobile and aggregate into nanoparticles when heated at elevated temperatures. High temperatures are detrimental to catalyst performance unless these mobile atoms can be trapped. We used ceria powders having similar surface areas but different exposed surface facets. When mixed with a platinum/aluminum oxide catalyst and aged in air at 800°C, the platinum transferred to the ceria and was trapped. Polyhedral ceria and nanorods were more effective than ceria cubes at anchoring the platinum. Performing synthesis at high temperatures ensures that only the most stable binding sites are occupied, yielding a sinter-resistant, atomically dispersed catalyst.

The design of variable-structure control (VSC) systems for a class of multivariable, nonlinear, time-varying systems is presented. Using the Utkin-Drazenovic method of equivalent control and generalized Lyapunov stability concepts, the VSC design is described in a unified manner. Complications that arise due to multiple inputs are examined, and several approaches useful in overcoming them are developed. Recent developments are investigated, as is the kinship of VSC and the deterministic approach to the control of uncertain systems. All points are illustrated by numerical examples. The recent literature on VSC applications is surveyed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

The prototypical metal-organic framework Zn4O(BDC)3 (MOF-5, BDC2- = 1,4-benzenedicarboxylate) decomposes gradually in humid air to form a nonporous solid. Recognizing this, improved procedures for its synthesis and handling were developed, leading to significant increases in N2 and H2 gas adsorption capacities. Nitrogen adsorption isotherms measured at 77 K reveal an enhanced maximum N2 uptake of 44.5 mmol/g and a BET surface area of 3800 m2/g, compared to the 35.8 mmol/g and 3100 m2/g obtained for a sample prepared using previous methods. High-pressure H2 adsorption isotherms show improvements from 5.0 to 7.1 excess wt % at 77 K and 40 bar. The total H2 uptake was further observed to climb to 11.5 wt % at 170 bar, corresponding to a volumetric storage density of 77 g/L. Thus, the air-free compound exhibits the highest gravimetric and volumetric H2 uptake capacities yet demonstrated for a cryogenic hydrogen storage material. Moreover, no loss of capacity was apparent during 24 complete adsorption−desorption cycles, while kinetics measurements showed a loading time of 2 min with application of just 45 bar of pressure.

There are growing concerns over the environmental, climate, and health impacts caused by using non‐renewable fossil fuels. The utilization of green energy, including solar and wind power, is believed to be one of the most promising alternatives to support more sustainable economic growth. In this regard, lithium‐ion batteries (LIBs) can play a critically important role. To further increase the energy and power densities of LIBs, silicon anodes have been intensively explored due to their high capacity, low operation potential, environmental friendliness, and high abundance. The main challenges for the practical implementation of silicon anodes, however, are the huge volume variation during lithiation and delithiation processes and the unstable solid‐electrolyte interphase (SEI) films. Recently, significant breakthroughs have been achieved utilizing advanced nanotechnologies in terms of increasing cycle life and enhancing charging rate performance due partially to the excellent mechanical properties of nanomaterials, high surface area, and fast lithium and electron transportation. Here, the most recent advance in the applications of 0D (nanoparticles), 1D (nanowires and nanotubes), and 2D (thin film) silicon nanomaterials in LIBs are summarized. The synthetic routes and electrochemical performance of these Si nanomaterials, and the underlying reaction mechanisms are systematically described.

Magnetic materials research has entered a new and exciting period with the advent of the ternary rare-earth-iron-boron compounds, ${\mathrm{R}}_{2}$${\mathrm{Fe}}_{14}$B. From the fundamental physics perspective the ${\mathrm{R}}_{2}$${\mathrm{Fe}}_{14}$B series and its isostructural relatives comprise a rich, fascinating area for the investigation of many intrinsic properties, including magnetic structures, magnetocrystalline anisotropy, and rare-earth-transition-metal exchange interactions. Intense interest in the technological aspects of these compounds has been ignited by the fact that energy products eclipsing all previous values have been realized in practical magnets based on ${\mathrm{Nd}}_{2}$${\mathrm{Fe}}_{14}$B, the prototypical representative; these magnets also feature economic advantages over the earlier samarium-cobalt materials. Both facets of the ${\mathrm{R}}_{2}$${\mathrm{Fe}}_{14}$B systems are considered in this review.

Abstract Boss is an autonomous vehicle that uses on‐board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three‐layer planning system combines mission, behavioral, and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when to change lanes and precedence at intersections and performs error recovery maneuvers. The motion planning layer selects actions to avoid obstacles while making progress toward local goals. The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a spiral system development process with a heavy emphasis on regular, regressive system testing. During the National Qualification Event and the 85‐km Urban Challenge Final Event, Boss demonstrated some of its capabilities, qualifying first and winning the challenge. © 2008 Wiley Periodicals, Inc.

A variety of nonlinear follow-the-leader models of traffic flow are discussed in the light of available observational and experimental data. Emphasis is placed on steady-state flow equations. Some trends regarding the advantages of certain follow-the-leader functionals over others are established. However, it is found from extensive correlation studies that more data are needed before one can establish the unequivocal superiority of one particular model. A discussion is given of some ideas concerning the possible reasons for the existence of a bimodal flow versus concentration curve especially for multilane highways.

Equilibrium concentrations of dissolved platinum species from a electrocatalyst sample in 0.5 M at 80°C were found to increase with applied potential from 0.9 to 1.1 V vs reversible hydrogen electrode. In addition, platinum surface area loss for a short-stack of proton exchange membrane fuel cells (PEMFCs) operated at open-circuit voltage was shown to be higher than another operated under load . Both findings suggest that the formation of soluble platinum species (such as ) plays an important role in platinum surface loss in PEMFC electrodes. As accelerated platinum surface area loss in the cathode (from 63 to in ) was observed upon potential cycling, a cycled membrane electrode assembly (MEA) cathode was examined in detail by incidence angle X-ray diffraction and transmission electron microscopy (TEM) to reveal processes responsible for observed platinum loss. In this study, TEM data and analyses of catalyst and cross-sectional MEA cathode samples unambiguously confirmed that coarsening of platinum particles occurred via two different processes: (i) Ostwald ripening on carbon at the nanometer scale, which is responsible for platinum particle coarsening from to on carbon, and (ii) migration of soluble platinum species in the ionomer phase at the micrometer scale, chemical reduction of these species by crossover molecules, and precipitation of platinum particles in the cathode ionomer phase, which reduces the weight of platinum on carbon. It was estimated that each process contributed to of the overall platinum area loss of the potential cycled electrode.

The manner in which vehicles follow each other on a highway (without passing) and the propagation disturbances down a line of vehicles has been investigated. Experimental data is presented which indicates that the acceleration at time t of a car which is attempting to follow a leader is proportional to the difference in velocity of the two cars at a time (t − Δ), Δ being about 1.5 sec and the proportionality constant being about 0.37 sec −1 . It is shown theoretically that the motion of a long line of vehicles becomes unstable when the product of the lag time and the proportionality constant exceeds one-half. The experimental data implies that driving is done on the verge of instability. A variety of other laws of following is analyzed theoretically.

The zero-temperature equation of state of metals, in the absence of phase transitions, is shown to be accurately predicted from zero-pressure data. Upon appropriate scaling of experimental pressure-volume data a simple universal relation is found. These results provide further experimental confirmation of the recent observation that the total-binding-energy---versus---separation relations for metals obey a universal scaling relation. Important to our results is a parameter $\ensuremath{\eta}$, which is a measure of the anharmonicity of a crystal. This parameter is shown to be essential in predicting the equation of state. A simple formula is given which predicts the zero-temperature derivative of the bulk modulus with respect to pressure.

Skutterudites CoSb(3) with multiple cofillers Ba, La, and Yb were synthesized and very high thermoelectric figure of merit ZT = 1.7 at 850 K was realized. X-ray diffraction of the densified multiple-filled bulk samples reveals all samples are phase pure. High-resolution scanning transmission electron microscopy (STEM) and energy dispersive X-ray spectroscopy (EDS) analysis confirm that multiple guest fillers occupy the nanoscale-cages in the skutterudites. The fillers are further shown to be uniformly distributed and the Co-Sb skutterudite framework is virtually unperturbed from atomic scale to a few micrometers. Our results firmly show that high power factors can be realized by adjusting the total filling fraction of fillers with different charge states to reach the optimum carrier density, at the same time, lattice thermal conductivity can also be significantly reduced, to values near the glass limit of these materials, through combining filler species of different rattling frequencies to achieve broad-frequency phonon scattering. Therefore, partially filled skutterudites with multiple fillers of different chemical nature render unique structural characteristics for optimizing electrical and thermal transports in a relatively independent way, leading to continually enhanced ZT values from single- to double-, and finally to multiple-filled skutterudites. The idea of combining multiple fillers with different charge states and rattling frequencies for performance optimization is also expected to be valid for other caged TE compounds.

We report the properties of a new class of high-performance permanent magnets prepared from Nd-Fe-B and Pr-Fe-B alloys. Magnetic hardening is achieved by rapid solidification. Energy products of these isotropic materials can exceed 14 MGOe with intrinsic coercivities of ∼15 kOe. X-ray and microstructural analyses indicate that the alloys exhibiting optimum characteristics are comprised of roughly spherical crystallites, strongly suggesting that the coercivity mechanism is of the single-domain particle type. The crystallites are composed of an equilibrium R-Fe-B intermetallic phase having tetragonal symmetry, and the stability of this phase with respect to other rare earths and other metalloids has been investigated.

We present a mathematical model of the solid‐polymer‐electrolyte fuel cell and apply it to (i) investigate factors that limit cell performance and (ii) elucidate the mechanism of species transport in the complex network of gas, liquid, and solid phases of the cell. Calculations of cell polarization behavior compare favorably with existing experimental data. For most practical electrode thicknesses, model results indicate that the volume fraction of the cathode available for gas transport must exceed 20% in order to avoid unacceptably low cell‐limiting current densities. It is shown that membrane dehydration can also pose limitations on operating current density; circumvention of this problem by appropriate membrane and electrode design and efficient water‐management schemes is discussed. Our model results indicate that for a broad range of practical current densities there are no external water requirements because the water produced at the cathode is enough to satisfy the water requirement of the membrane. Inefficiencies due to the transport of unreacted hydrogen or oxygen through the membrane are shown to be insignificant at practical operating current densities. The transport of gases dissolved in the membrane phase, however, limits the utilization of catalyst. Predictions of cell performance with different types of membranes are also examined, and the model results compare favorably with experimental data.

A modification of the overlap potential of Berne and Pechukas is proposed. The overlap strength and range parameters are used in a new functional form resulting in a single-site potential which closely resembles a linear site–site potential.

Substantial progress has been made in reducing proton-exchange membrane fuel cell (PEMFC) cathode platinum loadings from 0.4-0.8 mgPt/cm(2) to about 0.1 mgPt/cm(2). However, at this level of cathode Pt loading, large performance loss is observed at high-current density (>1 A/cm(2)), preventing a reduction in the overall stack cost. This next developmental step is being limited by the presence of a resistance term exhibited at these lower Pt loadings and apparently due to a phenomenon at or near the catalyst surface. This issue can be addressed through the design of catalysts with high and stable Pt dispersion as well as through development and implementation of ionomers designed to interact with Pt in a way that does not constrain oxygen reduction reaction rates. Extrapolating from progress made in past decades, we are optimistic that the concerted efforts of materials and electrode designers can resolve this issue, thus enabling a large step toward fuel cell vehicles that are affordable for the mass market.