On AGV's navigation in 3-dimensional space

This paper deals with position estimation and path control for Autonomous Guided Vehicles (AGV). To enable a vehicle or a mobile robot in following a continuous virtual path without human control, these techniques play an important role. The relationship between the vehicle's motion in 3-dimensional space and the shape of a curved surface is described. In particular, the introduction of a digital terrain model in dead reckoning is considered. Moreover, a possible nonlinear control is developed based on curvilinear path coordinates, and the proof for global stability is given. To achieve general validity, these topics are treated here independently of the cart's special mechanization (the configuration of steered wheels and driven wheels). Simulation studies are presented to illustrate the investigations.     

A nonlinear tensor field and the second metric tensor

In our preceding paper {see [L. Sh. Grigorian and S. Gottlöber, Astrofizika (in press)]} we investigated a self-gravitating system consisting of a scalar field and a linear tensor field _ik= _ki with minimal coupling and with allowance for the action of vacuum polarization effects. In the present paper we investigate the case of a nonlinear tensor field _ik. The action S ⁽⁾ of the field _ik is determined by the difference R_ik — _ik, where R_ik is the space-time Ricci tensor and Rik is the analogous quantity constructed using the metric _ik=g_ik+_ik induced by _ik ( is a free parameter). Here S ⁽⁾ coincides with the previously known expression for the action of a linear field _ik. Equations of motion are derived for _ik in curved space-time. The energy-momentum metric tensor, determining the contribution of _ik to the gravitational field equations, is calculated.Translated from Astrofizika, Vol. 39, No. 1, pp. 135–144, January-March, 1996.     

UBVRI photometry of the eclipsing symbiotic star CI Cyg during 1991–1996

UBVRI observations of the eclipsing symbiotic star CI Cyg made during 1991–1995 are analyzed, the results of which indicate that the system is in the same quiescent state as during 1985–1990. Variations in the "extra-eclipse" color index U-B with an amplitude of about 0^m.3–0^m.4 and a characteristic time of about 9–10 yr have been detected for the first time. A more thorough analysis of all available data in the UBVRI bands of the spectrum will be required to investigate the existence of possible long-period variations in the other color indices and brightness of the system.Translated fromAstrofizika, Vol. 39, No. 2, pp. 211–216, April–June, 1996.     

The Taconite Inlet Lakes Project: a systems approach to paleoclimatic reconstruction

A comprehensive study of meteorological, hydrological, limnological and sedimentological conditions in the watersheds of density-stratified (meromictic) lakes around Taconite Inlet, Northern Ellesmere Island, N.W.T., Canada was carried out from 1990–1992. Lakes C1 and C2 contain seawater trapped by isostatic uplift as the former embayments became isolated from the sea. These lakes, and Lake C3, contain varved sediments which provide an annually resolvable paleoclimatic record. By studing the major systems influencing sedimentation in one of these lakes (Lake C2) a better understanding of the climatic controls on varve formation, and hence on the paleoclimatic signal in the varved sediment record, was obtained. The varves of Lake C2 provide a proxy record of summer temperature for the region.This is the first in a series of papers published in this issue on the Taconite Inlet Lakes Project. These papers were collected by Dr R. S. Bradley.     

The effects of solar and ionospheric parameters on seasonal variation of 6300 Å line emission at Calcutta

The purpose of this paper is to find correlation between OI 6300 Å line intensity with solar and ionospheric parameters. A critical study have been made and the following important results are obtained:

Spectroscopic observations of parsamian 21

This work presents spectroscopic observations of Parsamian 21, which has been shown recently by Staude and Neckel to be a fuor-type star. A list of identified absorption lines is given. The results are compared with previous spectroscopic observations over the period 1966–1990. It is shown that the H line profile changed during this period; according to the observations of 1986, the center of the H absorption line was shifted by –140 km/sec from ₀ and reached –600 km/sec at the line edge. It follows from the presented lightcurve that the star has undergone brightness variations of nearly three magnitudes and most likely became a fuor before 1902.Translated fromAstrofizika, Vol. 39, No. 2, pp. 227–235, April–June, 1996.     

First Byurakan Spectral Sky Survey. Late-type stars. VIII. Zone + 80 ≤ δ ≤ + 90°

The eighth list of late-type stars of spectral classes M and C detected on the plates of the First Byurakan Spectral Sky Survey (FBS) in the zone +80 +90° is presented. Of the 79 objects detected, 67 are new discoveries (66 M stars and one carbon star); 16 objects are unidentified IRAS sources. The equatorial coordinates, spectral classes, and magnitudes are given.Translated fromAstrofizika, Vol. 39, No. 4, pp. 523–529, November, 1996.     

The origin of accretionary lapilli

Experimental investigations in a recirculating wind tunnel of the mechanisms of formation of accretionary lapilli have demonstrated that growth is controlled by collision of liquid-coated particles, due to differences in fall velocities, and binding as a result of surface tension forces and secondary mineral growth. The liquids present on particle surfaces in eruption plumes are acid solutions stable at 100% relative humidity, from which secondary minerals, e.g. calcium sulphate and sodium chloride, precipitate prior to impact of accretionary lapilli with the ground. Concentric grain-size zones within accretionary lapilli build up due to differences in the supply of particular particle sizes during aggregate growth. Accretionary lapilli do not evolve by scavenging of particles by liquid drops followed by evaporation — a process which, in wind tunnel experiments, generates horizontally layered hemispherical aggregates. Size analysis of particles in the wind tunnel air stream and particles adhering to growing aggregates demonstrate that the aggregation coefficient is highly grain-size dependent. Theoretical simulation of accretionary lapilli growth in eruption plumes predicts maximum sizes in the range 0.7–20 mm for ash cloud thicknesses of 0.5–10 km respectively.     

Gold mineralization in As-rich mesothermal gold ores of the Bogosu-Prestea mining district of the Ashanti Gold Belt,Ghana: remobilization of “invisible” gold

The Bogosu-Prestea mining district of southwestern Ghana is a 33 km section of the Early Proterozoic Ashanti Gold Belt. Greenschist facies carbonaceous and carbonate-bearing turbidites and greywackes, and mafic dikes host numerous economic mesothermal gold deposits. Structurally higher ores in the Bogosu concession have brittle deformation and consist of disseminated-sulphide lodes in tectonically-disrupted sedimentary rocks and carbonate-altered mafic dikes. Most gold occurs as micrometre-size particles in arsenian pyrite, and as invisible gold in arsenian pyrite and arsenopyrite. The structurally deeper ores of the adjoining Prestea concession are associated with brittle-ductile deformation and consist of extensive crack-seal quartz-veins and graphitic shear zones. Only minor amounts of invisible gold were detected; in these deeper lodes, gold occurs dominantly as abundant microscopic and larger particles in sulphide/arsenide minerals and in gangue. The gold distribution patterns revealed by SIMS microprobe analysis and ion maps, EMP and colour staining suggest that most of the primary gold in the Bogosu-Prestea system precipitated in solid-solution with sulphide/arsenide minerals. However, post-depositional concentration and redistribution occurred, in increasing degree with: 1) increase in metamorphic/hydrothermal gradients in the gold system (depth), 2) decrease in the refractory properties of the host mineral, and 3) increase in the amount of post-depositional, host-mineral recrystallization and deformation. Gold evolved from primary solid-solution within sulphide/arsenide minerals, to colloidal and micrometre-size particles concentrated in voids, fractures and internal grain boundaries, and finally to microscopic and larger particles at sulphide/arsenide grain margins and in the gangue assemblage. The general conclusions presented here are applicable to As-rich gold deposits of all ages, worldwide. The presence of gold in late fractures is insufficient evidence for late-stage introduction of gold in mesothermal gold systems.     

Solubility of Pt and Pd sulfides and Au metal in aqueous bisulfide solutions

An experimental study of the solubility of Pt and Pd sulfides and Au metal in aqueous bisulfide solutions was conducted at temperatures from 200° to 350 °C and at saturated vapor pressure. A 500-mL Bridgemantype pressure vessel constructed of titanium, and equipped with a motor-driven magnetic stirrer was employed. The pH and the oxidation state were buffered by the coexistence of H₂S/HS^–/SO _inf4 ^sup2– . The pH at temperature was calculated to be in the range 5.91–9.43, and S was 0.3–2.2 m. Under the experimental conditions, the measured solubility of gold is about two to three orders of magnitude greater than that of either platinum and palladium, and the measured solubility of platinum is, in general, approximately equal to that of palladium, in molal units. The solubilities are found to be in the range: platinum 4–800 ppb, palladium 1–400 ppb, and gold 2–300 ppm. The solubility data can be modeled adequately using the following reactions: Au+H₂S+HH^–=Au(HS) ₂ ^– +1/2H₂ (K₁₄); PtS+HS^–+H⁺=Pt (HS) ₂ ⁰ (K₁₅); PdS+HS^–+H⁺=Pd (HS) ₂ ⁰ (K₁₆); PtS₂+H₂=Pt (HS) ₂ ⁰ (K₂₁).With equilibrium constants determined as follows (errors represent two standard deviations): Preliminary measurements of the solubilities of metallic Pt, Pd and Au as hydroxide complexes were also conducted using a second titanium pressure vessel, at temperatures of 200° to 350 °C and vapor saturation pressure, with pH and the oxidation state controlled or buffered by adding known amounts of NaOH and H₂ gas. The concentration of NaOH was in the range 0.01–1.3 m, and the partial pressure of H₂ at 200 °C was 62–275 bars, initially. Under the temperature and pressure conditions of these experiments, the solubility of platinum in 1 m NaOH solution is less than 100 ppb, that of palladium is less than 10 ppb and that of gold is less than 0.2 ppm; and in 0.01 m NaOH solutions, both Pt and Pd solubilities are less than 1 ppb. These data indicate that the contributions of hydroxide complexes to the total solubilities in the bisulfide runs, where the pH was in the range of 5.9–9.4, are negligible. The concentrations of both Pt and Pd as bisulfide complexes in the Salton Sea geothermal system predicted using the stability constants determined in this work agree very well with those values measured by McKibben et al. (1990). This calculation strongly suggests that the PGE are transported in moderately reducing, near neutral hydrothermal fluids as bisulfide complexes, as is gold. However, the much lower maximum solubility of the PGE relative to gold severely constrains models of re genesis, and may explain the relative rarity of hydrothermal PGE deposits compared to the relative abundance of hydrothermal Au deposits.