bluuebunny/crossref_metadata_2025_split huggingface dataset:
Development of Mobile Robot “SARA” that Completed Mission in Real World Robot Challenge 2014
Authors: Akai Naoki ,   Graduate School of Engineering, Utsunomiya University, Yamauchi Kenji , Inoue Kazumichi , Kakigi Yasunari , Abe Yuki , Ozaki Koichi ,   AIM Co., Ltd.
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/02.jpg"" width=""450"" />View of SARA with and without cowl</div> Held in Japan every year since 2007, the Real World Robot Challenge (RWRC) is a technical challenge for mobile robots. Every robot is given the missions of traveling a long distance and finding specific persons autonomously. The robots must also have an affinity for people and be remotely monitored. In order to complete the missions, we developed a new mobile robot, SARA, which we entered in RWRC 2014. The robot successfully completed all of the missions of the challenge. In this paper, the systems we implemented are detailed. Moreover, results of experiments and of the challenge are presented, and knowledges we gained through the experience are discussed. </span>
Development of an Autonomous Mobile Robot with Self-Localization and Searching Target in a Real Environment
Authors: Nomatsu Masatoshi ,   Shibaura Institute of Technology, Suganuma Youhei , Yui Yosuke , Uchimura Yutaka 
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270004/05.jpg"" width=""200"" />
Developed autonomous mobile robot</div> In describing real-world self-localization and target-search methods, this paper discusses a mobile robot developed to verify a method proposed in Tsukuba Challenge 2014. The Tsukaba Challenge course includes promenades and parks containing ordinary pedestrians and bicyclists that require the robot to move toward a goal while avoiding the moving objects around it. Common self-localization methods often include 2D laser range finders (LRFs), but such LRFs do not always capture enough data for localization if, for example, the scanned plane has few landmarks. To solve this problem, we used a three-dimensional (3D) LRF for self-localization. The 3D LRF captures more data than the 2D type, resulting in more robust localization. Robots that provide practical services in real life must, among other functions, recognize a target and serve it autonomously. To enable robots to do so, this paper describes a method for searching for a target by using a cluster point cloud from the 3D LRF together with image processing of colored images captured by cameras. In Tsukuba Challenge 2014, the robot we developed providing the proposed methods completed the course and found the targets, verifying the effectiveness of our proposals.	</span>
New Lane Detection Algorithm that Emulates Human Color Recognition
Authors: Saito Hideyuki ,   Graduate School of Science and Engineering, Hosei University, Kobayashi Kazuyuki , Watanabe Kajiro , Kinoshita Tetsuo 
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270004/08.jpg"" width=""300"" />	New lane detection algorithm</div>	The perception of color by the human eye is different from that of cameras. This is due to the optical illusion and color constancy characteristics of human vision. In spite of these characteristics, people can drive cars without the danger of overturning. In this paper, we describe a new white lane detection algorithm for autonomous mobile robots, one based on a method similar to the color perception of human beings. In order to drive safely, we emulate human color perception to reduce the effects of lighting and shadow on the course. The validity of the proposed image compensation method is confirmed by actual while line detection.	</span>
A Wearable Haptic Device Based on Twisting Wire Actuators for Feedback of Tactile Pressure Information
Authors: Motamedi M. Reza ,   Control and Robotics Laboratory (CoRo), Department of Automated Manufacturing Engineering, École de Technologie Supérieure (ÉTS) 1100 Rue Notre-Dame Ouest, Montreal H3C 1K3, Canada, Florant David , Duchaine Vincent 
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270004/12.jpg"" width=""300"" />	A wearable haptic device</div>	This paper presents a novel wearable haptic device that provides the user with knowledge of a vertical force, measured at the fingertips, by applying pressure at three different locations on the user’s body. Human prehension and manipulation abilities rely on the ability to convert tactile information into controlled actions, such as the regulation of gripping force. Current upper-limb prosthetics are able to partially replicate the mechanical functions of the human hand, but most do not provide any sensory information to the user. This greatly affects amputees, as they must rely solely on their vision to perform grasping actions. Our device uses a twisted wire actuator to convert rotational motion into linear displacement, which allows the device to remain compact and light-weight. In the past, the main shortcoming of this type of actuator was its limited linear range of motion; but with a slight modification of the principle, we have extended our actuator’s linear range of motion by 40%. In this paper, we present the design of our haptic device, the kinematic and dynamic modelling of the actuator, and the results of the experiments that were used to validate the system’s functionality.	</span>
Trends Over 4 Decades in Disability-Free Life Expectancy in the United States
Authors: Crimmins Eileen M. , Zhang Yuan , Saito Yasuhiko 
Published: April 2016

Objectives. To examine changes over 40 years (1970–2010) in life expectancy, life expectancy with disability, and disability-free life expectancy for American men and women of all ages. Methods. We used mortality rates from US Vital Statistics and data on disability prevalence in the community-dwelling population from the National Health Interview Survey; for the institutional population, we computed disability prevalence from the US Census. We used the Sullivan method to estimate disabled and disability-free life expectancy for 1970, 1980, 1990, 2000, and 2010. Results. Over the 40 years, there was a steady increase in both disability-free life expectancy and disabled life expectancy. At birth, increases in disabled life and nondisabled life were equal for men (4.5 years); for women, at birth the increase in life with disability (3.6 years) exceeded the increase in life free of disability (2.7 years). At age 65 years, the increase in disability-free life was greater than the increase in disabled life. Conclusions. Across the life cycle, there was no compression of morbidity, but at age 65 years some compression occurred.
Racial and Social Disparities in Bystander Support During Medical Emergencies on US Streets
Authors: York Cornwell Erin , Currit Alex 
Published: April 2016

Objectives. To examine rates at which people suffering medical emergencies on public streets receive help from bystanders, that is, laypersons who first arrive on the scene, and how this varies across patient race and incident locations. Methods. We analyzed data on 22 487 patients from the 2011 National Emergency Medical Services Information System, which we linked to characteristics of counties where the incidents occurred. Results. Bystanders provided help to patients suffering a wide range of medical emergencies, but only about 1 in 39 patients (2.57%) received bystander support. Black patients were significantly less likely to receive bystander support (odds ratio = 0.42; 95% confidence interval = 0.35, 0.50). Bystander support and county socioeconomic status have a curvilinear relationship; patients in the most disadvantaged counties are least likely to receive bystander support. Conclusions. Help from bystanders is rare and less likely among Black patients and those in the poorest counties.
Sexual Risk Behaviors and Substance Use Among Men Sexually Victimized by Women
Authors: Cook Mekeila C. , Morisky Donald E. , Williams John K. , Ford Chandra L. , Gee Gilbert C. 
Published: April 2016

Objectives. To investigate whether forced sex of men by women was associated with sexual risk behaviors, and whether this association was mediated by substance use.Methods. Data from US men aged 18 years or older at interview in the National Survey of Family Growth 2006–2010 (n = 8108) who reported sexual behavior history. Outcome variables were condom use at most recent sex and number of lifetime sexual partners. Sexual activity covariates included age at first consensual sex and treatment of sexually transmitted infections. Alcohol and drug use were the mediating factors.Results. Six percent of men reported forced sex by a woman at a mean age of 18 years. On average, victimized men had 3 more lifetime sexual partners than nonvictimized men (P < .01). Furthermore, victimized men who reported drug use had, on average, 4 more female sexual partners (P < .01) than nonvictimized men. Marijuana (P < .05) and crack cocaine use (P < .05) partially mediated the association between forced sex and number of female partners. Neither condom use nor number of male partners differed between victimized and nonvictimized men.Conclusions. A nontrivial fraction of men experience forced sex by women; some of them have elevated sexual risk behaviors.
Lack of Evidence Supporting the Effectiveness of Disaster Supply Kits
Authors: Heagele Tara N. 
Published: April 2016

We reviewed the available evidence in support of the effectiveness of disaster supply kits presently used in household emergency preparedness in the United States. The expectation that people should take responsibility for their own disaster preparedness has largely not taken into account contextual influences on disaster preparedness.The efficiency of current disaster supply kits used during critical postdisaster periods has not been empirically tested. Professional recommendations regarding the composition of disaster supply kits containing at least water, food, first aid, hygiene, and clothing have not been universally defined. This lack of consensus may lead to the assembling of disaster supply kits yielding suboptimal results.The use of disaster supply kits should continue to be nationally recommended, although additional research is needed to demonstrate their beneficial impact on survival and resilience after a disaster.
Opening the Market for Lower Cost Hearing Aids: Regulatory Change Can Improve the Health of Older Americans
Authors: Blustein Jan , Weinstein Barbara E. 
Published: April 2016

Hearing loss is a leading cause of disability among older people. Yet only one in seven US adults who could benefit from a hearing aid uses one. This fraction has not increased over the past 30 years, nor have hearing aid prices dropped, despite trends of steady improvements and price reductions in the consumer electronics industry. The President’s Council on Science and Technology has proposed changes in the regulation of hearing aids, including the creation of a “basic” low-cost over-the-counter category of devices. We discuss the potential to reduce disability as well as to improve public health, stakeholder responses to the president’s council’s proposal, and public health efforts to further mitigate the burden of disability stemming from age-related hearing loss.
Assessing Surface Engineering Solutions for Oilfield Scale; Correlating Laboratory Tests to Field Trials
Authors: Vazirian Mohammad Mohsen , Charpentier Thibaut T. , Neville Anne , Alvim Felipe Batista , de Oliveira Penna Mônica 
Published: April 2016

Abstract
Mineral scale deposition on surfaces of oil production equipment has been recognised as a major flow assurance problem. Most of the mineral scale deposition work published has solely focused on laboratory experiments and very little data are available that demonstrate such results are relevant and can be scaled-up to field environments. The current study focuses on mineral scale formation on surfaces and compares laboratory results with field data. A field test has been running for half a year on commercially-coated pipe spools along with uncoated ones. The different pipe sections were positioned along a water line injection system in an oilfield. In the laboratory, a standard bulk jar test was used and the ability of a range of chemically and morphologically modified coatings to prevent/reduce mineral scale surface fouling were assessed under different flow conditions (ranging from laminar to turbulent flow). The current study shows that if properly selected, surface engineering offers great promise as an approach to prevent mineral scale deposition in the piping system of oilfields.
Solubility Study of Iron Sulfide FeS Under Extremely High Temperature Pressure in Strictly Anoxic, Various Ionic Strength Solutions
Authors: Yan Chao , Guraieb Paula , Tomson Ross C. 
Published: April 2016

Abstract
Iron sulfide, as one of the main products of sour corrosion in oil and gas production systems, has become a focal point for flow assurance research. The formation of iron sulfide can cause many production problems such as the malfunction of downhole devices which can lead to a significant decline in oil production. Once iron sulfide forms in the production system, it is difficult or impossible to remove chemically and costly to remove physically.
Accurate prediction models for iron sulfide formation at reservoir conditions are currently lacking in the industry and are necessary to help control scale and improve flow assurance. Solubility product (Ksp) of iron sulfide is the key parameter to make accurate scale predictions. However, research towards iron sulfide including precipitation, dissolution, inhibition, and removal are notoriously difficult not only due to the complexity of iron sulfide phases and their transitions but also due to the involvement of hydrogen sulfide in the gas phase.
Tomson Technologies has developed new technologies to simulate realistic field downhole conditions for scale research. A reliable flow-through apparatus has been customized to perform mineral solubility studies under xHPHT (up to 1720 bar and 250 °C). In order to simulate the strictly anoxic environment and prevent dissolved ferrous iron from oxidizing, dissolved oxygen in the test solutions has been reduced to far less than 1 ppb. This paper is the first to examine the solubility of iron sulfide under these realistic downhole conditions with temperature up to 250 °C, pressure up to 1720 bar in 1M and 3M ionic strength solutions, under a strictly anoxic environment (&lt;&lt; 1 ppb dissolved oxygen).
Under the HPHT and high salinity conditions studied, iron sulfide tends to form pyrrhotite (Fe1-xS) and troilite (FeSt) phases instead of mackinawite, the metastable phase (FeSm), which is most common at lower temperatures. Phase transition between pyrrhotite and troilite at elevated temperatures was observed during the solubility experiments. Solubility of iron sulfide decreases with increasing temperature and increases with increasing pressure which is consistent to previous reported results (Kharaka, et al., 1988). Experimental details and major findings from this research will be discussed.
Calcium Sulfate Scaling Risk and Inhibition for a Steamflood Project
Authors: Zhang Fangfu , Hinrichsen Charles J. , Kan Amy T. , Wang Wei , Wei Wei , Dai Zhaoyi , Yan Fei , Liu Ya , Bhandari Narayan , Zhang Zhang , Ruan Gedeng , Tomson Mason B. 
Published: April 2016

Abstract
Steamflooding has been used as one of the emerging techniques to enhance heavy oil production. Scale control during steamflooding, on the other hand, can be challenging since the high temperature of the steamflood can decompose thermally unstable inhibitors and/or lead to the precipitation of metal-inhibitor pseudo-scale. In this paper, we present the analysis of the scaling risk and scale inhibition for a pilot steamflood project in a Middle Eastern oilfield. The formation of this field is a dolomite formation interbedded with anhydrite (CaSO4) streaks. Anhydrite has been observed to be the predominant scale form, which is presumably formed due to increased production system temperature as a result of steamflooding and/or mixing of steam condensate with incompatible connate water. Anhydrite is inherently difficult to control due to its high solubility and the high temperature conditions under which it forms. Compared to barite and carbonate, only limited knowledge has been acquired for anhydrite control. To predict the scaling tendency and inhibitor need in different wells of this field with different supersaturation level and temperature, a scaling risk model has been developed. To build such a model, detailed and revised laboratory procedures have been developed to study nucleation and precipitation kinetics of anhydrite at 125-175 ºC, different supersaturation, water composition, and long reaction time. Predictions of this scaling risk model suggest a saturation index (SI) of 0.8 as a critical SI for anhydrite control at &gt;125 ºC. For example, when the SI is above 0.8, anhydrite will be difficult to control in the presence of threshold inhibitor. Model predictions were found to be consistent with scale occurrence observations in different wells of this field. With the recommended inhibitor concentrations, anhydrite scale has been controlled in this field, which provides validation that the proposed scaling risk model is a powerful tool to optimize scale treatment plan.
Effect of Crosslinkers on the Performance of Calcium Sulfate Scale Inhibitors at High Temperature: Impact of Zirconium
Authors: Alsaiari H. A. , Al-Khaldi M. , Al-Taie I. , Wang Q. , Alabedi G. , Zhang F. , Zhang Z. , Bhandari N. , Ruan G. , Yan F. , Liu Y. , Kan A. , Tomson M. 
Published: April 2016

Abstract
With the increased desire to fracturing treatments using seawater based-fluid, the formation of calcium sulfate scale becomes a challenging problem. This is due to the presence of high concentration of calcium ions released from the reservoir after fracturing treatment and high sulfate content in the seawater. Preventing calcium sulfate formation is imperative in order to maintain conductive flow channels after the treatment.
The challenge basically lies in finding an efficient scale inhibitor that works at high calcium and sulfate concentrations and high temperature without compromising the efficiency of the fracturing fluids. Zirconium is widely used in the fracturing fluid as a crosslinker for guar-based gels to increase the elasticity and proppant transport capability. Using these materials makes each crosslinker have unique reaction conditions and behavior. Unfortunately, no systematic study has been conducted to investigate the influence of zirconium on calcium sulfate scale inhibitor performance at high temperatures.
This work is intended to 1) evaluate the efficiency of six different types of commercial-grade scale inhibitors for calcium sulfate (anhydrite) at high temperature and super saturation; 2) to determine the impact of zirconium on the performance of common scale inhibitors used in the oilfield. Extensive experiments have been conducted at 149°C (~300°F), pH 6.8, and 1.0 M NaCl solution at different concentrations of zirconium and with various organic and polymeric scale inhibitors. The induction time and the performance of inhibitors were detected by using an in-house developed laser technique. It was found that the presence of zirconium adversely reduced the performance of calcium sulfate scale inhibitors. The level of impact varies based on zirconium concentration, solution conditions and type of scale inhibitor present.
A Retrospective Review of 10 years of Scale Management in a Deepwater Field: From Capex to Plateau Production
Authors: Jordan Myles , Champion Nalco , Mackay Eric 
Published: April 2016

Abstract
The field in question consists of four reservoirs with varying barium levels (15 ppm to 320 ppm). For pressure support seawater injection has been applied from the start of field life. Prior to field start up, studies were conducted to review the order of expected injection water breakthrough for each well, the location of breakthrough along the length of the production sections, the feasibility of bullhead deployed squeezes and the implications of barium ion stripping. These issues were all assessed to generate a scale management strategy for the field.
Despite uncertainties in the original reservoir model, the order of injection water breakthrough across the field was observed to be correct and the information on placement proved very useful in building scale squeeze treatments.
The challenge of rapid injection water breakthrough in the field during its early life was addressed with development of pre-production squeeze treatments applied during new well completions. This eliminated the need to shut in wells whilst awaiting mobilisation of DSVs for treatment deployment. As the field matures, tailored scale squeeze treatments were developed for each of the 25 production wells. Over the life of the wells the squeeze designs were updated to take into account changing water rates, changing water composition and thus MIC for the squeeze chemical. The positive contribution of the downhole continual injection chemical was also shown to extend the squeeze lifetimes by allowing a lower MIC value to be used for treatment design in the production section of the wells.
Optimisation of the scale management programme has seen wells considered to be outside the scale window eliminated from the squeeze treatment campaigns, reduction in chemical volumes being applied and extended squeeze lifetime for treatments based on monthly review of well performance/water chemistry/inhibitor residuals.
Enhancing Scale Inhibitor Squeeze Retention With Additives
Authors: Sutherland Louise , Jordan Myles 
Published: April 2016

Abstract
The practice of scale squeeze treatments to oil/gas production wells to prevent inorganic scale formation has been applied for over 30 years and during that period of time different mechanisms to retain the inhibitor chemical have been evaluated. The simple mechanism of inhibitor retention adsorption/desorption has been complemented over the years by enhanced adsorption via mutual solvent and full precipitation of the active inhibitor as calcium salt onto the mineral surface of the reservoir.
This study has been conducted to understand if the retention of phosphonate and phosphate ester inhibitors can be improved by adsorption of a charged polymer onto the rock prior to application of the scale inhibitor or if application of the same polymer enhancer after adsorption of the scale inhibitor will extend squeeze life. These tests have been carried out using pack floods at 85°C with synthetic North Sea produced water and the details of the extension in treatment life observed are correlated to the inhibitor type tested and the sequence of application of the polymer enhancer. This study shows how the different functional groups within the scale inhibitors interact with the mineral surface and polymer enhancer to extend treatment lifetimes and so potentially reducing the frequency of squeeze treatments and therefore total cost of operations.