应用遗传算法的多机器人协调动作学习

本文力图做出的系统是应用遗传算法使多机器人学习可以动作协调而总体实现最多的搬运。多机器人移动的环境采用图表表示，移动的规则是用遗传算法优化制订的，在两预定结点之间的往返次数取为适合度，用计算机构造环境并进行仿真，结果表明多机器人协调作学习时可视情况需要而互相让路。     

Preparation of CdSSe-ZnS superlattice,SrS, and CdSSe-SrS superlattice by hot-wall epitaxy,and applications to electroluminescent devices

CdSSe (manganese-doped, E_g = 1.9–2.5 eV, lattice constant a = 6.05–5.8A)-ZnS (Eg = 3.56 eV, a = 5.41A) superlattices, SrS (cerium-doped, E = 4.4 eV, a = 6.02A) layers, and CdSSe-SrS (cerium-doped) superlattice layers nave been prepared by hot-wall epitaxy, and the properties and the electroluminescent device characteristics of the active layers are reported. For the superlattices with ZnS, the maximum luminance was 800 cd/m² at an applied sinusoidal voltage (V_o-p = 200 V) with frequency 1kHz, and the wavelength of the spectral peak was 610 nm due to the large strain caused by the lattice mismatch (8–15%) between the CdSSe and ZnS layers. The maximum luminance and Comisson Internationale de Enluminure (CIE) chromaticity of CdS(Mn)-ZnS superlattices and CdSe(Mn)-ZnS superlattice devices were 557cd/m² and (x,y) = (0.58,0.41) and 982 cd/m² and (0.61, 0.38), respectively. For superlattices with SrS, the maximum luminance of the device with the SrS (cerium-doped) active layer was nearly 700 cd/m² at a voltage of 340V. Blue electroluminescent emission was observed in the photon wavelength region less than 450 nm, due to carriers dropping into the quantum wells of the device with the CdSSe-SrS superlattice active layer.     

Fracture observation of polycrystalline diamond film under indentation test

Indentation tests using Vicker's pyramidal and Rockwell spherical diamond indenters were performed for polycrystalline diamond film deposited by chemical vapour deposition (CVD) on SiC substrate. Two types of film with different crystal sizes were tested. One is a film with grain size of 5 to 10 μm, denoted as MCD. Another one is a film with grain size of less than 100 nm, denoted as NCD.In the Vicker's test, we observed clear indentation and radial cracks for the NCD film, suggesting that micro-cracks tend to generate along the weak grain boundaries. Young's modulus, estimated from unloading curve of both films, agrees well with the value (928 GPa) estimated by the laser ultrasonic method.Rockwell indentation test predicts that the adhesion of the NCD film is lower than that of the MCD, and compressive residual stress of the MCD is much larger than that of the NCD. We observed ring cracks and detected acoustic emission (AE) signals from the ring cracks.     

High-power and highly reliable 1020-nm ridge waveguide laser diodes with small aspect ratio as a pumping source for praseodymium-doped fiber amplifiers

The structure of an asymmetrically expanded optical field normal to the active layer was applied to 1020-nm ridge waveguide laser diodes in order to increase their maximum kink-free output power and reduce the aspect ratio of the output beams. As a result, a kink-free output power of more than 400 mW and an aspect ratio of less than 2.5 were achieved by this structure. Good reliability was also obtained at an output power of 300 mW at 50/spl deg/C.     

Application of a Two-Dimensional Computer Simulation to Cake Growth in Slip Casting with Complicated-Shape Gypsum Molds

A two-dimensional computer simulation method, developed by the authors using the method of finite differences, was applied to estimate the cake growth in slip casting of alumina with a triangular gypsum mold and a box-type gypsum mold with a convex bottom. The cake growth patterns, water penetration patterns, water flow rate distributions, and pressure distributions were simulated in the molds and/or cakes. The simulated cake growth patterns were in good agreement with those observed experimentally in both molds. Moreover, the cake growths could be well understood from the results of the water flow rate distributions in each case. The present method is applicable to cake growth simulation in slip casting with complicated-shape gypsum molds.     

Vinyl polymerization by metal complexes. XVI. Photopolymerization of vinyl monomers by metal-amine systems

The photopolymerization of vinyl monomers was studied by the system of metal-amine complex and carbon tetrachloride. Addition of amines to the initiating system generally accelerates the polymerization. The acceleration by various sorts of amines in different solvents was examined. It was confirmed that the photopolymerization in question is of free radical character. The polymerization mechanism was discussed.     

Synthesis and polymerization of γ-ethyl-L-glutamate derivatives of nucleic acid bases

Summary -Ethyl-L-glutamate derivatives having pendant nucleic acid bases, that is, uracil, adenine and theophylline were synthesized. The -ethyl-L-glutamate having theophylline moiety was polymerized by using the N-carboxyamino acid anhydride (NCA) method.     

Studies on the improvement of cured two-stage phenolics performance. III. Relation between conditions of heat treatment and properties of wood-flour-filled phenolics

The effect of heat treatment on the properties of cured two-stage phenolics was studied. Samples were compression-molded from the compound that was prepared from novolac, wood flour (100 phr), and hexamethylenetetramine (15 phr). Samples were heat-treated in conditions of four levels for temperature (150°C, 170°C, 190°C, and 210°C) and time (4, 8, 16, and 24 h). The properties of samples heat-treated, such as weight loss, dimensional stability, water absorption after boiling, and flexural properties were measured. The relation between the properties and the conditions of heat treatment was examined statistically. From the results, it was decided that the optimum conditions of heat treatment for practical use were: (i) to decrease water absorption and to heighten electrical resistance, 210°C, 24 h; (ii) to improve flexural properties at room temperature and at 160°C; 170°C, 8 h, and 170–190°C, 24 h, respectively. It was concluded that the decrease of water absorption of moldings was due to the increase of hydrophobic nature of wood flour included in moldings by heat treatment and that the improvement of flexural property of moldings at 160°C was due to an increase of crosslinking density by heat treatment. The reasons for the improvement of the electrical properties by heat treatment were also discussed.     

Functional monomers and polymers, 116. Asymmetric addition of n-butyllithium to aldehydes by chiral polymers and related compounds containing dimethylamino bornanol moieties

Asymmetric addition reaction of n-butyllithium to aldehydes was studied by using chiral polystyrene derivatives and chiral low molecular model compounds, both of which were derived from cis,endo-3-dimethylamino-2-hydroxybornane. The higher optical yields were achieved by using low molecular model compounds, and particularly the highest value was obtained in the case when ether was used as the solvent. The effect of reaction temperature, sort of the solvents and the molar ratio of the reagent to aldehyde on the asymmetric addition was also discussed.