Mutual learning of multi-consciousness agents,including an ego for an autonomous vehicle

In this paper, we propose a multi-agent learning system for the control of an intelligent robot, based on a model of the human consciousnesses, including the ego. We pay attention to the intelligent learning processes of human beings. We try to give a robot a high learning ability by modeling the roles of the human consciousnesses, including the ego. In most ordinary methods, the instructions for learning are given from outside the system only. In the proposed method, the instructions are given not only from outside, but also from inside (from other agents in the system). Therefore, the robot can learn efficiently because it has more instructions than usual. The learning is also more flexible, since an agent learns by instructions from other agents while the learning agent and one of the instructing agents exchange roles according to changes in the environment. We experimentally verified that the proposed method is efficient by using an actual robot.     

Preparation of rod-shaped BaTiO3 powder

Rod-shaped BaTiO₃ powder particles have been prepared from rod-shaped TiO₂ ·nH₂O and BaCO₃ in molten chloride. The morphology of BaTiO₃ particles was studied referring to the effects of the chemical species of the starting titanium compound, amount of chloride, particle size of the titanium compound and reaction conditions, and the preparation condition of rod-shaped BaTiO₃ has been determined: i.e., large TiO₂ ·nH₂O particles were heated at 700°C in molten salt with an equal amount of BaTiO₃. This condition was effective in suppressing the formation of BaTiO₃ by a solution-precipitation process as well as the deformation of either TiO₂ ·nH₂O or BaTiO₃, which are responsible for the formation of equiaxed BaTiO₃ particles. The obtained rod-shaped BaTiO₃ particles had a cubic symmetry. Electron diffraction analysis showed that the following topotactic relation is retained; 0 1 0_{potassium tetratitanate} 0 1 0_{hydrated titania} 1 0 0_anatase 1 0 0_{barium titanate}     

Growth of Al2O3 whiskers by vapour-phase reactions

Needle-like or wool-like Al₂O₃ whiskers can be grown on a substrate by the hydrolysis of aluminium fluoride vapour. Effects of the growth conditions on the morphology of the crystals and growth processes of the whisker were investigated, and the optimum growth condition of whiskers was examined. Adequate vapour pressure conditions of the reactant gases for the growth of the wool-like whisker were found to be . Aluminium oxyfluoride was assumed to be the most probable intermediate species for the growth of Al₂O₃ whiskers. A variety of crystal morphologies are also shown and described with respect to the experimental conditions.     

APPLICATION OF THE UNIFIED STATISTICAL MATERIAL DATABASE FOR DESIGN AND LIFE／RISK ASSESSMENT OF HIGH TEMPERATURE COMPONENTS

Statistical manipulation of material data was conducted for probabilistic life assessment or risk-based design and maintenance for high temperature components of power plants. To obtain the statistical distribution of material properties, dominant parameters affecting material properties are introduced into normalization of statistical variables. Those parameters are hardness, chemical composition, characteristic microstructural features and so on. Creep and fatigue properties are expressed by normalized parameters and the unified statistical distributions are obtained. These probability distribution functions show good coincidence statistically with the field database of steam turbine components. It was concluded that the unified statistical baseline approach is useful for the risk management of components in power plants.     

Gas chromatographic separation of wax esters based on the degree of unsaturation

The wax esters of sperm whale head oil have been characterized by gas-liquid chromatography on an APOLAR 10C column according to their carbon number and number of double bonds. The novel technique permits the direct quantitative analysis of saturated and unsaturated wax esters.     

Preparation and characterization of TiO2 and polymer nanocomposite films with high refractive index

Novel nanocomposite films of TiO₂ nanoparticles and hydrophobic polymers having polar groups, poly (bisphenol‐A and epichlorohydrin) or copolymer of styrene and maleic anhydride, with high refractive indices, high transparency, no color, solvent‐resistance, good thermal stability, and mechanical properties were prepared by incorporating surface‐modified TiO₂ nanoparticles into polymer matrices. In the process of preparing colloidal solution of TiO₂ nanoparticles, severe aggregation of particles can be reduced by surface modification using carboxylic acids and long‐chain alkyl amines. These TiO₂ nanoparticles dispersed in solvents were found not to aggregate after mixing with polymer solutions. Transparent colorless free‐standing films were obtained by drying a mixture of TiO₂ nanoparticles colloidal solution and polymer solutions in vacuum. Transmission electronic microscopic studies of the films suggest that the TiO₂ nanoparticles of 3–6 nm in diameter were dispersed in polymer matrices while maintaining their original size. Thermogravimetric analysis results indicate that the nanocomposite film has good thermal stability and the weight fraction of observed TiO₂ nanoparticles in the film is in good accordance with that of theoretical calculations. The refractive index of nanocomposite films of TiO₂ and poly(bisphenol‐A and epichlorohydrin) was in the range of 1.58–1.81 at 589 nm, which linearly increased with the content of TiO₂ nanoparticles from 0 to 80 wt %. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007     

Shape memorizing properties of a hydrogel of poly(vinyl alcohol)

Hydrogel prepared by repetitive freezing and thawing of poly(vinyl alcohol) aqueous solution was chemically crosslinked with glutaraldehyde. The chemically crosslinked hydrogel hardly changed its physical appearance, and showed good elasticity and strength as original gel. However, after treating in boiling water, it swelled a little, depending on the condition of the chemical treatment. The melted gel thus obtained showed shape memorizing property, that is, it could firmly hold nearly 200% of strain, keeping its original high elasticity. The strain could be released very quickly (< 1 s) in boiling water, and the gel was suggested to be applied to a new type of gel actuator. X-ray diffraction study revealed that the melted gel does not necessarily reform the physical crosslinks in exactly the same manner as the original gel in the process of shape restoring, but the distribution of the physical crosslinks can be restored as they were. It was suggested that the chemical crosslinks which remember the distribution of the physical crosslinks plays a critical roll in the shape restoring process.     

An apparent ensemble effect in the oxidative coupling of methane on hydroxyapatites with incorporated lead

The introduction of small quantities of lead into calcium hydroxyapatite catalysts produces marked increases in the selectivity to C₂₊ hydrocarbons, while the conversion of methane remains relatively constant. Small surface concentrations of lead are sufficient to achieve C₂₊ selectivities of 80 and 90%, with oxygen and nitrous oxide, respectively, in contrast with 18 and 46%, respectively, obtained in the absence of lead. Since surface concentration of lead species sufficient to stabilize pairs of methyl radicals in close proximity to each other would be expected to facilitate the formation of C₂ hydrocarbons, an ensemble effect appears to be extant.     

Preparation and structure of poly(vinyl alcohol)–poly(vinyl acetate) composite porous membrane

The preparation of poly(vinyl alcohol) (PVA)–poly(vinyl acetate) (PVAc) composite porous membrane was investigated by extracting PVAc with solvent from films of PVAc lattices which were obtained by the emulsion polymerization of vinyl acetate (VAc) in the presence of PVA. The formation of the porous membrane depended upon whether or not PVAc in the latex film was easily extracted with solvent. In the case of using hydrogen peroxide (HPO)–tartaric acid (TA) as an initiator, in the film of the latex which was produced from the batch method in which all ingredients of the batch were put into the reaction vessel before starting polymerization, PVAc could be extracted over 90% of total PVAc with common organic solvents. In the film of the latex which was produced from the dropwise addition method of VAc and initiator, the PVAc extraction was about 20-30%. On the other hand, in the case of using ammonium persulfate as an initiator, the desired porous membrane was not obtained. The structure of the porous membrane obtained from the latex of the batch method by using HPO—TA consisted of spherical cells which were made up of PVA and grafted PVAc or insoluble PVAc like microgels, which were not extracted with organic solvent and were connected by small pores. The PVA—PVAc composite porous membrane is permeated by n-hexane with 5.58 × 10² mL/cm²·s at 0.5 kg/cm², by benzene with only 1.33 × 10^?3mL/cm²·s even at 60 kg/cm².     

Effect of polymer density on polyethylene hollow fiber membrane formation via thermally induced phase separation

Microporous high‐density polyethylene (HDPE) and low‐density polyethylene (LDPE) hollow fiber membranes were prepared from polyethylene–diisodecyl phthalate solution via thermally induced phase separation. Effect of the polyethylene density on the membrane structure and performance was investigated. The HDPE membrane showed about five times higher water permeability than the LDPE membrane because it had the larger pore and the higher porosity at the outer membrane surface. The formation of the larger pore was owing to both the initial larger structure formed by spinodal decomposition and the suppression of the diluent evaporation from the outer membrane surface due to the higher solution viscosity. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 93: 471–474, 2004