Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots

On March 11, 2011, a massive earthquake (magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis due to the loss of all power that resulted from the meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions, and, in one building, the nuclear reactions became out of control. It was too dangerous for humans to enter the buildings to inspect the damage because radioactive materials were also being released. In response to this crisis, it was decided that mobile rescue robots would be used to carry out surveillance missions. The mobile rescue robots needed could not be delivered to the Tokyo Electric Power Company (TEPCO) until various technical issues were resolved. Those issues involved hardware reliability, communication functions, and the ability of the robots' electronic components to withstand radiation. Additional sensors and functionality that would enable the robots to respond effectively to the crisis were also needed. Available robots were therefore retrofitted for the disaster reponse missions. First, the radiation tolerance of the electronic componenets was checked by means of gamma ray irradiation tests, which were conducted using the facilities of the Japan Atomic Energy Agency (JAEA). The commercial electronic devices used in the original robot systems operated long enough (more than 100 h at a 10% safety margin) in the assumed environment (100 mGy/h). Next, the usability of wireless communication in the target environment was assessed. Such tests were not possible in the target environment itself, so they were performed at the Hamaoka Daiichi Nuclear Power Plants, which are similar to the target environment. As previously predicted, the test results indicated that robust wireless communication would not be possible in the reactor buildings. It was therefore determined that a wired communication device would need to be installed. After TEPCO's official urgent mission proposal was received, the team mounted additional devices to facilitate the installation of a water gauge in the basement of the reactor buildings to determine flooding levels. While these preparations were taking place, prospective robot operators from TEPCO trained in a laboratory environment. Finally, one of the robots was delivered to the Fukushima Daiichi Nuclear Power Plants on June 20, 2011, where it performed a number of important missions inside the buildings. In this paper, the requirements for the exploration mission in the Fukushima Daiichi Nuclear Power Plants are presented, the implementation is discussed, and the results of the mission are reported.     

Quantitative imaging of Young's modulus of solids: a contact-mechanics study

We developed equipment and methods for measuring quantitatively the local Young's modulus of solids. It consists of an electrodeless langasite oscillator and line antennas, and oscillator vibrations are generated and detected contactlessly. A constant biasing force results from oscillator mass and is independent of surface roughness. The effect of material anisotropy on the measured stiffness is theoretically discussed for studying the limitation of the quantitative measurement. The microscopy has been applied to polycrystalline copper, and the measured modulus is compared to calculations based on electron-backscatter-diffraction measurements. Also, we applied it to a duplex stainless steel and an embedded silicon-carbide fiber. The results reveal textured regions, defects with high sensitivity, and even stiffness distribution in a single grain.     

Gradient-index rod lens with a high acceptance angle for color use by Na(+) for Li(+) exchange

The relationship between the characteristics of gradient-index rod lenses obtained by ion exchange and their mother glass compositions is studied. It is observed that Li(2)O content, R(2)O (Li(2)O + Na(2)O) content, and the Li(2)O/Na(2)O ratio are important factors in attaining a high acceptance angle and a small field curvature. Thus the gradient-index lens array is fabricated by the use of a newly developed glass composition and its optical performance; the modulation transfer function, luminous intensity, and chromatic aberration are precisely evaluated. The array is found to have a sufficiently high performance to be applicable for color use.     

A scalable interest-oriented peer-to-peer pub/sub network

There has been a big challenge in structured peer-to-peer overlay network research area. Generally, a structured overlay network involves nodes evenly or based on their resource availabilities, and gathers nodes?? resources to achieve some bigger tasks. The challenge here is to gather resources based on nodes?? interests, and only interested nodes are involved in a certain task. Toward this challenge, we propose a new scheme to a peer-to-peer publish/subscribe network. Publish/subscribe represents a new paradigm for distributed content delivery. It provides an alternative to address-based communication due to its ability to decouple communication between the source and the destination. We propose a Bloom filter based mapping scheme to map IDs to nodes?? interests in addition to new interest proximity metric to forward events and to build nodes?? routing tables. We also propose a new approach called ??shared interest approach?? for network discovery. To evaluate the algorithms proposed in this work, we conducted simulations in both static and dynamic settings, and found a low false positive rate. We also discuss about a well-known application called Twitter, and show how our scheme would work in a real environment.     

Temperature-controlled molecular dynamics study on velocity-dependent threshold behavior of dynamic nano-friction

Laws of dynamic nano-friction (i.e., continuous wearless friction) were searched for under steady spatial distributions of the local quasi-temperature, by molecular dynamics (MD) simulations. The temperature control of the non-conservative model was carried out by extending the isothermal MD method using the Nosé–Poincaré thermostat. The results suggested that the threshold phenomenon characterizes sliding-velocity dependence of the nano-frictional force between crystal lattices constituting a nano-electromechanical system (NEMS). This phenomenon was turned out to be a universal feature, whether heat transfer to the environment exists or not.     

A Face Identification System Based on the Mahalanobis–Taguchi System

In this paper, we propose a face identification system based on the Mahalanobis–Taguchi System (MTS). The MTS is one of the pattern recognition methods frequently used in quality engineering, and can perform robust pattern recognition by using training data, including noise. It is likely that this advantage will allow the effective implementation of a robust face identification system against lighting and face position fluctuations. Moreover, the MTS can optimize the number of attributes required for identification by using the orthogonal array and the signal/noise (SN) ratio. The face identification system has to deal with many users and the amount of data in a facial image is large. Therefore, the time required for identification can be decreased and the amount of data in the facial image database can be reduced by performing the optimization. We confirmed the effectiveness of the proposed system through practical experiments. The experimental results revealed that the MTS was an effective method for robust face identification, and could effectively reduce the number of attributes required for identification.     

Electrical and structural properties of ortho-chloranil doped zinc phthalocyanine films

Electrical conductivity of evaporated zinc phthalocyanine (ZnPc) films, doped with orthochloranil (o-CA) molecules, is investigated. Benzoico-CA solution is introduced in the film and benzene is removed by vapourization afterwards. The film conductivity at first increased and then decreased with incremental doping. The maximum conductivity of the sample appeared at doping level × (=o-CA/ZnPc) 0.2 and is about 10³ times as large as that of the as-evaporated one. About a ten-fold further increase in the conductivity is obtained by the heat-treatment of 150 °C for 12 h. The conductivity change by doping is explained by taking into account thato-CA molecules behave not only as acceptors in the film but destructively for the film structure. The phase change of ZnPc by benzoic solution is also discussed.     

Thermomechanical behavior of Ti-Ni shape memory alloy films deposited by DC magnetron sputtering

In this study, thermomechanical properties of titanium-nickel (Ti-Ni) shape memory alloy (SMA) films are investigated in order to derive constitutive relations. Ti-Ni SMA films, deposited by DC magnetron sputtering under controlled film composition, are characterized by uniaxial tensile tests. At room temperature (R.T.), Ti-Ni films having Ti contents less than 50 at% exhibit superelastic behavior, and those having Ti contents greater than 50 at% exhibit shape memory behavior. However, the Ni—53.2 at% Ti film fractured at a tensile strain of 0.8% because of an increase in brittleness with increasing Ti content. At elevated temperatures, Ti-Ni films having Ti contents of 50.2 to 52.6 at% undergo phase change from martensite to austenite. The Young's modulus of the Ti-Ni films depends on temperature at each phase, regardless of film composition. Film composition does, however, affect the measured material constants b_A, b_M, c_A, and c_M. Stress-strain curves calculated from the constructed constitutive equation closely agree with those obtained from tensile tests, for both the martensite and austenite phases. The constitutive equations are expected to find great utility in the design of Ti-Ni film-actuated microelectromechanical systems (MEMS).     

Seismic proof test of a reinforced concrete containment vessel (RCCV): Part 2: Results of shaking table tests

A 1/8-scale model was constructed of a reinforced concrete containment vessel (RCCV) used in the latest advanced boiling water reactors (ABWR). Shaking table tests were conducted on it with input motions corresponding to or exceeding a design earthquake assumed for a real Nuclear Power Plant.The objectives of the tests were to verify the structural integrity and the leak-proof functional soundness of the RCCV subjected to design earthquakes, and to determine the ultimate strength and seismic margin by an excitation that led to the model's collapse. The model, the test sequence and the pressure and leak test results were addressed in Part 1. The shaking table test method, the input motions and the test results, including the transition of the model's stiffness, natural frequencies and damping factors and the effects of vertical input motions and internal pressure on the model's characteristics and behavior, the load–deformation, the ultimate strength, the failure mode of the reinforced concrete portion and the liner plate are described here. The seismic safety margin that was evaluated by the energy input during the failure test to a design basis earthquake will be described in Part 3. The analytical results of simulation using the multi-lumped mass model will be described in Part 4.     

Static Coarse Grain Task Scheduling with Cache Optimization Using OpenMP

Effective use of cache memory is getting more important with increasing gap between the processor speed and memory access speed. Also, use of multigrain parallelism is getting more important to improve effective performance beyond the limitation of loop iteration level parallelism. Considering these factors, this paper proposes a coarse grain task static scheduling scheme considering cache optimization. The proposed scheme schedules coarse grain tasks to threads so that shared data among coarse grain tasks can be passed via cache after task and data decomposition considering cache size at compile time. It is implemented on OSCAR Fortran multigrain parallelizing compiler and evaluated on Sun Ultra80 four-processor SMP workstation using Swim and Tomcatv from the SPEC fp 95. As the results, the proposed scheme gives us 4.56 times speedup for Swim and 2.37 times on 4 processors for Tomcatv respectively against the Sun Forte HPC Ver. 6 update 1 loop parallelizing compiler.