The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

Stability analysis of continuous-time periodic systems via theharmonic analysis

Asymptotic stability of finite-dimensional linear continuous-time periodic (FDLCP) systems is studied by harmonic analysis. It is first shown that stability can be examined with what we call the harmonic Lyapunov equation. Another necessary and sufficient stability criterion is developed via this generalized Lyapunov equation, which reduces the stability test into that of an approximate FDLCP model whose transition matrix can be determined explicitly. By extending the Gerschgorin theorem to linear operators on the linear space l₂, yet another disc-group criterion is derived, which is only sufficient. Stability of the lossy Mathieu equation is analyzed as a numerical example to illustrate the results     

A general framework for debugging

The state of the art of debugging is examined. A debugged process model that serves as the basis of a general debugging framework is described. The relationship of the model to traditional debugging processes and support tools is discussed. A minimal set of requirements for a general debugging framework is described in terms of both the theory behind debugging methodologies and the support tools. An execution monitor, Eden, that serves as a debugging tool within this general framework is described     

A compact full MMIC module for Ku-band phase-lockedoscillators

A compact Ku-band phase-locked oscillator module has been developed in a full MMIC (monolithic microwave integrated circuit) configuration. The module includes an MMIC voltage-controlled oscillator, an analog frequency divider, and interstage amplifiers. The constituent monolithic chips are integrated in a very small single-package module and operate at the target frequencies without any external trimming or matching network. The oscillator is tuned more than 1 GHz with a constant output amplitude. The frequency-divided output is also obtained over the whole tuning range. Spurious output is not found at any frequency up to 22 GHz. In spite of the very low-Q factor of GaAs monolithic circuitry, the oscillator phase noise exhibited is less than -80 dBc/Hz, due to the high-gain, high-speed phase lock     

A video DSP with a macroblock-level-pipeline and a SIMD typevector-pipeline architecture for MPEG2 CODEC

A video DSP with macroblock-level-pipeline and a SIMD type vector-pipeline architecture (VDSP2) has been developed, using 0.5 μm triple-layer-metal CMOS technology. This 17.00 mm×15.00 mm chip consists of 2.5 M transistors, and operates at 100 MHz. The real-time encoder and decoder specified in the MPEG2 main profile at the main level can be realized with two VDSP2's and a motion estimation (ME) unit, and one VDSP2 respectively, at an 80 MHz clock rate, with a total power dissipation of 4.2 W at 3.3 V     

Granular Reasoning Using Zooming In & Out: Part 2. Aristotle's Categorical Syllogism

The concept of granular computing is applied to Aristotle's categorical syllogism. Such kind of reasoning is called granular reasoning in this paper. For the purpose, two operations called zooming in & out are introduced to reconstruct granules of possible worlds.     

Skew simulation of a paper transferred by rubber rollers in printers

A skew of a paper transferred by rubber rollers in printers is simulated by FEM software. Effects of an imbalance of preload, an imbalance distribution of coefficient of friction and a front tension on the paper skew are investigated and how to determine the skew direction are shown. A simulation model is composed of a feed roller, a preload roller and a paper. The feed roller is rotated forcibly by a certain degree at every calculation step and a deformation, displacement and strain of the paper and rollers are calculated. A series of calculation results is shown as a motion simulation. The results show that the paper skews to the smaller preload side, to the smaller coefficient of friction side, or to the opposite side of the front tension. Further, effects of a skew prevention guide plate is simulated.