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1.
The World robot summit disaster robotics category – achievements of the 2018 preliminary competition
Satoshi Tadokoro Tetsuya Kimura Masayuki Okugawa Katsuji Oogane Hiroki Igarashi Yoshikazu Ohtsubo 《Advanced Robotics》2019,33(17):854-875
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. 相似文献
2.
Segregation of reactive metals at the bonding interface has been observed in various ceramic and/or metal joints bonded with
reactive metal-bearing braze alloys. When a d.c. of 20 mAcm−2 is applied to the ceramic/braze/ceramic system at a brazing temperature of, say, 1373 K, the electric field assists the segregation
at the braze-ceramic interface on the cathode side and suppresses the segregation at the interface on the anode side. This
may imply that reactive metal atoms in the braze can migrate as a cation. E.m.f. measurement on the ceramic (AIN or ZrB2)-metal foil systems with increasing temperature shows that a negative e.m.f. to the ceramic pole appears from about 900 K
for AIN and from 500 K for ZrB2, as does the thermally stimulated current in polymers. These temperatures coincide well with those where the electrical conductivity
of AIN and ZrB2, respectively, begins to increase with increasing temperature. Therefore, it is considered that the polarization of the ceramics
may take place and assist the migration, and consequently segregation, of reactive metals in braze alloys to the braze-ceramic
interface during brazing. 相似文献
3.
Akihiko Sakurai Mina Masuda Mikio Sakakibara 《Journal of chemical technology and biotechnology (Oxford, Oxfordshire : 1986)》2003,78(9):952-958
The removal of phenol by peroxidase‐catalysed polymerization was examined using Coprinus cinereus peroxidase in the presence of surfactants. The non‐ionic surfactants with poly(oxyethene) residues, Triton X‐100, Triton X‐405 and Tween 20, enhanced the phenol removal efficiency at a level similar to high relative molecular mass poly(ethylene glycol) (relative molecular mass 3000). Although the improvement in the removal efficiency was less than that of Triton X‐100, Span 20, sodium lauryl sulfate (SDS) and lauryl trimethylammonium bromide (DTAB) also enhanced the removal efficiency. The requirement of the enzyme for almost 100% removal of 100 mg dm?3 phenol decreased to one‐fourth by the addition of 30 mg dm?3 Triton X‐100. Triton X‐100, Triton X‐405, Tween 20 and DTAB could reactivate the enzyme precipitated with the phenol polymer, leading to the restarting of the phenol removal reaction. Copyright © 2003 Society of Chemical Industry 相似文献
4.
O Motohashi M Suzuki N Shida K Umezawa T Ohtoh Y Sakurai T Yoshimoto 《Canadian Metallurgical Quarterly》1995,136(1-2):88-91
Subarachnoid haemorrhage (SAH) often leads to subarachnoid fibrosis and resultant normal pressure hydrocephalus; however, how subarachnoid fibrosis occurs is unknown. We examined the changes within arachnoid granulations (AGs) and the subarachnoid space (SAS) chronologically at the parasagittal region obtained from patients with SAH at autopsy and made comparison with controls by immunostaining for cytokeratin, specific marker for leptomeningeal cells and by the elastica Masson-Goldner methods. Within a week some AGs were torn, and many inflammatory cells filled the AGs and SAS. Cytokeratin positive cells were scarce. During the next two weeks cytokeratin positive cells increased. After three weeks, AGs and SAS were filled by dense deposits of extracellular matrices surrounded by multiple layers of leptomeningeal cells. 相似文献
5.
H Yasoshima K Uematsu K Sakurai Y Ueno K Hori N Kanazawa T Tanaka N Yamanaka E Okamoto 《Canadian Metallurgical Quarterly》1993,43(12):783-789
A case of primary carcinoid tumor arising in the liver of a 69 year old woman with no endocrine symptoms is reported. Histopathologically, the tumor was diagnosed initially as a hepatocellular carcinoma in the biopsy specimen, and was shown subsequently to be a carcinoid tumor, demonstrating diffuse positive staining with Grimelius method. Mucin stained with periodic acid-Schiff (PAS), alcian-blue, and mucicarmine, and was shown partially in the glandular structures. Immunohistochemically, most of the tumor cells stained positively for chromogranin-A, epithelial membrane antigen (EMA) and neuron specific enolase (NSE). Ultrastructural examination revealed electron-dense core granules, measuring 40-120 nm in diameter in some of the tumor cells. Intensive and careful searches pre- and post-operatively revealed no other primary source of tumor other than the liver. The patient was reported well with no symptoms 3 1/2 years after the operation. This case is considered to be a primary hepatic carcinoid tumor. The recent literature is reviewed, and the possible histogenesis of hepatic carcinoid tumor is discussed. 相似文献
6.
An analysis of a waveguide T junction with an inductive post 总被引:1,自引:0,他引:1
The authors analyze the T junction with an inductive post, taking its diameter into account for the case where the current distribution is assumed on the surface of the post. A single cylindrical post placed in a T junction improves the impedance matching and compensates the junction discontinuity in a wide frequency band. The effects of the design parameters, such as the diameter of the post and its location, are clarified. The measured return loss is accurately predicted. On the basis of this analysis, an effective design procedure for the T junction is proposed, and the reflection below -30 dB is realized over 4% bandwidth 相似文献
7.
Nakano H. Iwatsuki M. Sakurai M. Yamauchi J. 《Antennas and Propagation, IEEE Transactions on》2003,51(4):712-718
A rectangular aperture of A/sub x//spl times/A/sub y/, cut in the top conducting plate of a triplate transmission line and backed by a cavity, radiates a tilted beam off the direction normal to the aperture. The mechanism of the radiation is explained using the Poynting vector distribution above the aperture and the phase distribution of the electric field over the aperture. The tilt angle is calculated as a function of side length A/sub x/ for a representative value of A/sub y/=18 mm=0.747/spl lambda//sub 12.45/, where /spl lambda//sub 12.45/ is the wavelength at a test frequency of 12.45 GHz. A tilted beam of approximately 27/spl deg/ is realized at A/sub x//A/sub y/=8/9 with a gain of approximately 8 dB. Using this value of A/sub x//A/sub y/, an array antenna composed of rectangular cavity-backed aperture elements is investigated. The array forms a tilted fan beam without phase shifters. The frequency responses of the gain and input impedance are discussed. 相似文献
8.
A method is presented for explicitly representing dimensions, tolerances, and geometric features in solid models. The method combines CSG and boundary representations in a graph structure called an object graph. Dimensions are represented by a relative position operator. The method can automatically translate changes in dimensional values into corresponding changes in geometry and topology. The representation provides an important foundation for higher-level application programs to automate tolerance analysis and synthesis. The implementation of a prototype interactive polyhedral modeler based on this representation is presented 相似文献
9.
Tetsuya Murai Yoshiharu Sato Germano Resconi Michinori Nakata 《Electronic Notes in Theoretical Computer Science》2003,82(4):186
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. 相似文献
10.
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. 相似文献