Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

Distinct Roles of Soluble and Transmembrane Adenylyl Cyclases in the Regulation of Flagellar Motility in Ciona Sperm

Adenylyl cyclase (AC) is a key enzyme that synthesizes cyclic AMP (cAMP) at the onset of the signaling pathway to activate sperm motility. Here, we showed that both transmembrane AC (tmAC) and soluble AC (sAC) are distinctly involved in the regulation of sperm motility in the ascidian Ciona intestinalis. A tmAC inhibitor blocked both cAMP synthesis and the activation of sperm motility induced by the egg factor sperm activating and attracting factor (SAAF), as well as those induced by theophylline, an inhibitor of phoshodiesterase. It also significantly inhibited cAMP-dependent phosphorylation of a set of proteins at motility activation. On the other hand, a sAC inhibitor does not affect on SAAF-induced transient increase of cAMP, motility activation or protein phosphorylation, but it reduced swimming velocity to half in theophylline-induced sperm. A sAC inhibitor KH-7 induced circular swimming trajectory with smaller diameter and significantly suppressed chemotaxis of sperm to SAAF. These results suggest that tmAC is involved in the basic mechanism for motility activation through cAMP-dependent protein phosphorylation, whereas sAC plays distinct roles in increase of flagellar beat frequency and in the Ca²⁺-dependent chemotactic movement of sperm.     

222Rn concentrations in greenhouses in Aomori Prefecture, Japan

Greenhouses are possible places with high 222Rn concentrations, since soil, the source of 222Rn, is directly exposed inside them. To examine this point, 222Rn concentrations in 28 greenhouses at five locations in Aomori Prefecture were measured for approximately 1 year with passive Rn detectors. For 1 week, measurements of 222Rn concentration and working level were also carried out with active detectors to get equilibrium factors and the ratio of 222Rn concentration in working time to non-working time in selected greenhouses. The geometric mean of annual 222Rn concentrations in greenhouses was 13 Bq m-3, and the same as that in dwellings and lower than that in indoor workplaces in the prefecture. However, variation of the 222Rn concentrations was far larger than in other environments, and ranged from the lowest level in outdoor workplaces to the highest level in indoor workplaces. Significant seasonal variation was also observed in 222Rn concentrations. The mean effective dose from 222Rn and its progenies was estimated to be 0.047 mSv year-1 for a farmer working in a greenhouse.     

Formation of bromo-substituted triclosan during chlorination by chlorine in the presence of trace levels of bromide

The side reactions of triclosan (2,4,4'-trichloro-2'-hydroxydiphenyl ether, TC) and chlorine in the presence of sodium chloride were investigated. In the absence of sodium chloride, three chloro-derivatives of TC, 2',3,4,4'-tetrachloro-2-hydroxydiphenyl ether (3-Cl-TC), 2',4,4',5-tetrachloro-2-hydroxydiphenyl ether (5-Cl-TC), and 2',3,4,4',5-pentachloro-2-hydroxydiphenyl ether (3,5-Cl(2)-TC) were formed, whereas in the presence of sodium chloride, 3-bromo-2',4,4'-trichloro-2-hydroxydiphenyl ether (3-Br-TC), 5-bromo-2',4,4'-trichloro-2-hydroxydiphenyl ether (5-Br-TC), (3 or 5)-bromo-2',4,4',(5 or 3)-chloro-2-hydroxydiphenyl ether ((3,5)-(BrCl)-TC), and 3,5-dibromo-2',4,4'-trichloro-2-hydroxydiphenyl ether (3,5-Br(2)-TC) were additionally formed. Radiochemical neutron activation analysis indicated that 1g of commercially available sodium chloride contained 73 microg of bromide and the bromide ion was determined to be the source of the side reactions. The rate of decrease of TC due to reaction with chlorine was greatly accelerated by the presence of bromide ion in the system: the rate with only 1 x 10(-5) M bromide ion was three times the rate in the absence of bromide.     

Anisotropic structure of alkali metaphosphate glasses

Orientation anisotropy, which is well known in organic polymers with appropriate network structures, is less common in oxide glasses. We present the intermediate-range order in anisotropic alkali metaphosphate glass which consists of oriented PO₄ tetrahedral chains and intervening alkali cations along the elongation direction. The X-ray total structure factor S(Q) indicates that the inter-chain spacing depends on the size of alkali cations and varies from 5.03 to 6.28 Å. The mixed alkali effect is primarily related to an increase of the separation. The total correlation function T(r) provides the first definite evidence that the anisotropic structure is composed of phosphorus-bridging oxygen bonds (P–O_B) lying along the elongation direction and phosphorus-non-bridging oxygen bonds (P–O_T) oriented perpendicular to the elongation direction. The present result unveils fundamental aspects of the anisotropic structure of an oxide glass and provides essential information for the development of oxide glasses to control structural anisotropy.     

Fluorescence Correlation Spectroscopy Analysis of Effect of Molecular Crowding on Self-Assembly of β-Annulus Peptide into Artificial Viral Capsid

Recent progress in the de novo design of self-assembling peptides has enabled the construction of peptide-based viral capsids. Previously, we demonstrated that 24-mer β-annulus peptides from tomato bushy stunt virus spontaneously self-assemble into an artificial viral capsid. Here we propose to use the artificial viral capsid through the self-assembly of β-annulus peptide as a simple model to analyze the effect of molecular crowding environment on the formation process of viral capsid. Artificial viral capsids formed by co-assembly of fluorescent-labelled and unmodified β-annulus peptides in dilute aqueous solutions and under molecular crowding conditions were analyzed using fluorescence correlation spectroscopy (FCS). The apparent particle size and the dissociation constant (K_d) of the assemblies decreased with increasing concentration of the molecular crowding agent, i.e., polyethylene glycol (PEG). This is the first successful in situ analysis of self-assembling process of artificial viral capsid under molecular crowding conditions.     

Experimental study on latent heat storage characteristics of W/O emulsion -Supercooling rate of dispersed water drops by direct contact heat exchange-

Recently, much attention has been paid to investigate the latent heat storage system. Using of ice heat storage system brings an equalization of electric power demand, because it will solved the electric -power-demand-concentration on day-time of summer by the air conditioning. The flowable latent heat storage material, Oil/Water type emulsion, microencapsulated latent heat material-water mixture or ice slurry, etc., is enable to transport the latent heat in a pipe. The flowable latent heat storage material can realize the pipe size reduction and system efficiency improvement. Supercooling phenomenon of the dispersed latent heat storage material in continuous phase brings the obstruction of latent heat storage. The latent heat storage rates of dispersed water drops in W/O (Water/Oil) emulsion are investigated experimentally in this study. The water drops in emulsion has the diameter within 3 ～ 25μm, the averaged water drop diameter is 7.3μm and the standard deviation is 2.9μm. The direct contact heat exchange method is chosen as the phase change rate evaluation of water drops in W/O emulsion. The supercooled temperature and the cooling rate are set as parameters of this study. The evaluation is performed by comparison between the results of this study and the past research. The obtained experimental result is shown that the 35K or more degree from melting point brings 100% latent heat storage rate of W/O emulsion. It was clarified that the supercooling rate of dispersed water particles in emulsion shows the larger value than that of the bulk water.     

Robust disturbance-rejection problems for linear ω-periodicdiscrete-time systems

Two robust disturbance-rejection problems with state feedback and with incomplete-state feedback for linear ω-periodic discrete-time systems are studied in the framework of the so-called geometric approach. Also, some necessary conditions and/or sufficient conditions for the problems to be solvable are presented     

The distributions of temperature and magnetic force on a curvedconductor

The distribution properties of magnetic force and surface temperature on a curved conductor have been investigated. The results reveal that those distributions are nonuniform along the conductor. The maximum value is located at the vertex of the curved part and is influenced by the curved radius and the curved angle