System for augmented human–robot interaction through mixed reality and robot training by non-experts in customer service environments

Human–robot interaction during general service tasks in home or retail environment has been proven challenging, partly because (1) robots lack high-level context-based cognition and (2) humans cannot intuit the perception state of robots as they can for other humans. To solve these two problems, we present a complete robot system that has been given the highest evaluation score at the Customer Interaction Task of the Future Convenience Store Challenge at the World Robot Summit 2018, which implements several key technologies: (1) a hierarchical spatial concepts formation for general robot task planning and (2) a mixed reality interface to enable users to intuitively visualize the current state of the robot perception and naturally interact with it. The results obtained during the competition indicate that the proposed system allows both non-expert operators and end users to achieve human–robot interactions in customer service environments. Furthermore, we describe a detailed scenario including employee operation and customer interaction which serves as a set of requirements for service robots and a road map for development. The system integration and task scenario described in this paper should be helpful for groups facing customer interaction challenges and looking for a successfully deployed base to build on.     

Stabilizing effect of the cyclodextrins additive to spray-dried particles of curcumin/polyvinylpyrrolidone on the supersaturated state of curcumin

Although curcumin is considered to have various therapeutic effects, its use as a functional food or supplement is restricted owing to its low water solubility and bioavailability. To increase the solubility of curcumin in water, the use of polyvinylpyrrolidone (PVP) and vinylpyrrolidone-vinyl acetate copolymers with a pyrrolidone skeleton was noted to be promising. In particular, the bi-component formulations of curcumin/PVP prepared through spray drying exhibited an amorphous state in powder X-ray diffraction observations and temporally increased the apparent solubility of curcumin to over 5000 times that of untreated curcumin; nevertheless, after 24 h, the solubility decreased owing to the unstable supersaturated state of curcumin. The addition of α-cyclodextrin (α-CyD) in the bi-component curcumin/PVP formulation helped maintain the supersaturated state of curcumin, whereas the addition of β- and γ-CyD led to the collapse of the supersaturated state. The addition of α-CyD can likely help inhibit the nucleation and crystal growth of curcumin, through the interaction among the solubilized units of curcumin/PVP and α-CyD.     

Trap Levels in Eu and other Rare‐Earth Ions Codoped CaAl2O4 Phosphors

Photoluminescence spectrum, trap depths, and densities of trapped carriers of CaAl₂O₄:Eu phosphor crystals doped with rare‐earth elements were studied using the thermally stimulated luminescence technique. Trap depths and densities of the specimens vary with rare‐earth elements doped as the auxiliary activators. Tm and Nd are found to be effective for the strong afterglow phosphorescence peaking at λ = 442 nm for several hours after the excitation. CaAl₂O₄:Eu phosphor crystals doped with Nd and Tm include high density of carriers trapped at E = 0.59 and 0.52 eV, respectively.     

Autonomous Variable‐Resolution Map Building for Mobile Robots in Unknown Environments

This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omnidirectional mobile robot equipped with laser range finders. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 59–69, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22493     

Evaluation of Young’s modulus of imprinted hydrogen silsesquioxane pillar after residual layer removal by reactive ion etching

Nanoimprint lithography has two basic steps. The first is the imprint step in which a mold with nanostructures on its surface is pressed into a resin film on a substrate, followed by removal of the mold. The second step is the residual layer removal by a reactive ion etching (RIE). There is no report whether the properties of the imprinted structure after RIE change or not. In this work, the authors evaluated the Young’s modulus of the imprinted pillar after residual layer removal by RIE. In this experiment, hydrogen silsesquioxane (HSQ), a type of spin-on-glass, was used as an imprint material. The residual layer was etched by RIE using CHF₃ gas. The Young’s modulus of imprinted pillar after RIE was measured via cantilever method. The Young’s modulus of HSQ pillar after RIE was twice as much as that of HSQ pillar before RIE. From the Fourier transform infrared measurement, it was founds the chemical structure of HSQ was changed by forming network structure due to heating by RIE plasma energy. These results indicate that the mechanical property of imprinted structure was changed in the residual layer removal step by using RIE.     

An order acceptance strategy under limited engineering man-hours for cost estimation in Engineering–Procurement–Construction projects

Accurate cost estimation is essential for any Engineering–Procurement–Construction (EPC) contractor accepting profitable projects because the project price is determined prior to receiving the contract. Therefore the contractor needs to ensure engineering man-hours (MH) in order to estimate project costs accurately as well as carry out the accepted orders. In this paper, we develop MH based order acceptance strategies and investigate their effects on the total expected profit through a long-term operation in EPC projects under a competitive bidding situation. To this end we build a simulation model describing relations among the volume of MH for cost estimation, accepted orders, revenues, and profits in EPC projects. Using our model, we show that the strategy, which maintains the appropriate balance of MH for cost estimation and project execution under the variability of accepted orders with competitive bidding situations, improves the total expected profit in EPC projects.     

Theoretical study of the temperature dependent hydrogen storage capacity of Pd and Ti nanoparticles

A hybrid simulation was carried out using discrete variational (DV) Xα molecular orbital and molecular dynamics methods to examine the storage of hydrogen in metal nanoparticles. The calculation load was light and therefore could be performed quickly on a generic personal computer. The simulation investigates the electronic states of hydrogen on Pd and Ti nanoparticles. The hydrogen dissociation behavior on the metal surface was reproduced, and the calculated bonding orbitals of Pd and hydrogen are consistent with other reports. The diffusion coefficient of hydrogen inside the metal displays the same temperature dependence as the theoretical results. This simplified calculation, which produces results in agreement with experimental/theoretical values, could lead to improved simulation methods for hydrogen storage materials.     

Capillary rise properties of porous mullite ceramics prepared by an extrusion method with various diameters of fiber pore formers

Porous mullite ceramics with unidirectionally oriented pores were prepared by an extrusion method using rayon fibers as the pore formers. Rayon fibers of 8.1, 9.6, 16.8, and 37.6 μm in diameter were used as the pore formers and were kneaded with alumina powder, kaolin clay, China earthen clay, and water to form pastes. These pastes were extruded into cylindrical tubes, dried, and fired at 1500 °C for 4 h. The apparent porosities ranged from 45.7 to 48.2 %. The pore size distributions showed a sharp peak at 9.4, 10.0, 15.6, and 30 μm with increasing fiber diameters. The height of the capillary rise was 1780, 1670, 1320, and 950 mm with increasing fiber diameter. The maximum capillary rise is much higher than previously reported. The contact angle and effective pore radius that determine the capillary rise ability were calculated by fitting the capillary rise curves using the Fries and Dreyer’s equation.     

Combined effects of radon inhalation and antioxidant vitamin administration on acute alcohol-induced hepatopathy in mice

It has been reported that radon inhalation activates antioxidative functions in liver and has an antioxidative effect against hepatopathy similar to that of the antioxidative effects of ascorbic acid (VC) or α-tocopherol (VE). In this study, we examined the combined effects of radon inhalation and antioxidant vitamin administration on acute alcohol-induced hepatopathy in mice. ICR mice were subjected to intraperitoneal (i.p.) administration of alcohol after pretreating with air only (sham) or radon at a concentration of approximately 2000 Bq/m³ for 24 hours and i.p. administration of VC (300 mg/kg body weight) or VE (300 mg/kg body weight). In mice injected with alcohol, the combined radon and antioxidant vitamins treatment significantly decreased the activities of glutamic oxaloacetic transaminase in serum compared to not only the alcohol-administered group (sham group), but also the radon inhalation with alcohol administration group or the vitamin and alcohol administration group. In addition, radon inhalation significantly increased the antioxidant level, in such as the catalase activity and the total glutathione content in liver compared to the sham group. These results suggested that the combined radon and antioxidant vitamin treatment could effectively inhibit alcohol-induced hepatopathy in mice without any antagonizing action.