Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention

Abstract

In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed.     

Effect of Talc Size on Surface Roughness and Glossiness of Polypropylene Injection Molding Application to Automotive Plastics

Talc-containing polypropylene (PP) resin is extensively employed in automobiles. Herein, considering the microstructure transfer process in injection molding, the effect of the talc's dispersibility and particle size on this process and its impact on the gloss level of the product were investigated. Results show that a fine unevenness of about several micrometers was self-formed by the shrinkage of PP in nontransferred areas due to the blending of talc. Additionally, the amount of self-formed unevenness tended with an increase in the average particle size of talc. Furthermore, due to PP shrinkage and different densities of talc, it was observed that a fine tiger-stripe pattern was self-formed using special molds with modified microstructure. This self-formed fine unevenness changes the gloss level owing to the diffused light reflection effect. This study proposes controlling this change by controlling the average particle size of talc and structure of the mold. POLYM. ENG. SCI., 60:132–139, 2020. © 2019 Society of Plastics Engineers     

Application of Near-Infrared Spectroscopy for Evaluation of Drying Stress on Lumber Surface: A Comparison of Artificial Neural Networks and Partial Least Squares Regression

This study aimed to examine the feasibility of evaluating the stress level at the surface of lumber during drying using near-infrared (NIR) spectroscopy combined with artificial neural networks (ANNs). Sugi (Cryptomeria japonica D. Don) lumber with an initial moisture content ranging from 41.1 to 85.8% was dried using a commercial drying schedule. An ANN model for predicting surface-released strain (SRS) was developed based on NIR spectra collected from the lumber during drying. The predictive ability of the ANN model was compared with a partial least squares (PLS) regression model.

The ANN model showed good correlation between laboratory-measured SRS and predicted SRS with an R ² of 0.79, a root mean square error of prediction (RMSEP) of 0.0009, and a ratio of performance to deviation (RPD) of 1.81. The PLS regression model gave a lower R ² of 0.69, a higher RMSEP of 0.0010, and a lower RPD of 1.38 than the ANN model, suggesting that the predictive performance of the ANN model was superior to the PLS regression model. The SRS evolution during drying as predicted by the models showed a similar trend to the laboratory-measured one. The predicted elapsed times to reach maximum tensile SRS and stress reversal roughly coincided with the laboratory-measured times. These results suggest that NIR spectroscopy combined with multivariate analysis has the potential to predict the drying stress level on the lumber surface and the critical periods during drying, such as the points of maximum tensile stress and stress reversal.     

Methane and nitrous oxide emissions from irrigated lowland rice paddies after wheat straw application and midseason aeration

Straw application and midseason drainage play role in controlling methane (CH₄) and nitrous oxide (N₂O) emissions from rice paddy fields, but little information is available on their integrative effect on CH₄ and N₂O emissions. A two-year field experiment was conducted to study the combined effect of timing and duration of midseason aeration and wheat straw incorporation on mitigation of global warming potential (GWP) of CH₄ and N₂O emissions from irrigated lowland rice paddy fields. Results showed that incorporation of wheat straw increased CH₄ by a factor of 5–9 under various water regimes, but simultaneously decreased N₂O emission by 19–42 % during the rice growing season. Without straw incorporation, prolonged aeration significantly reduced the net 100-year GWP of CH₄ and N₂O emissions by 6 %, but also decreased rice production when compared with normal aeration. With straw incorporation, the lowest GWP was found by early aeration, which reduced GWP by 7 and 20 % in 2007 and 2008, respectively. Estimation of net GWPs of CH₄ and N₂O emissions indicated that early midseason drainage with straw incorporation offered the potential to mitigate CH₄ and N₂O emissions from irrigated lowland rice paddies in China.     

A control law for vehicle merging inspired by dragonfly behavior

Autonomous control of vehicles has recently attracted considerable attention. In this sense, vehicle merging has become an important topic in this field of research. However, in conventional studies, the controlled vehicle must calculate the movement of other surrounding vehicles to complete the merge, requiring high computational costs. In this paper, we focus on dragonfly behavior to solve this issue. Indeed, insects can behave adaptively in the complex real world in spite of the limited size of their brains. They reduce the computational requirements of their brain by relying on different properties of their surroundings, basing their intelligent behaviors on simple strategies. The behavior of a dragonfly when chasing a prey is an example of these strategies. In this study, we address the vehicle merging maneuver by applying dragonfly’s strategies to control the movement of the merging vehicle. We propose a simple control method inspired by the aforementioned strategies and, finally, we present simulation results that were conducted to demonstrate the effectiveness of this method.     

Boroxine Nanotubes: Moisture‐Sensitive Morphological Transformation and Guest Release

Boroxines, (R‐BO)₃, which can be easily synthesized via a dehydration reaction of boronic acids, R–B(OH)₂, selectively self‐assemble in toluene into nanofibers, nanorods, nanotapes, and nanotubes, depending on the aromatic substituent (R). Spectroscopic measurements show that the nanotube consists of a J‐aggregate of the boroxine. Humidification converts the morphology from the nanotube to a sheet as a result of the hydrolysis of the boroxine components and subsequent molecular‐packing rearrangement from the J‐aggregate to an H‐aggregate. Such a transformation leads to the compulsive release of guest molecules encapsulated in the hollow cylinder of the nanotube. The hydrolysis and the molecular‐packing rearrangement described above are suppressed by coordination of pyridine to the boron atom, with the resulting moiety acting as a Lewis acid of the boroxine component. The pyridine‐coordinated nanotube is transformed into a helical coil by humidification. Guest release during the nanotube‐to‐helical‐coil transformation is much slower than during the nanotube‐to‐sheet transformation, but faster than from a nanotube that did not undergo morphological transformation. The storage and release of guest molecules from the boroxine nanotubes can be precisely controlled by adjusting the moisture level and the concentration of Lewis bases, such as amines.     

Flexible manipulator inspired by octopus: development of soft arms using sponge and experiment for grasping various objects

In this study, we focus on the intelligent behavior of an octopus and describe the development of a flexible manipulator. To realize the intelligent behavior, we employ sponges, rubbers and wires instead of electrical computers. The manipulator is controlled by the dynamics of the body such as the flexibility of the sponges, resilience of the rubbers and constraint by the wires. To demonstrate the effectiveness of the proposed manipulator, we conducted experiment for grasping various objects. We confirmed that grasping behaviors similar to those of an octopus can be realized by the dynamics of the body without electrical computers.     

Security by facility design for sabotage protection

Facility design of nuclear power plant (NPP) for a sabotage protection is investigated and an effect of the design change for damage control on reduction of sabotage risk is shown using the vital area identification methodology. In a sabotage incident, it is not straightforward to identify the most credible scenario for NPP. However, the loss of offsite power leading to the station blackout is assumed to be a typical example for further evaluation. In this study, the vulnerability of vital area is considered in terms of the accessibility, the distribution of vital equipment, and the adversary's interference. As seen in the past report, the built-in measures for damage control are important in case of the existence of adversary's interference until neutralization. It is confirmed that not only the physical protection system, but also the facility design on structures, systems, and components play an important role in the effective and efficient sabotage protection. To reduce any vulnerability in the design of NPP, it is very important to introduce a security by design approach in an initial stage of the NPP construction while considering the interface between safety and security.     

Capability of Utilizing CYP3A5 Polymorphisms to Predict Therapeutic Dosage of Tacrolimus at Early Stage Post-Renal Transplantation

While CYP3A5 polymorphisms are used to predict the initial dosage of tacrolimus therapy, the predictive capability of genetic information for dosing at early stage post-renal transplantation is unknown. We investigated the influence of polymorphisms over time. An initial oral dose of modified-release once-daily tacrolimus formulation (0.20 mg/kg) was administered to 50 Japanese renal transplant patients every 24 h. Stepwise multiple linear regression analysis for tacrolimus dosing was performed each week to determine the effect of patient clinical characteristics. The dose-adjusted trough concentration was approximately 70% higher for patients with the CYP3A5*3/*3 than patients with the CYP3A5*1 allele before the second pre-transplantation tacrolimus dose (0.97 (0.78–1.17) vs. 0.59 (0.45–0.87) ng/mL/mg; p < 0.001). The contribution of genetic factors (CYP3A5*1 or *3) for tacrolimus dosing showed increased variation from Day 14 to Day 28 after transplantation: 7.2%, 18.4% and 19.5% on Days 14, 21 and 28, respectively. The influence of CYP3A5 polymorphisms on the tacrolimus maintenance dosage became evident after Day 14 post-transplantation, although the tacrolimus dosage was determined based only on patient body weight for the first three days after surgery. Tacrolimus dosage starting with the initial administration should be individualized using the CYP3A5 genotype information.