Robot motion design using bunraku emotional expressions – focusing on Jo-Ha-Kyū in sounds and movements*

One of the UNESCO intangible cultural heritages Bunraku puppets can play one of the most beautiful puppet motions in the world. The Bunraku puppet motions can express emotions without the so-called ‘Uncanny Valley.’ We try to convert these emotional motions into robot affective motions so that robots can interact with human beings more comfortable. In so doing, in the present paper, we present a robot motion design framework using Bunraku affective motions that are based on the so-called ‘Jo-Ha-Kyū,’ and convert a few simple Bunraku motions into a robot motions using one of deep learning methods. Our primitive experiments show that Jo-Ha-Kyū can be incorporated into robot motion design smoothly, and some simple affective robot motions can be designed using our proposed framework.     

An Opportunistic Directional MAC Protocol with Pulse/Tone Exchange in Wireless Ad-Hoc Networks

Wireless Personal Communications - This paper proposes a Medium Access Control (MAC) protocol using directional antennas in wireless ad-hoc networks, which achieves frame-collision reduction,...     

Nusselt number correlations for a microchannel heat exchanger hot water supplier with S-shaped fins

Using 3D-CFD code, Nusselt number correlations for a microchannel heat exchanger (MCHE) with S-shaped fins used for hot water suppliers are obtained through numerical experiments and then validated. The supercritical carbon dioxide working fluid is assumed to operate around the pseudo-critical point, where fluid properties change radically. Calculations with 20 different temperatures are executed to produce Nusselt number correlations for each side. The fluid inlet temperature in each calculation is defined as 2 °C lower or higher than the constant wall temperature, respectively, for cold and hot side simulations. The small temperature difference of 2 °C is sufficiently small to regard thermal–hydraulic properties as constant. A new integrating method using the correlations to calculate the heat-transfer-performance is proposed. The resultant heat-transfer-performance is compared with that of another numerical result, which is reduced from large geometry and integration. The results agree within 3% error; the calculation accuracy of the method is confirmed. Experimental results with MCHE verify the correlations. The difference is approximately 5%. Using few computer resources, these Nusselt number correlations and the heat-transfer-performance calculation methods using correlation information are sufficiently accurate to evaluate heat exchangers.     

Tribological Properties and Film Formation Behavior of Thermoreversible Gel Lubricants

The tribological properties of a new and unique thermoreversible gel lubricant (TR gel lube) were investigated. TR gel lube, which includes 10–40% of amide-type gelling agent in base fluid, is able to repeatedly alter or convert phase from gel state to liquid state at the melting point of the gelling agent. High-pressure rheological tests were performed in order to characterize the behavior of base oil and TR gel lube as a function of pressure and temperature. The effect of TR gel lube on ball bearing fatigue life was carried out by systematic tests using thrust ball bearings. The results of L ₁₀ life tests of TR gel lube showed a longer life than the conventional greases. This result was investigated from the oil film formation. It was found that the gelling agent played a key role in the lubricating properties. Some mechanisms such as adsorbed film formation and solid-like formation are proposed.     

Polyvinylpyrrolidone macromolecules function as a diffusion barrier during dealloying

The inhibition effect of polyvinylprrolidone (PVP) during dealloying on the formation of nanoporous Cu from a Ti₆₀Cu₄₀ amorphous alloy in hydrofluoric acids (HF) was investigated. A bicontinuous nanoporous Cu structure formed on Ti₆₀Cu₄₀ after dealloying. The pore size of nanoporous Cu formed in HF solution was 71 nm, but this decreased to 12 nm and 11 nm after dealloying for the same period of dealloying time of 43.2 ks when 0.01 M and 0.03 M PVP, respectively, was added into the 0.03 M HF base solution. The surface diffusivity was estimated to decrease from 2.5 × 10⁻¹⁸ m² s⁻¹ in 0.03 M HF solution to 1.84 × 10⁻²¹ m² s⁻¹ when 0.01 M PVP was added, and to 1.42 × 10⁻²¹ m² s⁻¹ when 0.03 M PVP was added. More PVP macromolecules were adsorbed onto the nanoporous Cu surface in the 0.03 M HF solution with the addition of 0.03 M PVP than when 0.01 M PVP was added to the solution, which resulted in the formation of smaller nanopores. The suppressed diffusion of Cu adatoms due to the PVP macromolecule resulted in the formation of finer Cu ligaments than that formed in 0.03 M HF solution. This long chain organic molecule was shown to act as a diffusion barrier for the diffusion of metal adatoms during dealloying and to elaborate the nanoporous structure.     

A carboxyalkanethiol monolayer modified electrode for blocking of ascorbic acid oxidation and its application to a biosensor

Upon the application of amperometric biosensor to the biological fluid, ascorbic acid interferes the amperometric determination of analytes, because the oxidative potential of ascorbic acid is lower than that of electro active substances such as H₂O₂ produced by the enzymatic reaction. In this study we propose a method to block ascorbic acid based on the electrostatic interaction with self-assembled monolayer (SAM) and its application of the surface modified electrode to biosensor. In order to form SAM on the gold electrode with carboxyl group, 7-carboxy-heptanethiol (7-CHT) was used. The 7-CHT modified electrode did not show anodic response to ascorbic acid, but oxidized phenanthroline cobalt complex [Co(phen)₃²⁺], which can be used as a mediator of biosensor. Thus, the 7CHT-modified electrode was applied to biosensor mediated with Co(phen)₃²⁺. Fructose dehydrogenase (FDH) was immobilized to the 7-CHT modified electrode. Fructose was determined selectively with the FDH/7-CHT modified electrode at the range of 0.2-2 mM.     

Brillouin-Scattering Study of the Elastic Constants of ErVO4

The room-temperature elastic constants of ErVO₄ were considerably smaller than those of isostructural silicate and phosphate analogs. The generally "less-rigid" crystalline lattice and weaker metal-oxygen bond-strength in the RVO₄ (R = rare earth elements) phases indicates that these materials are of interest for potential applications as an interphase component in toughened oxide ceramic composites.     

Grafting of branched polymers onto nano-sized silica surface: Postgrafting of polymers with pendant isocyanate groups of polymer chain grafted onto nano-sized silica surface

To control the surface wettability of nano-sized silica surface, the postgrafting of hydrophilic and hydrophobic polymers to grafted polymer chains on the surface was investigated. Polymers having blocked isocyanate groups were successfully grafted onto nano-sized silica surface by the graft copolymerization of methyl methacrylate (MMA) with 2-(O-[1′-methylpropylideneamino]caboxyamino)ethyl methacrylate (MOIB) initiated by azo groups previously introduced onto the surface. The blocked isocyanate groups of poly(MMA-co-MOIB)-grafted silica were stable in a desiccator, but isocyanate groups were readily regenerated by heating at 150 °C. The hydrophilic polymers, such as poly(ethylene glycol) (PEG) and poly(ethyleneimine) (PEI), were postgrafted onto the poly(MMA-co-MOIB)-grafted silica by the reaction of functional groups of PEG and PEI with pendant isocyanate groups of poly(MMA-co-MOI)-grafted silica to give branched polymer-grafted silica. The percentage of grafting increased with increasing molecular weight of PEG, but the number of postgrafted chain decreased, because of steric hindrance. The hydrophobic polymers, such as poly(dimethylsiloxane) were also postgrafted onto poly(MMA-co-MOI)-grafted silica. It was found that the grafting of hydrophobic polymer and the postgrafting of hydrophilic polymer branches readily controls the wettability of silica surface to water.