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.     

光纤数字环路载波系统的发展

ＯＤＬＣ是当今用户接入网的新型设备，它一方面可取代端局，解决通信线路紧张和远距离大容量放号问题，另一方面也可满足日益增多的增值业务的需求。本文ＯＤＬＣ技术的基本原理，结合目前国内外常见ＯＤＬＣ系统，总结和对比了其基本特点，优势，并指明ＯＤＬＣ的技术发展方向和中国应用的前景。     

Dielectric and Piezoelectric Properties of Pb(Co1/3Nb2/3)O3-PbTiO3-PbZrO3 Solid Solution Ceramics

Ceramic and piezoelectric properties of the Pb(Co_1/3Nb_2/3)O₃-PbTiO₃-PbZrO₃ system were investigated. The system contains rhombohedral, tetragonal, and pseudocubic phases at room temperature. The triple point is at 0.07Pb(Co_1/3Nb_2/3)O₃-0.43PbTiO₃-0.50PbZrO₃. High dielectric constants (750 to 1500) and radial coupling coefficients (40 to 45%) and low average temperature coefficients of resonant frequency (of the order of 10^-6°C) were obtained for compositions near the morphotropic phase boundary.     

Development of Reference Shunt for Short‐Time Alternating High Current Tests and Study of Measuring System

Short‐circuit tests for power circuit breakers and others require alternative short‐time current measurement, from a few kA to over several tens kA. However, the reference measurement system as a national standard or a specified secondary standard instrument to directly perform comparative test as a complete calibration test in high current class has not yet been established globally. The Japan Short‐Circuit Testing Committee (hereinafter referred to as “JSTC”) has therefore developed a shunt resistor that can be used as a standard instrument for high current measurement. Reference system using this shunt resistor is also considered by JSTC. The performance of the newly developed shunt resistor has been checked through several methods, such as resistance measurement, high power current test, high frequency current test, temperature rise test, and interference test. The results of the tests proved satisfactory performance. Resistance of the shunt resistor before and after the tests was invariant and stable. This makes the shunt resistor adequate for a reference in practical use. In addition, evaluation of uncertainty of the whole reference system including this shunt resistor satisfactorily fulfills the requirements of IEC 62475 edition 1.0, 2010.     

A quantitative analysis of a trace amount of hydrogen in high temperature heat-treated carbons

A technique to determine a trace amount of hydrogen in carbon materials heat-treated above 1000 °C was developed. Three types of carbons prepared from poly(furfulyl alcohol), poly(vinyl chloride) and mesophase carbon microbeads were heat-treated at various temperatures ranging from 1000 to 1800 °C. Then they were gasified by O₂ in a fixed bed flow reactor, and the H₂O gases formed during the gasification processes were carefully monitored with a Karl Fischer moisture analyzer. As a result, this method makes it possible to determine the hydrogen contents in the carbons down to three places of decimals as a weight percent and can detect even a trace amount of hydrogen as low as 0.002 wt.%. A possible chemical structure of carbon edge sites was also discussed based on the experimentally determined hydrogen contents.     

定向反射管束对辐照均匀性的影响

为使多孔陶瓷板燃气辐射器加热物体能量定向集中，减少向周围环境散失的热量，在辐射器的前方，设计了定向反射管束，并进行了被加热物体表面辐照度分布特性数值计算研究。利用蒙特卡罗法中的辐射分配因子计算并分析了相关参数，例如管束布置(顺排、叉排及节距)、加热距离、管间距及管长与半径比等对被加热物体表面辐照度均匀性的影响。通过计算得出定向反射管间距是影响均匀加热面积大小的主要因素，管束布置方式对辐照度均匀性影响较小；随管长与半径比增加，物体表面辐照度均匀时，对应的加热距离增加。计算结果为实际装置的优化设计提供了理论依据。     

Evidence for Altered Phosphoinositide Signaling-Associated Molecules in the Postmortem Prefrontal Cortex of Patients with Schizophrenia

Phosphoinositides (PIs) play important roles in the structure and function of the brain. Associations between PIs and the pathophysiology of schizophrenia have been studied. However, the significance of the PI metabolic pathway in the pathology of schizophrenia is unknown. We examined the expression of PI signaling-associated proteins in the postmortem brain of schizophrenia patients. Protein expression levels of phosphatidylinositol 4-phosphate 5-kinase type-1 gamma (PIP5K1C), phosphatidylinositol 4-kinase alpha (PIK4CA, also known as PIK4A), phosphatase and tensin homolog deleted from chromosome 10 (PTEN), protein kinase B (Akt), and glycogen synthase kinase 3β (GSK3β) were measured using enzyme-linked immunosorbent assays and multiplex fluorescent bead-based immunoassays of the prefrontal cortex (PFC) of postmortem samples from 23 schizophrenia patients and 47 normal controls. We also examined the association between PIK4CA expression and its genetic variants in the same brain samples. PIK4CA expression was lower, whereas Akt expression was higher, in the PFC of schizophrenia patients than in that of controls; PIP5K1C, PTEN, and GSK3β expression was not different. No single-nucleotide polymorphism significantly affected protein expression. We identified molecules involved in the pathology of schizophrenia via this lipid metabolic pathway. These results suggest that PIK4CA is involved in the mechanism underlying the pathogenesis of schizophrenia and is a potential novel therapeutic target.     

Absorption and Fluorescence Spectra of Nitrobenzanthrones

To identify nitrobenzanthrones (NBAs) such as 3-nitro-7 H -benz[ de ]anthracene-7-one (3-NBA) on the basis of their electronic spectral data, we have synthesized 1-, 2-, 3-, 9-, and 10-NBAs and measured their absorption and emission spectra. The first strong absorption band of the NBAs appeared in the region 350-440 nm; the band of 10-NBA was red-shifted by about 20 nm. The molar absorptivities of 3- and 9-NBA were about two times as large as those of the others. The fluorescence spectra of the NBAs varied more largely with the position of the nitro group compared to the absorption spectra. The quantum yields of fluorescence were very small, ranging from ～10 m 2 for 2- and 10-NBA to ～10 m 4 for 1- and 3-NBA. 3-NBA exhibited a characteristic spectrum with two broad bands at 450 and 530 nm. On excitation causing an n ~ * transition in the NBAs, their fluorescence intensities increased by a factor of 10. Phosphorescence was observed at 77 K for all compounds though that of 1-NBA was very weak. These results give the promise of characterizing individual isomers of NBAs on the basis of their spectroscopic data.     

Demonstration of 100 Gbps optical packet switching using header processor based on 48-bit longest prefix matching

Wire-rate packet processing and its energy saving for over 100 Gbps speed of line are major issues to be resolved in optical packet switching (OPS) networks. For that purpose, we newly develop a high-speed, deterministic-latency electronic header processor based on longest prefix matching (LPM) for searching optical packet destination addresses (OP-DAs). This paper reports the successful experimental results of electronic header processing based on LPM search of up to 48 bits and optical switching of 100 Gbps optical packets by the use of the header processor. We demonstrate 48-bit LPM-capable optical packet switching. We also demonstrate IP packet transfer and 32-bit LPM-capable optical packet switching. In the latter demonstration, the 32-bit OP-DA of optical packets is directly copied from the 32-bit destination address of Internet Protocol version 4 (IPv4) packets. This result indicates that OPS networks can be deployed with electronic IP networks by the use of integrated network operation between OPS and IP networks.     

Aqueous-phase synthesis of ultra-stable small CdSe nanoparticles

Very stable and small CdSe nanoparticles (NPs) were synthesized from the aqueous solutions containing L-cysteine (Cys) at room temperature. The Cys-capped CdSe NPs showed a very sharp excitonic peak at 420 nm. Its very small full width at half maximum (18 nm) indicates very high quality of the CdSe NPs. Their absorption features experienced little change over a month, implying an excellent stability of the CdSe NPs. The synthesis conditions were very critical to the optical property and stability of the CdSe NPs: only those prepared at specific conditions (n(Se-precursor)/n(Cd-precursor) = 0.25-0.5, n(Cys)/n(Cd-precursor) = approximately 9, pH = approximately 12) showed very sharp absorption peaks and maintained an excellent stability against time. Under these conditions, the peaks always appear at nearly the same wavelength, indicating that these NPs are selectively stable and grow at a particular size and structure.