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1.
Abstract

In recent years, to prevent accidents and disaster are desired by implementing maintenance and management of facilities, such as conducting periodic inspections with appropriate frequency at plants. However, because the dangerous materials such as flammable gas and explosives is used in a plant, and there are many dangerous places in a plant such as high-temperature environment and high places and narrow spaces, it is desirable to use a remote-controlled robot for safety work and short inspections. Against this background, the Disaster Robotics Category-Plant Disaster Prevention Challenge was held in Japan at the World Robot Summit 2018. Our team was ranked 3rd in this competition, because our strategy of ‘inspection and investigation in cooperation with UGV and UAV’ was effective. In this paper, the competition contents of World Robot Summit 2018 and the robot inspection system that we are studying are explained. And what kind of strategy was challenged and result for these given competition tasks by using our robot system are introduced. And the lessons learned such as advantages and issues in UGV and UAV collaboration work at this competition are described for evaluate a robot investigation system for disaster response and inspection work at plants.  相似文献   
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Polyvinyl chloride (PVC) is the most popular insulating material for electric wiring instruments. However, an exothermic reaction above 150 °C may cause deterioration of the insulating properties of PVC. Therefore, it is important to clarify the heat degradation in PVC, not only to investigate the ignition of electrical wiring products but also to use electrical products safely. It is known that ultraviolet (UV) irradiation causes chemical deterioration of PVC and an increase in its conductivity. Generally, it has been thought that the electrical breakdown properties, electrical conduction, and insulating performance are affected by space charge accumulation in an insulating material. A high temperature pulsed electroacoustic (PEA) system usable up to 250 °C has been developed, and the PEA system can measure the space charge distribution and conduction current in the high temperature range simultaneously. In this investigation, the space charge distribution and conduction current were measured up to electrical breakdown in a non‐UV irradiated sample (normal PVC) and in 353 nm and 253 nm UV‐irradiated PVC samples in the range from room temperature to 200 °C in a DC electric field. In the short wavelength UV irradiated PVC sample (253 nm, 300 h), a deterioration of breakdown strength at 90 °C to 150 °C and negative packet‐like charges were observed at 60 °C and 100 °C, a positive charge accumulated in front of both the anode and cathode above 90 °C, and a higher electric field near the cathode side because the positive charge of the cathode side was greater.  相似文献   
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We report a Fabry-Pérot resonator with spherical and flat mirrors to allow simultaneous electron-spin resonance (ESR) and nuclear magnetic resonance (NMR) measurements that could be used for double magnetic resonance (DoMR). In order to perform simultaneous ESR and NMR measurements, the flat mirror must reflect millimeter wavelength electromagnetic waves and the resonator must have a high Q value (Q?>?3000) for ESR frequencies, while the mirror must simultaneously let NMR frequencies pass through. This requirement can be achieved by exploiting the difference of skin depth for the two frequencies, since skin depth is inversely proportional to the square root of the frequency. In consideration of the skin depth, the optimum conditions for conducting ESR and NMR using a gold thin film are explored by examining the relation between the Q value and the film thickness. A flat mirror with a gold thin film was fabricated by sputtering gold on an epoxy plate. We also installed a Helmholtz radio frequency coil for NMR and tested the system both at room and low temperatures with an optimally thick gold film. As a result, signals were obtained at 0.18 K for ESR and at 1.3 K for NMR. A flat-mirrored resonator with a thin gold film surface is an effective way to locate NMR coils closer to the sample being examined with DoMR.  相似文献   
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We have developed a millimeter-wave electron-spin-resonance (ESR) measurement system using a 3He-4He dilution refrigerator for the ultralow-temperature range below 1 K. The currently available frequency range is 125–130 GHz. This system is based on a Fabry-Pérot-type resonator (FPR) that is composed of two mirrors. The frequency can be changed by adjusting the distance between the mirrors using a piezoelectric actuator installed at the bottom of the resonator. A homodyne detection system with an InSb detector is built into the low-temperature section of the 3He-4He dilution refrigerator; this system provides high sensitivity. Using this system, we performed ESR measurements on a Heisenberg quantum-spin chain—copper pyrazine dinitrate, Cu(C4H4N2)(NO3)2—over the temperature range from 6.6 down to 0.25 K. The ESR lines change continuously with decreasing temperature. Our results suggest that the ESR spectrum of copper pyrazine dinitrate may be useful as a temperature sensor for the very low-temperature range.  相似文献   
8.
The D2+ fluence dependence on deuterium (D) retention was studied to clarify the D retention mechanism in tungsten. The additional D desorption stage was observed around 660 K in the TDS spectrum for a sample implanted with D2+ up to the fluence of 1023 D+ m?2, which desorption stage was not observed the D2+ implanted sample with the fluence less than 1022 D+ m?2. The TEM observation showed that the highly dense voids were formed in tungsten by D2+ implantation with the fluence of 1023 D+ m?2, considering that the D would be trapped by voids. To understand the D trapping by voids in C+ implanted tungsten, C+–D2+ sequential implantation experiments at various C+ implantation temperatures were performed. It was found that the amount of D desorbed around 560 K was increased by increasing the C+ implantation temperature. The formation of the voids was observed with increasing the C+ implantation temperature by TEM, indicating that the increase of D desorption around 560 K was caused by the formation of voids. However, the desorption temperature of D trapped by voids in C+ implanted sample was lower than that in D2+ implanted one. TEM observation and XPS measurement indicated that this difference was caused by the increase of void size and/or the presence of implanted carbon.  相似文献   
9.
Macroporous monoliths, composed of thermoresponsive, tertiary‐aminated, and crosslinking monomers, were prepared for continuous‐flow separation of palladium(II) ions. N ‐Isopropylacrylamide was required to form the porous structure in the monoliths, indicating that the mechanism of porous structure formation involved polymerization‐induced phase separation of the poly(N ‐isopropylacrylamide) gel. Tertiary‐aminated monoliths showed adsorption selectivity for palladium(II) ions in hydrochloric media, compared with copper(II) ions. The maximum capacities of the monoliths with tertiary amine contents of 10, 20, 30, and 70 mol % for palladium(II) ions were 0.6, 1.1, 1.3, and 2.3 mmol/g, respectively. Darcy's permeabilities of water through the macroporous monolith were 10?14 to 10?13 m2, and those were comparable to that through a commercially available membrane filter with a pore size of several micrometers. In the continuous‐flow process, the macroporous monolith with tertiary amine selectively adsorbed palladium(II) ions in the coexistence of copper(II) ions with 10 times higher concentration than the palladium(II) ions. The palladium(II) ions were eluted from the macroporous monolith, and the concentration of palladium(II) ions in the eluate was up to 45 times of that in the feed solution. The average enrichment factor and total recovery percentage of palladium(II) ions were 8.7 times and 95%, respectively. © 2016 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2017 , 134 , 44385.  相似文献   
10.
Abstract

Fretting fatigue behaviour of Ni-free high-nitrogen steel (HNS) with a yield strength of about 800 MPa, which was prepared by nitrogen gas pressurized electroslag remelting, was studied in air and in phosphate-buffered saline (PBS(-)). For comparison, fretting fatigue behaviour of cold-rolled SUS316L steel (SUS316L(CR)) with similar yield strength was examined. The plain fatigue limit of HNS was slightly lower than that of SUS316L(CR) although the former had a higher tensile strength than the latter. The fretting fatigue limit of HNS was higher than that of SUS316L(CR) both in air and in PBS(-). A decrease in fatigue limit of HNS by fretting was significantly smaller than that of SUS316L(CR) in both environments, indicating that HNS has better fretting fatigue resistance than SUS316L(CR). The decrease in fatigue limit by fretting is discussed taking into account the effect of friction stress due to fretting and the additional influences of wear, tribocorrosion and plastic deformation in the fretted area.  相似文献   
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