Plant inspection by using a ground vehicle and an aerial robot: lessons learned from plant disaster prevention challenge in world robot summit 2018

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.     

Highly disordered ionic distribution in α-dicalcium silicate for structure relaxation

Dicalcium silicate, which is found in steelmaking slag for dephosphorization, exists as the hexagonal α phase at high temperatures. The α-dicalcium silicate forms a solid solution with tricalcium phosphate in the entire composition range, although the reason for high solubility of phosphorus remains unclear in view of the crystal structure. It has previously been reported that the crystal structure of α-dicalcium silicate consists of a symmetric arrangement of Ca²⁺ ions and SiO₄⁴⁻ tetrahedra, although other polymorphs exhibit asymmetric arrangements. However, because the occupation probability of each atomic site in the α polymorph is not limited to unity, it has not been qualified how these ions are exactly arranged. In this study, the ionic distribution in the α polymorph of dicalcium silicate was evaluated by first-principles calculation based on density functional theory (DFT), as well as by molecular dynamics (MD) simulation with a polarizable ion model optimized by DFT calculation. The results indicated that the completely symmetric ionic arrangement, as reported for the α phase, is the most unstable. Electronic-state calculation and MD simulation indicated that a highly disordered ionic arrangement spontaneously forms in the α-phase crystal for structure relaxation when held at high temperatures, or when phosphorus is incorporated.     

Development of insertion-type peristalsis pump using pneumatic artificial muscles

This study aims to develop a new type of peristaltic pump that transports high-viscosity and solid–liquid mixture fluids. Pumps capable of transporting such fluids are essential in various situations such as factory transportation, outdoors, and emergencies. These fluids are conventionally transported by positive-displacement and rotodynamic pumps. However, solid–liquid fluids could collide with the impeller of the rotodynamic pump and thereby damage the pump, whereas the positive-displacement pump must be sufficiently large to apply high pressure to the transported fluid. A small pump that can transport these fluids would save factory space and enable outdoor applications such as dredging operations. Thus, we adopted earthworm peristalsis as a model mechanism of fluid transport within a standard plumbing infrastructure. The insertion-type peristaltic pump developed in this study uses an artificial rubber muscle to achieve an earthworm-like mechanism. The capability and energy efficiency of the mechanism is evaluated in water transportation experiments.     

Electrical Breakdown Properties and Space Charge Formation in High Temperature Region in Ultraviolet Ray Irradiated PVC

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.     

Microanalysis of anionic surfactants in waste water by infrared spectroscopy

Infrared spectroscopy was applied to identify and determine microamounts of anionic surfactants contained in sewage or river waters. The surfactants tested were linear alkylbenzene sulfonate (LAS), branched alkylbenzene sulfonate (ABS), alpha olefine sulfonate (AOS), fatty alcohol sulfate (AS) and fatty alcohol ethoxy sulfate (AES).Anionic surfactants in waters were extracted by chloroform as methylene blue complexes and sulfate type surfactants, i.e. AS and AES were then removed by subsequent hydrolysis. Residual sulfonate type surfactants were first released from methylene blue complexes by ion exchange technique and then changed to sulfonyl chloride derivatives for infrared spectroscopy. Key bands for the identification of sulfonate type surfactants are 640, 618 and 524 cm⁻¹ for LAS, ABS and AOS, respectively. Sulfate type surfactants was calculated from the difference of methylene blue active substance contents before and after hydrolysis.     

软土地基上道路桥头跳车缓解工法的设计与工程实践

针对软土地基上道路行车的“桥头跳车”现象，列举了在日本经常使用的几种桥头接坡过渡段地基处理的方法：(1)设钢筋混凝土连接搭板；(2)沥青混凝土路面的加铺维修；(3)切短桩头的办法重建构筑物。分析了这几种传统的桥头接坡处理方法的优缺点及经济性。在日本佐贺平原有明软粘土地基上的桥头接坡段地基处理工程实例的基础上，介绍了缓解桥头跳车现象的设计施工法——CA工法；给出了CA工法的设计内容及参数确定的方法，包括搅拌桩的长度与接坡段的处理范围；最后通过现场监测结果说明所提出的设计法的有效性。     

Synthesis of thermoresponsive block and graft copolymers via the combination of living cationic polymerization and RAFT polymerization using a vinyl ether-type RAFT agent

A novel vinyl ether-type RAFT agent, benzyl 2-(vinyloxy)ethyl carbonotrithioate (BVCT) was synthesized for various block copolymers via the combination of living cationic polymerization of vinyl ethers and reversible addition−fragmentation chain transfer (RAFT) polymerization. The novel BVCT–trifluoroacetic acid adduct play an important role to produce well-defined block copolymers, which is both as a cationogen under EtAlCl₂ initiation system in the presence of ethyl acetate for living cationic polymerization and a RAFT agent for blocks by RAFT polymerization. The resulting polymer, poly(vinyl ether)s, by living cationic polymerization had a high number average α-end functionality (≥0.9) as determined by both ¹H NMR and MALDI-TOF-MS spectrometry. In addition, this poly(vinyl ether)s worked well as a macromolecular chain transfer agent for RAFT polymerization. The RAFT polymerization of radically polymerizable monomers was conducted in toluene using 2,2′-azobis(isobutyronitrile) at 70 °C. For example, a double thermoresponsive block copolymer (MOVE₆₁-b-NIPAM₁₅₀) consisting of 2-methoxyethyl vinyl ether (MOVE) and N-isopropylacrylamide (NIPAM) was prepared via the combination of living cationic polymerization and RAFT polymerization. The block copolymer reversibly formed and deformed micellar assemblies above the phase separation temperature (T_ps) of poly(NIPAM) block in water. This BVCT is not only functioned as an initiator, but also acted as a monomer. When BVCT was copolymerized with MOVE by living cationic polymerization, followed by graft copolymerization with NIPAM via RAFT polymerization, well-defined graft copolymers (MOVE_n-co-BVCT_m)-g-NIPAM_x (n = 62–73, m = 1–9, x = 19–214) were successfully obtained. However, no micelle formed in water above T_ps of poly(NIPAM) graft chain unlike the case of block copolymers.     

Catalytic Aerobic Photo‐oxidation of a Methyl Group on a Heterocycle to Produce an Aldehyde via Homolytic C?I Bond Cleavage caused by Irradiation with Visible Light

A new catalytic method was developed for photo‐oxidizing the methyl group on aromatic heterocycles such as benzothiazole, benzoxazole, and quinoline to produce the corresponding aldehyde. This is the first report of the metal‐free catalytic synthesis of benzothiazole‐2‐carboxaldehydes using molecular oxygen as the terminal oxidant.