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1.
The World robot summit disaster robotics category – achievements of the 2018 preliminary competition
Satoshi Tadokoro Tetsuya Kimura Masayuki Okugawa Katsuji Oogane Hiroki Igarashi Yoshikazu Ohtsubo 《Advanced Robotics》2019,33(17):854-875
The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results. 相似文献
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3.
Hamasaki T. Shinohara Y. Terasawa H. Ochiai K. Hiraoka M. Kanayama H. 《Solid-State Circuits, IEEE Journal of》1996,31(12):1888-1894
The area ratio of analog to digital for mixed-mode chip has been inversely proportional to the process design rule for a given dynamic range objective, in contradiction to the LSI trend. This paper presents a design approach to realize a high degree of size reduction with process design rules for analog circuitry and a signal processing architecture for digital circuitry. A five-level current-mode ΣΔ digital-to-analog converter (DAC) system reveals full scale total harmonic: distortion plus noise (THD+N) of -90 dB and dynamic-range of 100 dB at 3 V (low power of 22 mW). Analog-area down-scaling can be accomplished by this architecture to be 1.09 mm2, using 0.6-μm double-poly double-metal (DPDM) CMOS. For the digital filter, a pipeline instruction sequence with multiplierless architecture also gives small area of 1.98 mm2 相似文献
4.
Restless legs syndrome (RLS) and periodic limb movements in sleep (PLMS) are disorders that are common and disturbing to uremic patients. The treatment of these is problematic. Eight patients on chronic hemodialysis and continuous peritoneal dialysis completed a double-blind placebo-controlled crossover study using incremental doses of pergolide up to 0.25 mg at bedtime for treatment of RLS and sleep disruption. Five patients (62.5%) noted subjective improvement in restless legs symptoms and sleep quality. Objective results were improved only slightly by treatment. The percentage of the first hour in bed during which leg movements occurred decreased from 20.5 +/- 6.0 to 11.5 +/- 3.3, p < 0.05. However, findings during sleep were less positive. The following measures were not significant between placebo and treatment: leg movements per hour of sleep [53.7 +/- 22.3 vs 35.8 +/- 11.8 (p = 0.2)]; and percentage of sleep time spent with leg movements [5.5% +/- 3.2 vs 4.4% +/- 1.4 (p = 0.37)]. Patients continued to have very disrupted sleep, and we could not document an objective improvement in sleep architecture. Thus, although pergolide at the dose of 0.25 mg at bedtime provided subjective improvement in symptoms of restless legs and quality of sleep, and objectively decreased leg movements during the first hour in bed, objectively sleep continued to be disrupted. In this small patient group, the response to pergolide was not uniform, and further investigation is required to test effectiveness at higher doses. 相似文献
5.
Yuji Tatemoto Masaya Tsunekawa Shuji Yano Takenari Takeshita Katsuji Noda 《Chemical engineering science》2007,62(8):2187-2197
A relatively large wet material was immersed in a fluidized bed of hygroscopic porous particle (silica gel beads) under reduced pressure. And then the drying characteristics were compared with those in the case of inert particle (glass beads). The comparison of drying characteristics is performed experimentally and theoretically. In calculation, the water transfer from the sample to the fluidized bed was considered. The calculation results are in good agreement with the experimental data. The effects of the operational conditions (the pressure in the drying chamber and the temperature of the drying gas) on the drying characteristics were also examined in both fluidizing particles.The drying finishes earlier in the case of hygroscopic porous particle than in the case of inert particle regardless of pressure in the drying chamber, since the water transfer from the sample facilitates the drying in the case of hygroscopic porous particles. The temperature decrement in drying appears in the case of inert particle. This phenomenon is also observed in the case of hygroscopic porous particle, but the decrement degree of the temperature is much smaller than that in the case of inert particle. The difference of the minimum temperature in the sample in drying between the cases of hygroscopic porous particle and inert particle is very slight for different pressures in the drying chamber. 相似文献
6.
Of 156 patients, 111 (clinical stage T1a-b; 21, T1c; 17, T2a-b; 36, T2c; 27, T3; 10) immediately underwent radical prostatectomy (surgery group), and 45 (clinical stage T1a-b; 8, T1c; 4, T2a-b; 10, T2c; 9, T3; 14) received neoadjuvant hormonal therapy (NHT group). NHT offered probability of increasing organ-confined cancer(OCC; pathological stage pT2 or lower N0M0) in the following group, which contains (a) patients who had moderately differentiated adenocarcinoma in the biopsy specimen and T2b or lower diseases, and (b) those who had well differentiated adenocarcinoma, T2c diseases and PSA levels of 10 ng/ml or higher, referred to as "OCC suitable criteria". Of 156 patients, 51 (33%) met OCC suitable criteria. In those cases, the proportion of OCC in NHT group was significantly higher than that in surgery group (11/12 (92%) vs. 16/39 (41%), p = 0.002). NHT is useful for increasing OCC in patients who meet OCC suitable criteria. 相似文献
7.
A. H. Shinohara T. Sato F. Saito T. Tomioka Y. Arai 《Journal of Materials Science》1993,28(24):6611-6616
A novel method has been developed for measuring direct compressive properties such as strength and elasticity of a series of mesophase-pitch-based and PAN-based carbon fibres about 10 m in diameter by uniaxial and transverse compression tests using a micromechanical tester. The fibres were shaped into cylindrical specimens, with their size ratio of length to diameter kept at about 2 to 3, by separating them from a thin film made by polishing the cut faces of a strand of carbon fibres with epoxy resin as a matrix. Individual cylindrical specimens were stood up or laid down on a glass plate without any fixer for the measurements of axial and transverse compression properties of fibres, respectively. The fibres exhibited non-linear elasticity, with the compressive modulus decreasing with compressive deformation. The direct axial compressive strengths of pitch-based carbon fibres were found to be marginally lower than the indirect ones, whereas there was no significant difference between the two strength values for PAN-based fibres. The pitch-based fibres exhibited smaller average values of axial compressive strength than the PAN-based fibres. The transverse compressive strength, which decreases with an increase in elasticity of carbon fibres, exhibited a considerably lower average value than that of the axial compressive strength. Further, the axial compressive strength was found to be smaller than the direct tensile strength for the fibres. 相似文献
8.
K. ôno S. Kobayasi M. Shinohara K. Asahi H. Ishimoto N. Nishida M. Imaizumi A. Nakaizumi J. Ray Y. Iseki S. Takayanagi K. Terui T. Sugawara 《Journal of Low Temperature Physics》1980,38(5-6):737-745
Two-stage nuclear demagnetization has been performed using PrCu6 and Cu as coolants. The Cu nuclear stage reached temperatures as low as 10 K with a rate of temperature rise of less than a few K/h. The corresponding conduction electron temperature is estimated to be less than 50 K. A nuclear orientation thermometer of Al
54Mn has been successfully used to measure temperatures down to 10 K.Supported by the Japan Society for the Promotion of Science. 相似文献
9.
Yasuhide Shinohara Tadashi Dohi Shunji Osaki 《Computers & Industrial Engineering》1997,33(3-4):813-816
In a software product management, it is an important problem to determine the optimal release timing which minimizes the total expected cost incurred in both testing and operation phases. In this paper, we compare the performance between two kinds of software release methods, which are referred to as the T-policy and the N-policy. Based on the existing software reliability growth models, we formulate the expected cost functions and derive analytically the optimal policies under these control methods. Also, we derive a criterion for which control methods should be adopted. Finally, in numerical examples, we calculate the optimal release policies for several cost parameters. 相似文献
10.
Sota H Yoshimine H Whittier RF Gotoh M Shinohara Y Hasegawa Y Okahata Y 《Analytical chemistry》2002,74(15):3592-3598
Despite high theoretical sensitivity, low-cost manufacture, and compactness potentially amenable to lab-on-a-chip use, practical hurdles have stymied the application of the quartz crystal microbalance (QCM) for aqueous applications such as detection of biomolecular interactions. The chief difficulty lies in achieving a sufficiently stable resonance signal in the presence of even minute fluctuations in hydrostatic pressure. In this work, we present a novel versatile planar sensor chip design (QCM chip) for a microliter-scale on-line biosensor. By sealing the quartz resonator along its edges to a flat, solid support, we provide uniform support for the crystal face not exposed to solvent, greatly decreasing deformation of the crystal resonator under hydrostatic pressure. Furthermore, this cassette design obviates the need for direct handling when exchanging the delicate quartz crystal in the flow cell. A prototype 27-MHz sensor signal exhibited very low noise over a range of flow rates up to 100 microL/min. In contrast, signals obtained from a conventional QCM sensor employing an O-ring-based holder were less stable and deteriorated even further with increasing flow rate. Additional control designs with intermediate amounts of unsupported undersurface yielded intermediate levels of stability, consistent with the interpretation that deformation of the crystal resonator under fluctuating hydraulic pressure is the chief source of noise. As a practical demonstration of the design's high effective sensitivity, we readily detected interaction between myoglobin and surface-bound antibody. 相似文献