A New Approach to Humanitarian Demining

Landmines can deprive whole areas of valuable resources, and continue to kill and cause injuries years after the end of armed conflicts. Armored vehicles are used for mine clearance, but with limited reliability. The final inspection of minefields is still performed by human deminers exposed to potentially fatal accidents. The aim of this research is to introduce automation as a way to improve the final level of humanitarian demining. This paper addresses mobility and manipulation, while sensing, communication and visualization shall be discussed in detail in a subsequent paper. After analyzing the merits and limitations of previous works, a new approach to tele-operated demining is considered, using off-road buggies equipped with combustion engines, and taking into account actual field requirements. Control of the automated buggies on rough terrain is also discussed, as well as the development of a new weight-balanced manipulator for landmine clearance operations.Paulo Debenest received the B. Eng. degree in mechanical engineering (major in automation and systems) from Polytechnic School of the University of São Paulo (EPUSP), Brazil, in 1998, and the M. Eng. degree in mechanical and aerospace engineering from Tokyo Institute of Technology (Tokyo Tech), Japan, in 2002. He is currently working toward the Ph.D. degree in mechanical science engineering at Tokyo Tech and member of IEEE. His current research activities include development of demining robots and mechanical design of machines for field applications.Edwardo F. Fukushima is an assistant professor in the Department of Mechanical and Aerospace Engineering at Tokyo Institute of Technology (Tokyo Tech). He received the B. Eng. degree in electric engineering (major in electronics and telecommunications) from Federal Center of Technological Education of Paraná (CEFET-PR), Brazil, in 1989, and M. Eng. degree in mechanical science engineering from Tokyo Tech in 1993. In 1994 he became a research associate in the same institute. During Sept.–Dec. 2001 he has been a Visiting Researcher at Stanford University, and during Aug.–Sept. 2004 Visiting Scientist at University of Zurich. He is also member of RSJ. His current research activities include development of demining robots, design of controllers for intelligent robots, and development of new brushless motors and drives.Yuki Tojo is a masters course student in the Department of Mechanical and Aerospace Engineering at Tokyo Institute of Technology (Tokyo Tech). He received the B. Eng. degree in mechanical and aerospace engineering from Tokyo Tech in 2003. His research interests include design and control of weight-compensated manipulator on mobile platform. He is also member of RSJ.Shigeo Hirose was born in Tokyo in 1947. He received his B.Eng. Degree with First Class Honors in Mechanical Engineering from Yokohama National University in 1971, and his M. Eng. and Ph.D. Eng. Degrees in Control Engineering from Tokyo Institute of Technology in 1973 and 1976, respectively. From 1976 to 1979 he was a Research Associate, and from 1979 to 1992 an Associate Professor. Since 1992 he has been a Professor in the Department of Mechanical and Aerospace Engineering at the Tokyo Institute of Technology. Since 2002, he has been Honorary Professor in Shengyang Institute of Technology, the Chinese Academy of Sciences. Fellow of JSME and IEEE. He is engaged in creative design of robotic systems. Prof. Hirose has been awarded more than twenty prizes.     

Effect of hydroxypropyl-beta-cyclodextrin on the degradation of pentachlorophenol by potassium monopersulfate catalyzed with iron(III)-porphyrin complex

A novel biomimetic catalytic system containing a supramolecular complex between iron(III)-tetrakis(p-sulfonatophenyl)porphyrin [Fe(III)-TPPS] and hydroxypropyl-beta-cyclodextrin (HP-beta-CD) was examined for the potassium monopersulfate catalyzed oxidation of pentachlorophenol (PCP). In the absence of HP-beta-CD, the percentage of PCP disappearance and the numbers of chlorine atoms released from PCP increased to 50% and 1.5 for a 1-day reaction period, respectively. However, in the presence of HP-beta-CD, the PCP completely disappeared and the number of chlorine atoms from PCP was increased to 3.1. o-Tetrachloroquinone, 2- and 4-hydroxyl-nonachlorodiphenyl ethers, and octachlorodibenzo-p-dioxin were detected among the oxidation products. In the absence of HP-beta-CD, the percentage of PCP conversion to oxidation products increased and then reached plateau. In the presence of HP-beta-CD, the amount of oxidation products produced initially increased for the first 10 min and thereafter decreased gradually. These results suggest that the addition of HP-beta-CD results in the further degradation of oxidation products. In addition, the mineralization of PCP to CO2 was investigated using 14C6-labeled PCP. After a 1-day reaction period, 24% of the 14C6-labeled PCP was converted to 14CO2 in the presence of HP-beta-CD, although significant 14CO2 generation was not observed in its absence. The effect of HP-beta-CD on the facilitation of PCP degradation can be attributed to the fact that the self-oxidation of Fe(III)-TPPS is prevented by the formation of a stable supramolecular complex between HP-beta-CD and Fe(III)-TPPS.     

Migration of suspended particles in plane stationary ultrasonic field

The time-averaged motion of microscopic particles in plane stationary sound fields is investigated. A generalized kinetic theory of particle migration in which the effect of particle diltusion is taken into account is formulated and the particle distributions at the rather early stage and after a sufficient sound irradiation are derived analytically from the theory. It is found that the nodal change of particle concentration of microscopic polystyrene latex dispersions is well predicted by the present theory, independently of the particle size, the sound frequency and the energy density of sound. The condition of formation of the Kundt's tube striation is also characterized theoretically.     

Usefulness of enhanced insulin secretion during an oral glucose tolerance test as a predictor of restenosis after direct percutaneous transluminal coronary angioplasty during acute myocardial infarction in patients without diabetes mellitus

Extensive prosthodontic treatment often requires fabrication of long-term provisional restorations. Numerous materials and techniques have been described for prolonged insertion of interim restorations. This article describes a procedure for fabrication of long-term reinforced heat-processed provisional restorations based on a diagnostic wax-up. Reinforced heat-processed provisional restorations reduced flexure, which minimizes progressive loss of cement and diminished the possibility of recurrent decay. Occlusal stability and vertical dimension were maintained because of greater wear resistance. Occlusion, tooth contours, and pontic design developed in the provisional restoration were duplicated in the definitive restoration. The use of a matrix from a diagnostic wax-up facilitated fabrication of the prosthesis, and made the procedure less time-consuming and more predictable.     

Formation mechanism of InxGa1−xAs ohmic contacts to n-type GaAs prepared by radio frequency sputtering

The formation mechanisms of InAs/Ni/W ohmic contacts to n-type GaAs prepared by radio-frequency (rf) sputtering were studied by measuring contact resistances (R_c) using a transmission line method and by analyzing the interfacial structure mainly by x-ray diffraction and transmission electron microscopy. Current-voltage characteristics of the InAs/Ni/W contacts after annealing at temperatures above 600°C showed “ohmic-like behavior.” In order to obtain the “ohmic” behavior in the contacts, pre-heating at 300°C prior to high temperature annealing was found to be essential. The contacts showed ohmic behavior after annealing at temperatures in the range of 500∼850°C and contact resistance values of as low as ∼0.3Ω-mm were obtained. By analyzing the interfacial structures of these contacts, In_xGa_1−xAs layers with low density of misfit dislocations at the In_xGa_1−xAs and GaAs interface were observed to grow epitaxially on the GaAs substrate upon heating at high temperatures. This intermediate In_xGa_1−xAs layer is believed to divide the high energy barrier at the contact metal and GaAs interface into two low barriers, resulting in reduction of the contact resistance. In addition, Ni was found to play a key role to relax a strain in the In_xGa_1−xAs layer (introduced due to lattice mismatch between the In_xGa_1−xAs and GaAs) by forming an intermediate Ni_xGaAs layer on the GaAs surface prior to formation of the In_xGa_1−xxAs layer.     

Modeling and feedback control of a flexible arm

When a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested as soon as possible at the end of rotation. In this paper, we first derive a partial differential equation and a set of boundary conditions governing the vibration. Then, a feedback control system which incorporates a dynamic compensator is designed using sensor outputs. A set of experiments has been constructed to demonstrate control strategies for a flexible arm, where a strain gage was used as a vibration sensor and a microcomputer was equipped as a controller. Several satisfactory experimental results are shown.     

Thermal conductivity of near-stoichiometric (U, Ce)C and (U, Pu, Ce)C solid solutions

The thermal conductivities of near-stoichiometric (U, Ce)C and (U, Pu, Ce)C solid solutions containing CeC up to 10 mol% were determined in the temperature range from 740 to 1600 K by the laser flash method. The thermal conductivity decreased with the cerium content in the solid solutions. The electrical resistivities were also measured for the purpose of analyzing the heat conduction mechanism. It was found that the decrease of electronic heat conduction caused by the addition of cerium resulted in decreasing the thermal conductivities of (U, Ce)C and (U, Pu, Ce)C compared with UC and (U, Pu)C.     

Potato and soy peptides alter caecal fermentation and reduce serum non‐HDL cholesterol in rats fed cholesterol

We examined the effect of potato peptides (PPC) in rats fed a cholesterol‐enriched diet, in comparison with two cholesterol‐enriched diets containing soy peptides (SPC) or casein (CNC), and a cholesterol‐free diet containing casein (CN) for 4 weeks. The serum non‐high‐density lipoprotein (HDL) cholesterol level was lower in the PPC‐ (–18.39%) and SPC‐fed (–32.76%) groups (p <0.05) than in the CNC‐fed group at the end of the feeding period. The low‐density lipoprotein receptor mRNA level in the PPC‐fed group, and cholesterol 7α‐hydroxylase and scavenger receptor class B type 1 mRNA levels in the SPC‐fed group, were higher (p <0.05) than in the CN‐ and CNC‐fed groups. Faecal neutral sterol and caecal short‐chain fatty acid concentrations in the PPC‐ and SPC‐fed groups were higher (p <0.05) than in the CN‐ and CNC‐fed groups. The faecal total acidic sterol concentration was higher in the SPC‐fed group than in the CN‐ and PPC‐fed groups. Caecal anaerobe and Bifidobacterium populations were higher (p <0.05) in the PPC‐ and SPC‐fed groups than in the CN‐fed group. This study suggests that potato peptides, as soy peptides, alter caecal fermentation and steroid absorption and reduce the serum non‐HDL cholesterol level in rats fed cholesterol.     

Polysulfide reduction using sulfate-reducing bacteria in a photocatalytic hydrogen generation system

A hydrogen generation process using photocatalytic reactions has been proposed. In this process, hydrogen sulfide is a source of hydrogen and is turned into polysulfide. In order to establish the cyclic operation of a photocatalytic hydrogen generation system, it is necessary to convert polysulfide back into hydrogen sulfide with a small energy input. This paper proposes the use of sulfate-reducing bacteria (SRB) for the regeneration of hydrogen sulfide. Batch cultivation of natural source SRB samples were carried out using a culture medium containing polysulfide as the only sulfur compound source. SRB produced hydrogen sulfide from several kinds of polysulfide sources, including a photocatalytic hydrogen generation-produces solution. Production lag phase and production rate of hydrogen sulfide were affected by initial polysulfide concentration. SRB activity was inhibited at high initial polysulfide concentrations. SRB enrichment culture T2, exhibited the highest hydrogen sulfide production rate, and was able to utilize several kinds of organic matter as the electron donor. The results suggest the possibility of using large biomass sources, such as sewage sludge and the raw garbage in a hydrogen generation system. We developed speculative estimates that an SRB based hydrogen generation system is feasible.