Cooperation of categorical and behavioral learning in a practical solution to the abstraction problem

Real robots should be able to adapt autonomously to various environments in order to go on executing their tasks without breaking down. They achieve this by learning how to abstract only useful information from a huge amount of information in the environment while executing their tasks. This paper proposes a new architecture which performs categorical learning and behavioral learning in parallel with task execution. We call the architectureSituation Transition Network System (STNS). In categorical learning, it makes a flexible state representation and modifies it according to the results of behaviors. Behavioral learning is reinforcement learning on the state representation. Simulation results have shown that this architecture is able to learn efficiently and adapt to unexpected changes of the environment autonomously. Atsushi Ueno, Ph.D.: He is a research associate in the Artificial Intelligence Laboratory at the Graduate School of Information Science at the Nara Institute of Science and Technology (NAIST). He received the B.E., the M.E., and the Ph.D. degrees in aeronautics and astronautics from the University of Tokyo in 1991, 1993, and 1997 respectively. His research interest is robot learning and autonomous systems. He is a member of Japan Association for Artificial Intelligence (JSAI). Hideaki Takeda, Ph.D.: He is an associate professor in the Artificial Intelligence Laboratory at the Graduate School of Information Science at the Nara Institute of Science and Technology (NAIST). He received his Ph.D. in precision machinery engineering from the University of Tokyo in 1991. He has conducted research on a theory of intelligent computer-aided design systems, in particular experimental study and logical formalization of engineering design. He is also interested in multiagent architectures and ontologies for knowledge base systems.     

Synthesis of TiB2 powder from a mixture of TiN and amorphous boron

TiB₂ powder was synthesized by solid state reaction using amorphous boron and TiN as a source of titanium. The TiB₂ formation did not occur at all in a nitrogen atmosphere even at 1400° C. TiB₂ formed above 1100° C in argon and hydrogen atmospheres. The only crystalline phase of TiB₂ powder was favourably synthesized at 1400° C for 360 min in an argon atmosphere from a starting powder with a composition containing excess boron (B/Ti = 2.2). The synthesized powder was well dispersed and had a particle size of 0.5 to 2 µm. The powder activity was evaluated by sintering at 4 G Pa and 1300 to 1600° C for 15 min.     

Measurement of the thermal conductivity of KNO3-NaNO3 mixtures using a transient hot-wire method with a liquid metal in a capillary probe

The thermal conductivity of KNO₃-NaNO₃ mixtures was measured by a modified transient hot-wire method using liquid metal in a capillary as a heat source. The method was developed for measurements on electrically conducting liquids at high temperatures. Measurements were performed on pure NaNO₃ and its three mixtures with KNO₃ in the temperature range from 498 to 593 K.     

Determination of the thermal conductivity of argon and nitrogen over a wide temperature range through data evaluation and shock-tube experiments

Reliable and well-established methods to measure the thermal conductivity of gases are available only in the moderate temperature range, namely, up to about 1000 K. In the present study, a set of the most probable thermal conductivity values of components of gaseous combustion products in a wide range of temperatures has been obtained through an optimum combination of three procedures: critical assessment of available data in the moderate temperature range, experimental determination by the shock-tube method at high temperatures, and theoretacal estimation of temperature dependence in the intermediate temperature range. Among the components of combustion products, one monatomic gas and one diatomic gas, namely, argon and nitrogen, were studied in the present paper. The shock-tube measurements have been performed in the temperature ranges 1000–4500 K for argon and 500–2200 K for nitrogen. The results of the critical evaluation and the shock-tube measurements have been combined with the aid of theoretically assumed temperature dependence of the thermal conductivity.Invited paper presented at the Ninth Symposium on Thermophysical Properties, June 24–27, 1985, Boulder, Colorado, U.S.A.     

Preparation of TiB2 sintered compacts by hot pressing

A sintered compact of titanium diboride (TiB₂) was prepared by hot pressing of the synthesized TiB₂ powder, which was obtained by a solid-state reaction between TiN and amorphous boron. Densification of the sintered compact occurred at 20 MPa and 1800° C for 5 to 60 min with the aid of a reaction sintering, including the TiB₂ formation reaction between excess 20 at % amorphous boron in the as-synthesized powder (TiB₂ + 0.2B) and intentionally added 10 at % titanium metal. A homogeneous sintered compact of a single phase of TiB₂, which was prepared by hot pressing for 30 min from the starting powder composition [(TiB₂ + 0.2B) + 0.1 Ti], had a fine-grained microstructure composed of TiB₂ grains with diameters of 2 to 3 m. The bulk density was 4.47 g cm^–3, i.e. 98% of the theoretical density. The microhardness, transverse rupture strength and fracture toughness of the TiB₂ sintered compact were 2850 kg mm^–2, 48 kg mm^–2 and 2.4 MN m^–3/2, respectively. The thermal expansion coefficient increased with increasing temperature up to 400° C and had a constant value of 8.8 x 10^–6 deg^–1 above 500° C.     

Status and research programs of the multinuclide accelerator mass spectrometry system at the University of Tsukuba

We present the current status and research programs of a multinuclide accelerator mass spectrometry (AMS) system on the 12UD Pelletron tandem accelerator at the University of Tsukuba (Tsukuba AMS system), Japan. A maximum terminal voltage of 12 MV is available for the AMS system. The Tsukuba AMS system can measure environmental levels of long-lived radioisotopes of ¹⁴C, ²⁶Al, ³⁶Cl and ¹²⁹I by employing a molecular pilot beam. Recently, enhancements in AMS techniques and equipment, including sample preparation, the ion source and the data acquisition system, have improved the performance of ³⁶Cl-AMS. The standard deviation of fluctuations is typically ±2%, and the machine background level for the ³⁶Cl/Cl ratio is lower than 1 × 10^?15 with a halite sample. We have measured over 500 samples in 1 year, including samples for earth and environmental sciences and nuclear safety research.     

Analysis of Dispatching Rules of AGV Systems with Multiple Vehicles

We study automated guided vehicle systems that contain multiple vehicles. Each vehicle transports an item from a certain point to its destination. The inter-arrival time of items to each node is assumed to be independently and geometrically distributed. Each node has an infinite buffer capacity, and thus no item is lost. The deadhead time of the empty vehicle and the transportation time of the loaded vehicle are assumed to be arbitrarily distributed. We propose two empty vehicle dispatching policies, and numerically calculate the waiting time distributions of the items for each policy using a state-space reduction technique for Markov chains. Several examples are given to demonstrate the advantages and disadvantages of each policy.     

Experimental verification of a dynamic voltage restorer capable of significantly reducing energy‐storage element requirements

This paper deals with a dynamic voltage restorer (DVR) characterized by installing the shunt converter at the load side. The DVR can compensate for the load voltage when a voltage sag appears in the supply voltage. An existing DVR requires a large capacitor bank or other energy‐storage elements such as double‐layer capacitors or batteries. The DVR presented in this paper requires only a small DC capacitor intended for smoothing the DC‐link voltage. Moreover, three control methods for the series converter are compared and discussed to reduce the series‐converter rating, paying attention to the zero‐sequence voltages included in the supply voltage and the compensating voltage. Experimental results obtained from a 200‐V, 5‐kW laboratory system are shown to verify the viability of the system configuration and the control methods. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 165(3): 73–82, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20460     

Effect of Contact Stiffness on Creep-Groan Occurrence on a Simple Caliper-Slider Experimental Model

In this paper, a fundamental mechanism for creep-groan generation is investigated by adopting a simple yet effective caliper-slider experimental model. Contact condition, which is a function of three parameters, namely normal force, contact roughness, and material combination, is connected with the creep-groan phenomenon in terms of contact stiffness. Creep-groan generation is determined by analyzing the frequency characteristic of the generated vibration acceleration when the sliding commences due to a simultaneous application and release of force in the tangential and normal directions, respectively. As per the obtained results, creep-groan occurrence or absence in the employed experimental model may be classified into three regions based upon the value of the contact stiffness, i.e., occurrence, non-occurrence, and mixed regions. The results also indicate that creep-groan occurrence in this caliper-slider experimental model can be avoided by controlling the value of contact stiffness in an effective manner.