红外相机CASCAM的电动系统设计

介绍了红外相机CASCAM的电动系统设计。系统采用AT90S8515单片机和TA8435集成芯片组成驱动电路的核心,通过电机选择电路和位置反馈电路实现对步进电机的选择驱动和定位、复位。系统采用MAXIM232芯片实现单片机和上位机之间的串行通讯。系统软件以汇编语言编制,并给出了系统程序框图。经实验验证,该系统运行可靠,达到了设计要求。     

Human-like natural behavior generation based on involuntary motions for humanoid robots

Human behaviors consist of both voluntary and involuntary motions. Almost all behaviors of task-oriented robots, however, consist solely of voluntary motions. Involuntary motions are important for generating natural motions like those of humans. Thus, we propose a natural behavior generation method for humanoid robots that is a hybrid generation between voluntary and involuntary motions. The key idea of our method is to control robots with a hybrid controller that combines the functions of a communication behavior controller and body balancing controllers. We also develop a wheeled inverted pendulum type of humanoid robot, named “Robovie-III”, in order to generate involuntary motions like oscillation. By applying our method to this robot and conducting preliminary experiments, we verify its validity. Experimental results show that the robot generates both voluntary and involuntary motions.     

Reduction of light elements loss in polymer foils during MeV-proton irradiation by application of an aluminum coating

Backscattering and forward-scattering spectrometry with 2.2 MeV-protons have been applied to detect light elements including H, C, N and O in polymer foils of aromatic polyimide (PI), polyethylene telephthalate (PET) and polyethylene naphthalate (PEN). In the case of PI, no significant loss of H, C, N and O was observed during proton irradiation. In the case of PET and PEN, on the other hand, all the light elements gradually decreased as irradiation fluence increased and the contents of 15%-H, 14%-C, 47%-O in PET and 7%-H, 5%-C 31%-O in PEN were eventually released up to a fluence of 2.1 × 10¹⁶ protons/cm². An aluminum thin film (thickness ∼0.1 μm) was sputter-deposited on the upper surface of 4 μm thick PET and PEN foils to prevent the release of light elements. In Al coated PEN foil, for example, the losses of H, C and O were 2%, 0.5% and 22% of the starting contents, respectively, considerably smaller than those found for uncoated PEN. Thus the Al coating was found to be an effective method to suppress the loss of constituent elements.     

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.     

A study on a quantum-inspired evolutionary algorithm based on pair swap

A quantum-inspired evolutionary algorithm (QEA) is proposed as a stochastic algorithm to perform combinatorial optimization problems. The QEA is evolutionary computation that uses quantum bits and superposition states in quantum computation. Although the QEA is a coarse-grained parallel algorithm, it involves many parameters that must be adjusted manually. This paper proposes a new method, named pair swap, which exchanges each best solution information between two individuals instead of migration in the QEA. Experimental results show that our proposed method is a simpler algorithm and can find a high quality solution in the 0-1 knapsack problem. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

Design and implementation of a vehicle interface protocol using an IEEE 1394 network

A wide variety of in-vehicle devices such as camera sensors, navigation systems, telematics and communication equipments have been incorporated into a vehicle to realize Intelligent Transport Systems (ITS) applications. Because an efficient standardized network is required, ITS Data Bus (IDB) has been discussed to carry high-speed multimedia data for audio, video and other real-time ITS applications. For connecting devices in a standardized manner, the IDB network has architecture with a gateway called vehicle interface which is located between automaker’s proprietary network and the standardized IDB network. IEEE 1394 (also known as iLink or FireWire), which can transport multimedia data for consumer electronics, is a good candidate for IDB network. In this paper, we analyze the issues for existing AV/C protocol (application layer protocol over IEEE 1394) to comprise the IDB network. In addition, we designed and implemented the vehicle interface protocol as a higher layer of IEEE 1394 to address the AV/C protocol issues for realizing the whole IDB network architecture.     

A penalized batch-Bayesian approach to informative path planning for decentralized swarm robotic search

Autonomous Robots - Swarm-robotic approaches to search and target localization, where target sources emit a spatially varying signal, promise unparalleled time efficiency and robustness. With most...     

A novel spacer‐free panel structure and glass for FEDs

Abstract— A new design for an FED envelope, composed of box‐shaped front glass, sheet‐like rear glass, and metal members, has been devised. This design structure is effective in reducing tensile stress induced by vacuum at the sealing points. Also, a new glass composition, a new physical tempering method, and a lead‐free hermetic sealing material have been developed. As a result, a novel lightweight spacer‐free panel structure for FEDs has been developed by integrating these new technologies. It will assist in maximizing the essential advantages of FED such as high image quality, high reliability, and low cost.     

Activity measurement of the constituents in molten Fe–B and Fe–B–C alloys

The distribution ratios of Fe and B between molten Fe–B alloy and molten Ag were measured at temperatures between 1573 and 1923 K. Also, distribution ratios of Fe and B between molten Fe–B–C_satd. alloys and molten Ag were measured at 1873 K. It was found that the excess Gibbs free energy of mixing in molten Fe–B and Fe–B–C alloys can be expressed by utilizing the Redlich–Kister polynomial. The activity curves of the elements in molten Fe–B alloy and Fe–B–C alloy were estimated.     

Effect of BaF2 powder addition on the synthesis of YAG phosphor by mechanical method

Here, we report on the effect of BaF₂ powder addition on the mechanical synthesis of Ce³⁺-doped Y₃Al₅O₁₂ (Y_2.97Al₅O₁₂:Ce_0.03³⁺, YAG:Ce³⁺) phosphors for white light emitting diodes. The YAG phosphors were synthesized by the mechanical method using an attrition-type mill. When BaF₂ was added at 6 wt% to the raw powder materials and milled, the synthesis of YAG:Ce³⁺ was favorably achieved at the vessel temperature of 255 °C, which was about 1200 °C lower than the YAG phosphor synthesis temperature by solid-state reaction. The synthesized YAG:Ce³⁺ phosphor revealed the maximum internal quantum yield of 57%.