A dispatching method for automated guided vehicles by using a bidding concept

A dispatching method is suggested for automated guided vehicles by using an auction algorithm. The dispatching method in this study is different from traditional dispatching rules in that it looks into the future for an efficient assignment of delivery tasks to vehicles and also in that multiple tasks are matched with multiple vehicles. The dispatching method in this study is distributed in the sense that the dispatching decisions are made through communication among related vehicles and machines. The theoretical rationale behind the distributed dispatching method is also discussed. Through a simulation study, the performance of the method is compared with that of a popular dispatching rule. RID="*" ID="*" The research was financially supported by the Sasakawa Scientific Research Grant from The Japan Science Society. The original version of the simulation program is provided by Professor Jae Yeon Kim at Dong Yang University, Korea. Correspondence to: J. K. Lim     

Real Space Imaging of the Electronic States in Underdoped Ca2−x Na x CuO2Cl2 Single Crystals

Scanning tunneling microscopy (STM) has been performed on underdoped Ca_2–x Na _x CuO₂Cl₂ (Na-CCOC) single crystals to investigate the electronic states of doped Mott insulators near the metal-insulator transition. STM images taken at 7 K show patch-like or river-like irregular features superposed on the atomic corrugations. The irregular structure has a characteristic length scale of 20 Å, which is unchanged in different samples and at different doping levels studied (0.08<x<0.12). Bias voltage dependence of the STM image suggests that Na-CCOC consists of two distinct phases with different electronic states.     

Superconducting Gap Structure of YNi2B2C Determined by Thermal Conductivity

In order to determine the superconducting gap structure of the borocarbide superconductor YNi₂B₂C, we have measured the angular variation of the c-axis thermal conductivity _zz in magnetic field rotated within the ab-planes. A clear fourfold symmetry with narrow cusps was observed in the angular variation of _zz . These results provide a strong evidence that the gap function has point nodes which are located along the a- and b-axes of the crystal.     

Preparation and characterization of the Sb-doped TiO2 photocatalysts

Doped TiO₂ photocatalysts have been prepared by a coprecipitation method. Uniformly doped nanocrystalline TiO₂ of 10–20 nm sizes was synthesized by calcinating the coprecipitated gels at 400–650°C. Photocatalytic characterization along with the microstructural investigation for each catalyst provides better understanding of the photocatalytic behavior. It was found that the photodegradation of methylene blue (MB) was a complex function of the doping type and its concentration and the microstructural characteristics of the catalysts. Antimony doing significantly improved photocatalytic performance as compared to the undoped TiO₂. Post-treatment of the as-precipitated wet doped Ti gels in an organic solvent also increased the surface area, forming approximately 8 nm size doped TiO₂ with surface area 149 m²/g. Superior catalytic activity was observed in the Sb-doped TiO₂ samples at a doping concentration ranging from 1 to 5 at%. Using the 5 at% Sb-doped TiO₂ catalyst treated in butanol, 100 ppm of MB could be decomposed completely within 1 h, which was better than the commercial Degussa P-25.     

Differential formation of allophane and imogolite: experimental and molecular orbital study

Allophane and imogolite are naturally occurring aluminum silicate soil constituents with nano-ball and nano-tube morphology. Wall of the both materials is composed of Al(OH)₃ sheet with orthosilicic acid attached to it. Synthesis of allophane and imogolite can be controlled by addition of alkali and alkaline-earth metal ions. The main reaction product without or with small amounts addition of the metal ions is imogolite, while allophane forms when the metal ions were much added. The effect of metal ions on facilitating allophane formation and inhibition of imogolite formation were greater in the following order of Na, K < Ca, Mg. These metal ions affect the degree of dissociation of Si–OH group of orthosilicic acid, which may causes differential formation of allophane and imogolite. Structure optimization of the proto-imogolite model, precursor of allophane and imogolite, showed that when the Si–OH was undissociated, the shape of proto-imogolite model was transformed to asymmetrical in molecular configuration. This caused curling of the proto-imogolite model, which lead to formation of imogolite tube. On the other hand, when the Si–OH was dissociated, the shape of the proto-imogolite model was transformed to symmetrical configuration. This model curved to make a hollow sphere with placing the orthosilicic acid inside the sphere (allophane). Both of the experimental and molecular orbital calculation results proved that the dissociation of the Si–OH has an important role during the differential formation of allophane and imogolite.     

A stiffness adjustment mechanism maximally utilizing elastic energy of a linear spring for a robot joint

This paper proposes a mechanism that adjusts mechanical stiffness around a robot joint and utilizes whole elastic energy of an elastic element. The proposed mechanism consists of a lead screw mechanism, a linear spring, and wires. The lead screw mechanism moves a nut of the lead screw mechanism to change a bending point of the wire, which connects the linear spring and the lead screw mechanism. Then, moment arm and ratio of joint rotation to extension of the spring are varied. As a result, joint stiffness is adjusted. Because this mechanism does not apply tension to the spring for the stiffness adjustment, whole elastic energy of the spring can be utilized for joint rotation. This utilization can minimize weight and size of the elastic element. Additional advantages of the proposed mechanism are mechanical simplicity, wide range of adjustable stiffness, and no energy consumption for keeping constant stiffness. We analyze characteristics of the proposed mechanism and compare with other mechanisms in detail. Device development and experimental results are provided for demonstrating the effectiveness of the proposed mechanism.     

A new desk-top encounter-type haptic device with an actively driven pen-tablet LCD panel

In conventional haptic devices for virtual reality (VR) systems, a user interacts with a scene by handling a tool (such as a pen) using a mechanical device (i.e. an end-effector-type haptic device). In the case that the device can ‘mimic’ a VR object, the user can interact directly with the VR object without the mechanical constraint of a device (i.e. an encounter-type haptic device). A new challenge of an encounter-type haptic device is displaying the visuals and haptic information simultaneously on a single device. We are proposing a new desk-top encounter-type haptic device with an actively driven pen-tablet LCD panel. The proposed device is capable of providing pseudo-3D visuals and haptic information on a single device. As the result, the system provides to the user a sense of interaction with a real object. To develop a proof-of-concept prototype, a compact parallel mechanism was developed and implemented. The aim of this research is to propose a new concept in haptic research. In this paper, the concept, the prototype, and some preliminary evaluation tests with the proposed system are presented.     

REINFORCEMENT LEARNING FOR POMDP USING STATE CLASSIFICATION

Reinforcement learning (RL) has been widely used to solve problems with a little feedback from environment. Q learning can solve Markov decision processes (MDPs) quite well. For partially observable Markov decision processes (POMDPs), a recurrent neural network (RNN) can be used to approximate Q values. However, learning time for these problems is typically very long. We present a new combination of RL and RNN to find a good policy for POMDPs in a shorter learning time. This method contains two phases: firstly, state space is divided into two groups (fully observable state group and hidden state group); secondly, a Q value table is used to store values of fully observable states and an RNN is used to approximate values for hidden states. Results of experiments in two grid world problems show that the proposed method enables an agent to acquire a policy with better learning performance compared to the method using only a RNN.     

Process study and optimization for fabrication of poly‐Si thin‐film transistors on plastic substrates

Abstract— A complete poly‐Si thin‐film transistor (TFT) on plastic process has been optimized to produce TFT arrays for active‐matrix displays. We present a detailed study of the poly‐Si crystallization process, a mechanism for protecting the plastic substrate from the pulsed laser used to crystallize the silicon, and a high‐performance low‐temperature gate dielectric film. Poly‐Si grain sizes and the corresponding TFT performance have been measured for a range of excimer‐laser crystallization fluences near the full‐melt threshold, allowing optimization of the laser‐crystallization process. A Bragg reflector stack has been embedded in the plastic coating layers; its effectiveness in protecting the plastic from the excimer‐laser pulse is described. Finally, we describe a plasma pre‐oxidation step, which has been added to a low‐temperature (<100°C) gate dielectric film deposition process to dramatically improve the electrical properties of the gate dielectric. These processes have been integrated into a complete poly‐Si TFT on plastic fabrication process, which produces PMOS TFTs with mobilities of 66 cm² /V‐sec, threshold voltages of ?3.5 V, and off currents of approximately 1 pA per micron of gate width.     

Selective conversion of CO into methanol at ordinary temperature, part 5. Using an electrochemical photocell

Carbon monoxide has been selectively converted to methanol by means of an electrochemical photocell composed of the n-CdS photoanode and the Everitt's salt-modified platinum cathode. The catholyte was the CO-saturated aqueous solution containing a metal complex and a primary alcohol operating as homogeneous catalysts. In the anolyte, various reducing agents were added to reduce the holes created at the semiconductor. The current efficiency of the methanol formation was almost 100%, irrespective of the kind of metal complex if the reducing agent added as a hole scavenger to the anolyte has a sufficiently negative redox potential.