CO2气体保护的激光焊接12mm厚低碳钢板

采用CO2 作为保护气体消除大熔深激光焊接低碳钢时易发生的气孔问题 ,并对比研究了CO2 和Ar气保护条件下 12mm厚低碳钢板激光焊缝的组织和韧性。焊接试验利用 4kWNd :YAG激光器 ,采用双面深熔焊的方法 ,焊接条件为 4kW激光功率和0 .3 ,0 .5m/min的焊接速度。冲击试验采用一种自行设计的带侧面缺口的三缺口冲击试样 ,以保证断裂全部发生在焊缝。结果表明 ,利用CO2 作保护气体焊接低碳钢板 ,可以有效消除大熔深激光焊接时的气孔问题 ,并获得比Ar气保护下硬度较低 ,冲击韧性高的焊缝。研究工作为解决大功率激光深熔焊时容易发生的气孔问题提供了一条有效途径     

Cooperative behavior acquisition for mobile robots in dynamically changing real worlds via vision-based reinforcement learning and development

In this paper, we first discuss the meaning of physical embodiment and the complexity of the environment in the context of multi-agent learning. We then propose a vision-based reinforcement learning method that acquires cooperative behaviors in a dynamic environment. We use the robot soccer game initiated by RoboCup (Kitano et al., 1997) to illustrate the effectiveness of our method. Each agent works with other team members to achieve a common goal against opponents. Our method estimates the relationships between a learner's behaviors and those of other agents in the environment through interactions (observations and actions) using a technique from system identification. In order to identify the model of each agent, Akaike's Information Criterion is applied to the results of Canonical Variate Analysis to clarify the relationship between the observed data in terms of actions and future observations. Next, reinforcement learning based on the estimated state vectors is performed to obtain the optimal behavior policy. The proposed method is applied to a soccer playing situation. The method successfully models a rolling ball and other moving agents and acquires the learner's behaviors. Computer simulations and real experiments are shown and a discussion is given.     

Proper Learning Algorithm for Functions of k Terms under Smooth Distributions

In this paper, we introduce a probabilistic distribution, called a smooth distribution, which is a generalization of variants of the uniform distribution such as q-bounded distribution and product distribution. Then, we give an algorithm that, under the smooth distribution, properly learns the class of functions of k terms given as _k ^k_n={g(f₁(v), …, f_k(v)) | g _k, f₁, …, f_{k n}} in polynomial time for constant k, where _k is the class of all Boolean functions of k variables and _n is the class of terms over n variables. Although class _k ^k_n was shown by Blum and Singh to be learned using DNF as the hypothesis class, it has remained open whether it is properly learnable under a distribution-free setting.     

EM-based policy hyper parameter exploration: application to standing and balancing of a two-wheeled smartphone robot

This paper proposes a novel policy search algorithm called EM-based Policy Hyper Parameter Exploration (EPHE) which integrates two reinforcement learning algorithms: Policy Gradient with Parameter Exploration (PGPE) and EM-based Reward-Weighted Regression. Like PGPE, EPHE evaluates a deterministic policy in each episode with the policy parameters sampled from a prior distribution given by the policy hyper parameters (mean and variance). Based on EM-based Reward-Weighted Regression, the policy hyper parameters are updated by reward-weighted averaging so that gradient calculation and tuning of the learning rate are not required. The proposed method is tested in the benchmarks of pendulum swing-up task, cart-pole balancing task and simulation of standing and balancing of a two-wheeled smartphone robot. Experimental results show that EPHE can achieve efficient learning without learning rate tuning even for a task with discontinuities.     

Thermal management of edge‐lit wide color gamut backlight for LCD using red laser diodes and cyan LEDs

The color gamut is one of the critical parameters that dictate the image quality of displays. The liquid crystal displays using white color light‐emitting diodes (LEDs) as the backlight, though having been widely employed recently, are not very satisfactory in terms of their color gamut because of the broad spectrum inherent to white LEDs. This prompted the authors to develop improved liquid crystal displays using an edge‐lit wide color gamut backlight that used red laser diodes and cyan LEDs. Generating laser beams with high color purity, the laser diodes are light sources with a significant effect on expanding the color gamut. However, laser diodes, red ones in particular, have unfavorable thermal characteristics. To cope with this shortcoming, the authors clearly defined the restrictive criteria for laying out two kinds of light source on the edge‐lit backlight and made a prototype 55‐type laser backlight for performance evaluation.     

Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots

On March 11, 2011, a massive earthquake (magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis due to the loss of all power that resulted from the meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions, and, in one building, the nuclear reactions became out of control. It was too dangerous for humans to enter the buildings to inspect the damage because radioactive materials were also being released. In response to this crisis, it was decided that mobile rescue robots would be used to carry out surveillance missions. The mobile rescue robots needed could not be delivered to the Tokyo Electric Power Company (TEPCO) until various technical issues were resolved. Those issues involved hardware reliability, communication functions, and the ability of the robots' electronic components to withstand radiation. Additional sensors and functionality that would enable the robots to respond effectively to the crisis were also needed. Available robots were therefore retrofitted for the disaster reponse missions. First, the radiation tolerance of the electronic componenets was checked by means of gamma ray irradiation tests, which were conducted using the facilities of the Japan Atomic Energy Agency (JAEA). The commercial electronic devices used in the original robot systems operated long enough (more than 100 h at a 10% safety margin) in the assumed environment (100 mGy/h). Next, the usability of wireless communication in the target environment was assessed. Such tests were not possible in the target environment itself, so they were performed at the Hamaoka Daiichi Nuclear Power Plants, which are similar to the target environment. As previously predicted, the test results indicated that robust wireless communication would not be possible in the reactor buildings. It was therefore determined that a wired communication device would need to be installed. After TEPCO's official urgent mission proposal was received, the team mounted additional devices to facilitate the installation of a water gauge in the basement of the reactor buildings to determine flooding levels. While these preparations were taking place, prospective robot operators from TEPCO trained in a laboratory environment. Finally, one of the robots was delivered to the Fukushima Daiichi Nuclear Power Plants on June 20, 2011, where it performed a number of important missions inside the buildings. In this paper, the requirements for the exploration mission in the Fukushima Daiichi Nuclear Power Plants are presented, the implementation is discussed, and the results of the mission are reported.     

Micromachining of electroformed nickel mold using thick photoresist microstructure for imprint technology

In order to fabricate polymer-based microstructures with feature sizes on the order of micrometers, we have been developing a microimprint technology with a fine nickel (Ni) mold instead of a conventional photolithography technique. The Ni mold was successfully fabricated by electroforming using a positive thick photoresist microstructure patterned on a silicon substrate as a replication master. The photoresist microstructure with excellent edge quality can be obtained under irradiation with single wavelength (g line) selected from a high-pressure mercury lamp. In addition, its sidewall angle in the range of 65° to 84° can be controlled precisely by varying the distance between a photomask and a photoresist surface. On the structured photoresist master, Ni was electroplated up to a thickness of about 110 μm, and then removed from the master. In this process, two-step electroplating at different current densities was carried out in order to prevent deformation of the photoresist master due to stress generated in a Ni electrodeposit. With the Ni mold, fine patterns with a width of 10 or 30 μm and a depth of 24 μm were almost completely transferred to polymetric materials (PMMA). The geometrical dimensions of the fabricated PMMA microstructures were found to be only about 10% reduction against the Ni mold.     

No. 3Vol. 42, No. 2, pp. 94–101, 2008Effect of Birch (Betula platyphylla Sukatchev var. japonica Hara) sap on cultured human epidermal keratinocyte differentiation

The beauty of ideal skin texture is closely associated with dermal moisture factors. The key factors of skin moisture are NMF (natural moisturizing factor) and skin normal barrier function. The former keeps dermal surface moisture, and the later protects from excess water loss. So we have searched for the ingredient that improves these factors. Birch sap has been widely used as an effective drink for anti-fatigue and anti-stress. However, the effect of birch sap on skin as a cosmetic agent has not been known entirely. In this study, we investigated the effects of birch ( Betula platyphylla Sukatchev var. japonica Hara) sap on human skin. Birch sap induced epidermal keratinocyte differentiation properties in vitro . We assessed two epidermal differentiation agents. Filaggrin is a precursor protein of NMF, and involucrin is one of the precursor proteins of the cornified cell envelope (CE), which is related to normal barrier function. We have evaluated the production of these proteins where birch sap was applied to human normal keratinocytes. Birch sap not only increased mRNA expression of filaggrin and involucrin, but also accelerated these proteins production. Otherwise, birch sap did not have any influence for IL-6 production, which is related to inflammatory and aberrant keratinocyte proliferation. The results of induced differentiation properties on birch sap-treated keratinocytes are very similar to the differentiation induced by calcium in vitro . This similarity suggested that birch sap has a differentiation inducible property on in vitro cultured keratinocytes. Our study suggested that birch sap is able to control both moisturizing- and barrier-related factor production. From these effects, birch sap provides appropriate epidermal functions and skin homeostasis, and revealed itself as a very useful ingredient in the cosmetic field.