Team O2AS' approach for the task-board task of the World Robot Challenge 2018

ABSTRACT

In this paper, we describe the approach of Team O2AS to complete the task-board task of the World Robot Challenge 2018, held in Tokyo. We use a custom gripper and graspable tools with in-built compliance to work with various kinds of parts, increase robustness against uncertainties, and to avoid complicated control strategies. The robots are able to finish all the sub-tasks without the need to exchange grippers. The main idea is to use mechanical compliance and self-centering mechanisms to deal with uncertainty. This is achieved by aligning the objects using either the gripper and tools, or by the design of the robot motions.     

Methylcyclohexane production under fluctuating hydrogen flow rate conditions

Energy storage using liquid organic hydrogen carrier (LOHC) is a long-term method to store renewable energy with high hydrogen energy density. This study investigated a simple and low-cost system to produce methylcyclohexane (MCH) from toluene and hydrogen using fluctuating electric power, and developed its control method. In the current system, hydrogen generated by an alkaline water electrolyzer was directly supplied to hydrogenation reactors, where hydrogen purification equipment such as PSA and TSA is not installed to decrease costs. Hydrogen buffer tanks and compressors are not equipped. In order to enable MCH production using fluctuating electricity, a feed-forward toluene supply control method was developed and introduced to the system. The electrolyzer was operated under triangular waves and power generation patterns of photovoltaic cells and produced hydrogen with fluctuating flow rates up to 7.5 Nm³/h. Consequently, relatively high purity of MCH (more than 90% of MCH mole fraction) was successfully produced. Therefore, the simplified system has enough potential to produce MCH using fluctuating renewable electricity.     

Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools

ABSTRACT

In this article, we propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as screwing and suctioning. A third gripper is used as a precision picking and centering tool, and uses in-built passive compliance to compensate for small position errors and uncertainty. A novel grasp point detection for bin picking is described for the kitting task, using a single depth map. Using the proposed system we competed in the Assembly Challenge of the Industrial Robotics Category of the World Robot Challenge at the World Robot Summit 2018, obtaining 4th place and the SICE award for lean design and versatile tool use. We show the effectiveness of our approach through experiments performed during the competition.     

Growth of β-Ga2O3 nanocolumns crossing perpendicularly each other on MgO (1 0 0) surface

β-Ga₂O₃ nanocolumns straightened and crossed perpendicularly each other were deposited on MgO (1 0 0) substrate by vapor phase transport method. Growth of the nanocolumns was examined at steps of 1000, 1050, and 1200 °C in elevation of source-boat temperature. We have drawn out the substrate from deposition-tube at each source-boat temperatures of 1000, 1050, and 1200 °C. Scanning electron microscopy of the sample with source-boat temperature of 1200 °C demonstrated that the straightened and elongated nanocolumns are crossing perpendicularly each other. Typical lengths of the nanocolumns were in the range of several hundreds nanometers below 1050 °C, and those of 1200 °C were in the range of ten to fifteen hundreds nanometers. Diameters of the nanocolumns stayed in the range of few hundreds nanometers, notwithstanding variation of the source temperature. X-ray diffraction and transmission electron microscopy with energy dispersive X-ray spectroscopy revealed that the nanocolumns are monoclinic β-Ga₂O₃ crystal, and the (4 0 0) plane of β-Ga₂O₃ nanocolumns is parallel to the (1 0 0) plane of MgO substrate.     

Enhancement of methane production by Methanosarcina barkeri using Fe3O4 nanoparticles as iron sustained release agent

Anaerobic digestion has attracted attention because it does not require power for aeration, it reduces excess sludge and it generates methane gas. However, the growth rate of anaerobic microorganisms is slow, resulting in low treatment efficiency. In this study, the impact of Fe₃O₄ nanoparticles (NPs) on the growth of methanogens, which is the rate-determining step in anaerobic digestion, was investigated using a pure culture of Methanosarcina barkeri as the model methanogen. M. barkeri were cultivated in iron free medium, as well as in media amended with various concentrations of Fe₃O₄ NPs with a mean diameter of 8.1?±?2.4?nm. The production of methane gas was greatly increased when organisms were cultured in media containing NPs. After the methane production was saturated, methanol was newly added to the culture, which resulted in additional methane generation at a higher production rate than occurred during the initial round of cultivation in media containing 20?ppm Fe₃O₄ NPs. In addition, no evidence of negative impacts of Fe₃O₄ NPs on the growth of M. barkeri was observed. Taken together, these results strongly suggest that adding Fe₃O₄ NPs into the fermenter as an agent of sustained iron release can enable sustainable methane fermentation.     

Control of colloidal behavior of polystyrene latex nanoparticles and their cytotoxicity toward yeast cells using water-soluble polymers

Positively charged polystyrene latex (PSL) nanoparticles (NPs) dispersed in physiological saline (154?mM NaCl solution) are taken up by yeast cells. However, in low ionic strength solutions, the yeast cells are covered with the NPs, leading to cell death. The environmental conditions under which NPs are taken up are therefore limited. In this study, we attempted to control the uptake of positively charged PSL NPs by Saccharomyces cerevisiae in 5?mM NaCl solution using a water-soluble polymer. Addition of a small amount of anionic sodium carboxymethylcellulose (CMC), which has a carboxyl group, to 5?mM NaCl solution allowed the uptake of PSL NPs by living yeast cells. In contrast, non-ionic methylcellulose did not affect the NP behavior. This is because the negatively charged CMC adhered to the positively charged PSL NP surfaces and the surface charge changed from positive to negative. Atomic force microscopy using a single-NP probe consisting of one NP immobilized on the flattened end of the silicon nitride tip showed that CMC significantly reduced the interaction force between a negatively charged living yeast cell and a positively charged PSL NP.     

Rapid discharge performance of composite electrode of hydrated sodium manganese oxide and acetylene black

Hydrated sodium manganese oxide was synthesized by reducing permanganate ion using ethanol by a sol–gel method. By including acetylene black in the synthetic reaction, we obtained composite materials in which sodium manganese oxide hydrate particles were small and mixed well with the acetylene black. We evaluated those composites as a lithium battery cathode and found that they showed 170 mA h g⁻¹ under 5 mA g⁻¹ and 117 mA h g⁻¹ under 5 A g⁻¹ on the basis of composite weight. This rapid discharge performance was probably caused by the favorable contact condition of the composite constituents.     

Preparation and Electric Properties of Dense Nanocrystalline Zinc Oxide Ceramics

This communication reports on the preparation and electric properties of dense nanocrystalline ZnO ceramics. By spark plasma sintering, nanocrystalline (∼100 nm) ZnO ceramics with a high density of 98.5% were obtained at a very low temperature of 550°C. Electric property measurement revealed a novel conduction nonlinearity in the sample sintered at 500°C. This phenomenon is due to the nanometerization of ZnO crystal and the grain boundary layer with an amorphous interfacial layer.     

Structure–Property Relationship in BT-Based Dielectrics for Ni-MLCC: Modification of Grain Boundary

Structure–property relationship in BaTiO₃ (BT)-based dielectrics for multi-layer ceramic capacitors with nickel internal electrode was investigated using samples having various HoO_3/2 concentrations by measuring temperature characteristics of capacitance, voltage–current characteristics, lifetime at highly accelerated life test, high-resolution analytical electron microscope, and frequency response at elevated temperature and ultra-low frequency. It was concluded that the addition of Ho affected the shell and grain boundary (GB) characteristics. Incorporation of Ho into BT perovskite lattice and the change in GB characteristics along with the doped concentration of HoO_3/2 were discussed to better understand the role of doped Ho₂O₃.     

Composition of gaseous combustion products of polymers

The gaseous products generated by the flaming combustion of ten kinds of synthetic polymers and a kind of wood (cedar) under the same conditions (sample weight, 0.1 g; temperature, 700°C air flow rates, 50 and 100 l./hr) were quantitatively analyzed by infrared spectrophotometry, gas chromatography, and colorimetric tube method. The main hydrocarbons generated were methane, ethylene, and acetylene. The amount of acetylene generated by the flaming combustion of polymers was much larger than the amount of acetylene formed by pyrolysis at 700°C in nitrogen. Acetylene increased in quantity with increasing air. For nitrogen compounds, hydrogen cyanide was generated from every polymer containing nitrogen used, but ammonia was detected only for nylon 66 and polyacrylamide. Nitrogen monoxide and nitrogen dioxide were detected only in small amounts. Nitrous oxide was detected in the gaseous products generated by the nonflaming combustion of urea resin and melamin resin. It was also found that about 70% of the nitrogen in N-66 and PAA was converted into nitrogen gas (N₂) by combustion under the conditions described above.