Learning of real robot's inverse dynamics by a forward‐propagation learning rule

A forward‐propagation learning rule (FPL) has been proposed for a neural network (NN) to learn an inverse model of a controlled object. A feature of FPL is that the trajectory error propagates forward in NN and appropriate values of two learning parameters are required to be set. FPL has only been simulated to several kinds of controlled objects such as a two‐link arm in a horizontal plane. In this work, we applied FPL to AIBO and showed the validity of FPL on a real controlled object. At first, we tested a learning experiment of an inverse dynamic of a two‐link arm in a sagittal plane with viscosity and Coulomb friction by computer simulation. In this simulation, a low‐pass filter (LPF) was applied to realized trajectories because coulomb friction vibrates them. From the simulation results, we found that the learning process is stable by some adequate sets of the learning parameters although it is more sensitive to the values of the parameters owing to friction and gravity terms. Finally, we tested applying FPL to motor control of AIBO's leg. The inverse dynamics model was acquired by FPL with only about 150 learning iterations. From these results, the validity of the FPL was confirmed by the real robot control experiments. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 161(4): 38–48, 2007; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20456     

On Efficient Traffic Distribution for Disaster Area Communication Using Wireless Mesh Networks

In recent time, a great deal of research effort has been directed toward promptly facilitating post-disaster communication by using wireless mesh networks (WMNs). WMN technology has been considered to be effectively exploited for this purpose as it provides multi-hop communication through an access network comprising wireless mesh routers, which are connected to the Internet through gateways (GWs). One of the critical challenges in using WMNs for establishing disaster-recovery networks is the issue of distributing traffic among the users in a balanced manner in order to avoid congestion at the GWs. To overcome this issue, we envision a disaster zone WMN comprising a network management center. First, we thoroughly investigate the problem of traffic load balancing amongst the GWs in our considered disaster zone WMN. Then, we develop traffic load distribution techniques from two perspectives. Our proposal from the first perspective hinges upon a balanced distribution of the bandwidth to be allocated per user. On the other hand, our second perspective considers the dynamic (i.e., varying) bandwidth demands from the disaster zone users that requires a more practical and refined distribution of the available bandwidth by following an intelligent forecasting method. The effectiveness of our proposals is evaluated through computer-based simulations.     

Baseband Feedback Frequency-Division Multiplexing with Low-Power dc-SQUIDs and Digital Electronics for TES X-Ray Microcalorimeters

We are developing frequency-division multiplexing (FDM) systems with baseband feedback for TES X-ray microcalorimeter arrays for use with the DIOS mission. To meet the requirement of limited cooling capacity at cryogenic temperatures, we developed low-power and FDM-optmized dc-SQUIDs. To make maximum use of the SQUIDs, we also developed digital electronics using FPGA evaluation boards and ADC/DAC FMC daughter cards, and evaluated signal-to-noise ratios and gain-bandwidth products.     

Structural Distortion and Compositional Gradients Adjacent to Epitaxial LiMn2O4 Thin Film Interfaces

Thin film electrode materials are key components in the development of high rate, high capacity solid‐state Li‐ion batteries. Detailed knowledge of the epitaxial film/substrate(current‐collector) interface structures, which provides insights into epitaxial growth mechanisms and the effects of microstructure on electrochemical properties, is essential for efficient materials and device design. Here we report the epitaxial growth mechanism of a typical cathodic LiMn₂O₄ thin film by exploring the detailed structural and compositional variations in the vicinity of a film/substrate interface using state‐of‐the‐art scanning transmission electron microscopy. Direct observation of atom columns shows the epitaxial film forms an atomically flat and coherent heterointerface with the substrate, but that the crystal lattice is tetragonally distorted with a measurable compositional gradient from the interface to the crystal bulk. The growth mechanism is interpreted in terms of a combination of chemical and physicomechanical effects, namely a complex interplay between the internal Jahn‐Teller distortions induced by oxygen non‐stoichiometry and the lattice misfit strain.     

A QoS-aware routing mechanism for multi-channel multi-interface ad-hoc networks

To accommodate real-time multimedia application while satisfying application QoS requirements in a wireless ad-hoc network, we need QoS control mechanisms. In this paper, we propose a new routing mechanism to support real-time multimedia communication by efficiently utilize the limited wireless network capacity. Our mechanism considers a wireless ad-hoc network composed of nodes equipped with multiple network interfaces to each of which a different wireless channel can be assigned. By embedding information about channel usage in control messages of OLSRv2, each node obtains a view of topology and bandwidth information of the whole network. Based on the obtained information, a source node determines a logical path with the maximum available bandwidth to satisfy application QoS requirements. Through simulation experiments, we confirmed that our proposal effectively routed multimedia packets over a logical path avoiding congested links. As a result, the load on a network is well distributed and the network can accommodate more sessions than QOLSR. We also conducted practical experiments using wireless ad-hoc relay nodes with four network interfaces and verified the practicality of our proposal.     

Nanotrap and mass analysis of aromatic molecules by phenyl group-modified nanoparticle

To functionalize the surface of nanoparticles with phenyl groups for subsequent cross-linking with aromatic molecules by mutual interactions, we prepared functional nanoparticles (d = 3 nm) by silanization with phenyl-triethoxysilane. The nanoparticles had Fe(2)O(3) cores conjugated to phenyl groups; this was confirmed by Fourier transform infrared (FT-IR) spectroscopy and absorption spectrophotometry. The typical C-H and C-C peaks and the absorption at 240 nm, which corresponds to aromatic rings, were detected in the spectroscopic results for the phenyl group-modified nanoparticles. The nanoparticles could ionize aromatic (colchicine, reserpine, and bradykinin peptide) and nonaromatic (L-α-phosphatidylethanolamine,dioleoyl, and polyethylene glycol) molecules by nanoparticle-assisted laser desorption/ionization mass spectrometry. The nanoparticles worked as a selective trap and an ionization-assisting reagent in mass spectrometry for the aromatic molecular targets.     

Effect of KSG-504, a new CCK-A-receptor antagonist, on experimental acute pancreatitis in rats and mice

We investigated the protective and/or therapeutic effects of a new cholecystokinin receptor antagonist, KSG-504, on different types of experimental pancreatitis in the rat and mouse. The intravenous injection of KSG-504 (10, 25, 50 and 100 mg/kg) before caerulein administration to the rat inhibited the increases in plasma amylase, lipase and of pancreatic wet weight in a dose-dependent manner. The histological changes due to caerulein-induced acute pancreatitis were also decreased by KSG-504 when KSG-504 (25, 50 and 100 mg/kg) was administered after the induction of acute pancreatitis; the increases in plasma amylase, lipase and pancreatic wet weight were reduced, but the histological changes of the pancreas were not decreased significantly. In the second experiment, acute pancreatitis was induced in rats by injecting 0.3 ml of 6% sodium taurocholate into the pancreatic interstitial tissue. KSG-504 administered immediately and 1.5 hr after sodium-taurocholate injection at 100 mg/kg reduced the increases of pancreatic enzymes in the plasma, pancreatic wet weight and ascites. Moreover, KSG-504 (50 and 100 mg/kg, i.v., x 2) mitigated the histological changes of taurocholate-induced acute pancreatitis. Another type of acute pancreatitis was induced in mice by dl-ethionine (0.5 g/kg, p.o., x 4) and a choline-deficient diet. KSG-504 (10, 30 and 100 mg/kg) was subcutaneously administered five times every 12 hr during the experiment. KSG-504 elongated the survival of mice in a dose-dependent manner. These findings suggest that KSG-504 has potent protective and/or therapeutic effects against acute pancreatitis and that cholecystokinin may be involved in the development of pancreatitis.     

放电等离子超快速烧结氧化铝力学性能和显微结构研究

本文介绍用和电等离子超快速烧结方法制备的氧化铝陶瓷的力学性能和显微结构特征，超快速烧结的升温速率为６００℃／ｍｉｎ，在烧结温度不保温，迅即在３ｍｉｎ内冷却至６００℃以下，与保温时间为２ｈ的无压烧结相比，可降低烧结温度和提高样品密度。力学性能研究结果表明，用放电等离子超快速烧结方法制备的纯氧化铝陶瓷的抗弯强度高达８００ＭＰａ以上，比通常氧化铝陶瓷的抗弯强度高出一倍，用ＳＥＭ研究了在不同温度下超快速烧