Enhanced path smoothing based on conjugate gradient descent for firefighting robots in petrochemical complexes*

The firefighting robot system (FFRS) comprises several autonomous robots that can be deployed to fire disasters in petrochemical complexes. For autonomous navigation, the path planner should consider the robot constraints and characteristics. Specifically, three requirements should be satisfied for a path to be suitable for the FFRS. First, the path must satisfy the maximum curvature constraint. Second, it must be smooth for robots to easily execute the trajectory. Third, it must allow reaching the target location in a specific heading. We propose a path planner that provides smooth paths, satisfy the maximum curvature constraint, and allows a suitable robot heading. The path smoother is based on the conjugate gradient descent, and three approaches are proposed for this path planner to meet all the FFRS requirements. The effectiveness of these approaches is qualitatively and quantitatively evaluated by examining the generated paths. Finally, the path planner is applied to an actual robot to verify the suitability of the generated paths for the FFRS, and planning is applied to another type of robot to demonstrate the wide applicability of the proposed planner.     

Network Design with Edge-Connectivity and Degree Constraints

We consider the following network design problem; Given a vertex set V with a metric cost c on V, an integer k≥1, and a degree specification b, find a minimum cost k-edge-connected multigraph on V under the constraint that the degree of each vertex v∈V is equal to b(v). This problem generalizes metric TSP. In this paper, we show that the problem admits a ρ-approximation algorithm if b(v)≥2, v∈V, where ρ=2.5 if k is even, and ρ=2.5+1.5/k if k is odd. We also prove that the digraph version of this problem admits a 2.5-approximation algorithm and discuss some generalization of metric TSP.     

Measurement of specific movement power application: evaluation of weight lifters

A new dynamometer was developed for the measurement of specific movement power (SMP) exerted by mono- or multi-articular movements. To determine the reproducibility of SMP, two identical test protocols were carried out on separate days for six movement types on seven adult males. The movement types were arm pull (AP), leg rise (LR), knee extension (KE), elbow flexion (EF), hip extension (HE) and squat movement (SQ). Variations in peak power obtained in two tests ranged from 0.7% (AP) to 9.6% (SQ). Coefficients of the test-re-test correlation in peak power ranged from 0.805 (SQ) to 0.961 (AP) and standard errors ranged from 4 W (EF) to 14 W (SQ). SMP in upper extremities increased from 166 W (EF) to 307 W (AP) resulting from the increase in velocity. However, in the movements of lower extremities, SMP increased from 506 W (KE) to 1351 W (SQ) as a result of the increase in force. To evaluate the validity of the SMP, a pull movement in weightlifting was tested and related to the athletic performance on weightlifters. Positive linear correlation (r = 0.862, p<0.001) was observed between SMP and the total weight best records. It is concluded that this newly developed dynamometer has enough reproducibility and validity for evaluating the SMP, which is developed by various joint movement patterns related to the sport. The feasibility of applying this measuring protocol to the testing and training programmes for improving the daily living activities and athletic performances should now be assessed.     

Transient phenomena of space charge distributions in polypropylene laminated paper

In a multilayer insulator made of two or more materials with different dielectric constants and conductivities, internal space change accumulates at their interfaces. If the local field is increased by the accumulated charge, the electric durability of the insulator should be decreased. In this paper, we describe the space charge accumulation measured when oil-impregnated PPLP (polypropylene laminated paper), which consists of three layers, kraft paper, polypropylene (PP), and kraft paper, was subjected to a strong dc electric field. The experimental results suggest that internal space charge accumulates at both surfaces of a PP layer and that the electric field in the kraft paper layers disappears. © 1998 Scripta Technica, Electr Eng Jpn, 124(1): 1–6, 1998     

Single molecular orientation switching of an endohedral metallofullerene

The single molecular orientation switching of the Tb@C82 endohedral metallofullerene has been studied by using low-temperature ultrahigh vacuum (UHV) scanning tunneling microscopy (STM). An octanethiol self-assembled monolayer (SAM) was introduced between Tb@C82 and the Au111 substrate to control the thermal rotational states of Tb@C82. Scanning tunneling spectroscopy (STS) of Tb@C82 on an octanethiol SAM at 13 K demonstrated hysteresis including negative differential conductance (NDC). This observed hysteresis and NDC is interpreted in terms of a switching of the Tb@C82 molecular orientation caused by the interaction between its electric dipole moment and an external electric field.     

Porcine hemoglobin promotes lipid excretion to feces more strongly than globin protein in rats

In an effort to clarify whether the lipid-lowering effect of hemoglobin is due to globin protein or heme, this study investigated the effects of dietary porcine hemoglobin (PH) and porcine globin (PG) on lipids contents of serum, liver, and feces in rats. Five-week-old male Wistar rats were divided into 3 dietary groups of 7 rats each, with one group receiving a control diet and the other groups receiving diets containing 1.25% (w/w) PH or 1.18% (w/w) PG for 4 weeks. The PH diet decreased triacylglycerol content in serum and cholesterol in serum and liver, whereas the PG diet reduced triacylglycerol content in serum and cholesterol in liver. Fecal lipid excretion in the PH group was significantly higher than in the PG group. Therefore, PH affected lipid excretion to feces due to globin protein as well as heme.     

Formation and crystallization of gels in the Na2O-SiO2-TiO2-ZrO2 system

5Na₂O·95(SiO₂ + TiO₂ + ZrO₂) gels together with Na₂O-MO₂ gels (MO₂ = SiO₂, TiO₂, ZrO₂) were synthesized and effect of Na₂O addition to the gel formation and crystallization behavior were studied. From Si(OC₂H₅)₄, Ti(iso-OC₃H₇)₄, Zr(n-OC₃H₇)₄ and NaOCH₃ solutions in EtOH without H₂O, transparent, opaque and heterogeneous gels were obtained. By SEM observation, it was found that the opague bulk gels, rich in TiO₂ or ZrO₂ component, contain agglomerated spherical particles of less than 10 m diameter. Crystallization temperature (Tc) measured by DTA decreased sharply from 1258°C (SiO₂) to 613°C (30Na₂O·70SiO₂) due to the increasing non-bridging oxygens in the Na₂O-SiO₂ system. But in the Na₂O-TiO₂ and Na₂O-ZrO₂ systems, Tc increased as Na₂O content was increased up to 10 mol%. The thermal stability, defined by Tc/TL ratio, decreased from Tc/TL = 0.77 (SiO₂) to 0.57 (5Na₂O·95SiO₂) or increased from Tc/TL = 0.30 (TiO₂) to 0.67 (30Na₂O·70TiO₂) with Na₂O addition. In the 5Na₂O·95(SiO₂ + TiO₂ + ZrO₂) system maximum Tc was 891°C at 5Na₂O·76SiO₂·19ZrO₂ composition and decreased as TiO₂ or ZrO₂ contents increased. Compared with the SiO₂-TiO₂-ZrO₂ gels, Tc of the 5 mol%Na₂O containing gels (Na₂O-SiO₂-TiO₂-ZrO₂) was lower in SiO₂ rich composition and higher in TiO₂ or ZrO₂ rich compositions. It is assumed that addition of Na₂O changed the structure of amorphous TiO₂ and ZrO₂ someway to increase their thermal stability or amorphous forming ability. After DTA run up to 1000°C, cystalline phases precipitated in the 5Na₂O·95(SiO₂ + TiO₂ + ZrO₂) gels were determined by XRD analysis.     

Pulsed electro-acoustic technique applied to in-situ measurement of charge distribution in electron-irradiated polymers

Dielectric materials are frequently used in satellite structures for substantial savings in weight. Their dielectric nature and the effect of different forms of radiation encountered in space combine to accumulate electrical charges resulting in the occurrence of electrostatic discharges which cause harmful interference with the electronic parts of the satellite, leading to its malfunction or to a total loss of equipment control. Therefore, the behavior of dielectrics under irradiation must be investigated before being used in space. A pulsed electroacoustic (PEA) device was mounted in an irradiation chamber to monitor the spatial distribution of electrons implanted into polymer films during electronic irradiation. Internal charge accumulation was clearly identified. Penetration depth versus energy was double checked by comparing PEA with surface potential data.     

Thermoelectric properties of Bi and Cu co-doped Ca3Co2O6single crystals

Single crystals of Bi and Cu-doped Ca₃Co₂O₆were synthesized in a molten K₂CO₃flux. Using an obtained single crystal of (Ca_0.985(5)Bi_0.015(5))₃(Co_0.990(3)Cu_0.010(3))₂O₆elongated to the c-axis direction of the crystal structure, the electric resistivity (ρ) and Seebeck coefficient (S) were measured from room temperature to over 1000 K in air. The single crystal showed p-type semiconducting behavior with ρ values of 1.8 Ω cm at 303 K and 0.017 Ω cm at 1000 K. The S values were +254 μ VK^{− 1} at 325 K, +360 μ VK^{− 1} at 420 K, and +214 μ VK^{− 1} at 1000 K. The power factor (S ² ρ ^{− 1}) increased with an increase of temperature and attained 2.70 × 10^{− 4} Wm^{− 1}K^{− 2} at 1000 K.     

Three-dimensional space charge observation of ion migration in a metal-base printed circuit board

Internal space charge measurement has been mainly applied to investigate insulating materials used in RV apparatus, such as HVDC cables. We have observed the space charge profiles to monitor copper ion migration occurring in an insulation layer of a metal-base printed circuit board and found that the space charge distribution along the thickness direction corresponds to the progress of ion migration in insulation. The migration, however, can proceed in any direction in the specimen simultaneously; therefore, it should be measured in three dimensions. We measured metal-base epoxy resin insulated printed circuit boards by a newly developed three-dimensional pulsed electroacoustic method. The results show that the space charge density varies in the lateral direction when ion migration occurs in the specimen.