Model-less visual servoing using modified simplex optimization

This article describes a robot positioning task with respect to a static target by visual servoing. The vision system is uncalibrated, and the kinematic model of the robot may be totally unknown. The displacements of the robot at joint level are generated in real time in order to minimize the objective function. The objective function includes the quadratic error between the current and the desired target images. A simplex method is used to minimize the objective function, and a Newton-like method is also used near convergence. We successfully validated this method with simulations under the graphic library OpenGL. This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005     

An Interactive Deformation System for Granular Material

Computer Graphics (CG) animations of natural phenomena are currently widely used for movies and in video games. Granular materials occur widely in nature, and therefore it is necessary that CG animations represent ground surfaces composed of a granular material as well as model deformations when the granular material comes into contact with other physical rigid objects (called solid objects). In this paper, we propose a deformation algorithm for ground surfaces composed of granular material. The deformation algorithm is divided into three steps: (1) detection of the collision between a solid object and the ground surface, (2) displacement of the granular material and (3) erosion of the material at steep slopes. The proposed algorithm can handle solid objects of various shapes, including concave polyhedra by additionally using a layered data structure called the Height Span Map. Furthermore, a texture sliding technique is presented to render the motion of granular materials. In addition, our implementation of the deformation algorithm can be used at interactive frame rates.     

Market micro-structure analysis by multiagent simulation in X-Economy -- comparison among technical indices

We are developing an agent and server library referred to as X-Economy, by which we can execute multiagent simulations and network games for financial and economic systems. To this end, we analyzed the characteristics of network games in a financial context and compared them with traditional ones. X-Economy has also provided a new research direction in market micro-structure analysis. We executed several kinds of multiagent simulations for technical traders (indices) and obtained non-trivial suggestions regarding the relationship between the market randomness and the effectiveness of technical indices. For instance, the performance of complex technical indices seemed to deeply depend on the characteristics and nature of a market when a market became complex, i.e. it moved far from the Wiener process.     

High-speed InGaAlAs/InAlAs multiple quantum well electrooptic phasemodulators with bandwidth in excess of 20 GHz

High-speed phase modulation (in the frequency bandwidth of 20 GHz, the highest yet reported for multiple quantum well (MQW) phase modulators) for waveguided InGaAlAs/InAlAs MQW optical modulators is reported. The modulator successfully operates at a long wavelength of 1-55 μm with a low required voltage for phase shift (Vπ=3.8 V), small intensity modulation depth below 1.5 dB, and without any modulation bandwidth degradation up to 20 GHz under high input optical power of 0 dBm in single-mode fiber     

Heat and mass transfer during crystal growth

Quality of semiconductor and oxide crystals which are grown from the melts plays an important role for electronic and/or optical devices. The crystal quality is significantly affected by the heat and mass transfer in the melts during crystal growth in a growth furnace such as Czochralski or horizontal Bridgman methods. This paper reviews the present understanding of phenomena of the heat and mass transfer of the melts, especially instability of melt convection from the detailed numerical calculation, which helps to understand the melt convection visualized using X-ray radiography. Large scale simulation of melt convection during crystal growth is also reviewed.

Characteristics of flow instabilities of melt convection with a low Prandtl number (ratio between momentum and thermal diffusivities) are also reviewed by focusing on the instabilities of baroclinic, the Rayleigh-Benard and the Marangoni-Benard, from the points of view of temperature, rotating and/or magnetic field effects during crystal growth. Oxygen concentration in grown crystals is also discussed how melt convection affects.     

Determination of assigned configurational parameters for cross propagation in radical copolymerization of methyl methacrylate and trityl methacrylate

Summary Copolymer of methyl methacrylate-d₈(M₁) with a small amount of trityl methacrylate(M₂) was radically prepared in tetrahydrofuran and converted into the copolymer of methyl methacrylate-d₈ with a small amount of undeuterated methyl methacrylate by the selective hydrolysis of the trityl group and subsequent methylation with diazomethane. From the ¹H NMR spectrum of the derived copolymer the assigned coisotactic parameters ₁₂ and ₂₁ were determined to be 0.14 and 0.61, respectively. This may be the first example of the unequivocal determination of assigned configurational parameters in cross propagation for copolymerization.     

Asymmetric addition of thiol to diene polymer in the presence of optically active amines as catalyst

The asymmetric addition reaction of thiolacetic acid or benzylmercaptan to diene polymer (natural rubber, cis- and trans-1,4-polyisoprene, _cis-1,4-polybutadiene, various styrenebutadiene copolymers and alternating acrylonitrile-butadiene copolymer) by optically active catalysts such as d-bornylamine ([α]d?45.2°), l-aspartic diethyl ester (?11.2°), l-aspartic dibutyl ester (?5.3°) were carried out in benzene at room temperature to 90°C. The optically active polymers were obtained from natural rubber and cis-1,4- and trans-1,4-polyisoprene, but were not obtained from cis-1,4-polybutadiene, styrene-butadiene copolymers, and butadiene-acrylonitrile copolymer. The [α]²⁵_D value of optically active derivatives was ?0.1° ～ ?1.0° (in benzene), and the optical rotatory dispersion curves were found to fit the simple Drude equation.     

Preparation and Properties of Bi4 − x Nd x Ti3O12 Thin Films by Chemical Solution Deposition

Neodymium-modified Bi₄Ti₃O₁₂, (Bi, Nd)₄Ti₃O₁₂ (BNT) ferroelectric thin films have been prepared on Pt/TiO_x/SiO₂/Si substrates using metal-organic precursor solutions by the chemical solution deposition method. The BNT precursor films crystallized into the Bi layered perovskite Bi₄Ti₃O₁₂ (BIT) as a single-phase above 600C. The synthesized BNT films revealed a random orientation having a strong 117 reflection, whereas non-substituted BIT thin films exhibited a random orientation with strong 00l diffractions. Among Bi_{4 – x}Nd_xTi₃O₁₂ [x = 0.0, 0.5, 0.75, 1.0] thin films, Bi_3.25Nd_0.75Ti₃O₁₂ thin films showed a well-saturated P-E hysteresis loop with the highest P_r (22 C/cm²) and a low E_c (69 kV/cm) at an applied voltage of 5 V. The Nd-substitution with the optimum amount for the Bi site in the BIT structure was effective not only for promoting the 117 preferred orientation but also for improving the microstructure and ferroelectric properties of the resultant films.     

Analysis of trichothecenes in barley tea and beer by liquid chromatography/tandem mass spectrometry

A simple method for analysis of trichothecenes [Type A: diacetoxyscirpenol, neosolaniol, HT-2 toxin, and T-2 toxin, Type B: deoxynivalenol, nivalenol, fusarenon-X, 3-acetyldeoxynivalenol, 15-acetyldeoxynivarenol] in barley tea and beer using liquid chromatography tandem mass spectrometry (LC/MS/MS) was developed. Trichothecenes were extracted with ethyl acetate-methanol (19:1). The solvent was evaporated to dryness and the residue was dissolved in water-methanol (3:1) for injection into the LC/MS/MS. The LC separation was performed with an octadecylated silica column at a flow-rate of 0.2 mL/min, using a mobile phase consisting of water, methanol and acetonitrile. MS/MS was used in multiple reaction monitoring, employing electrospray ionization (ESI-MRM). The recoveries of trichothecenes from drinks at 1 microg/L (Type A) and 10 microg/L (Type B) were 52.5-115.2% (barley tea) and 68.1-127.5% (beer). Five barley tea and ten beer samples were analyzed by this method. Trichothecenes were not detected in them. This method may have applications in quality assurance.