Preparation of phenolic resin derived 3-D ordered macroporous carbon

Three-dimensionally ordered long-range macroporous carbon structures were prepared using commercially available phenolic resin by utilizing sacrificial colloidal silica crystalline arrays as templates that were subsequently removed by HF etching after pyrolysis in an argon atmosphere. SEM, TEM, and BET were employed to characterize the morphology and the surface area of the porous carbon structures. The pore size (150–1000 nm) and BET surface area, which reflect pore volume (298.6 m²/g (1.32 cm³/g) ∼ 93.7 m²/g (0.12 cm³/g)), of the macroporous carbon structures produced were approximately proportional to the size (150–1000 nm) of the sacrificial silica sphere templates used (annealing temp. 550°C). The achieved 550 nm porous carbon structures were examined to function as potential catalyst carriers and were successfully impregnated with Ag or Pt-Ru on their inner walls after borohydride reduction at room temperature. In addition, porous carbon patterns were fabricated using the ‘micromolding in capillary’ technique, which has potential applications in the microreaction technology.     

Direct equivalence between geometric conditions and algebraic conditions for discrete-time nonlinear observer

Unlike the continuous-time case, algebraic necessary and sufficient conditions for a single output discrete-time system to be state equivalent to a nonlinear observer canonical form have been found and are easier to verify for those who are not accustomed to differential geometry. The geometric conditions look very different from the algebraic conditions. In this paper, we show direct equivalence of the geometric conditions and the algebraic conditions in order to enhance the understanding of the geometric conditions.     

EWOD microfluidic systems for biomedical applications

As the technology advances, a growing number of biomedical microelectromechanical systems (bio-MEMS) research involves development of lab-on-a-chip devices and micrototal analysis systems. For example, a portable instrument capable of biomedical analyses (e.g., blood sample analysis) and immediate recording, whether the patients are in the hospital or home, would be a considerable benefit to human health with an excellent commercial viability. Digital microfluidic (DMF) system based on the electrowetting-on-dielectric (EWOD) mechanism is an especially promising candidate for such point-of-care systems. The EWOD-based DMF system processes droplets in a thin space or on an open surface, unlike the usual microfluidic systems that process liquids by pumping them in microchannels. Droplets can be generated and manipulated on EWOD chip only with electric signals without the use of pumps or valves, simplifying the chip fabrication and the system construction. Microfluidic operations by EWOD actuation feature precise droplet actuation, less contamination risk, reduced reagents volume, better reagents mixing efficiency, shorter reaction time, and flexibility for integration with other elements. In addition, the simplicity and portability make the EWOD-based DMF system widely popular in biomedical or chemical fields as a powerful sample preparation platform. Many chemical and biomedical researches, such as DNA assays, proteomics, cell assays, and immunoassays, have been reported using the technology. In this paper, we have reviewed the recent developments and studies of EWOD-based DMF systems for biomedical applications published mostly during the last 5 years.     

Development and control of a new AUV platform

This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV-1, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at the aft end with yawing actuation acting as a rudder. For depth motion, the KAUV-1 is designed to have a mass shifter mechanism inside to change the vehicle center of gravity and to control its pitch angle and depth motion. The paper also presents an analysis on the equations of motion of the KAUV-1 with mass shifter mechanism and a new depth control strategy for the KAUV-1. The feasibility of the proposed control strategy is validated through simulation and experiment of performance of the vehicle.     

Exploration of unknown object by active touch of robot hand

This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.     

Virtual target tracking of mobile robot and its application to formation control

A virtual target tracking approach is proposed for kinematic control of mobile robot. In the controller, linear and angular velocity inputs are generated by using the local data of robot position and orientation along with the estimated velocity of target object. Applying the proposed approach to a cooperative robot group with arbitrary number of multiple mobile robots, it is possible to create various robot formations for cooperative navigation and tracking of moving object. The developed controller is shown to be stable and convergent through theoretical proof and a series of experiments.     

Leakage current in a Si-based nanopore structure and its influence on noise characteristics

We have measured leakage current in a silicon substrate-based nanopore membrane device immersed in an aqueous environment which typically shows the current level of few nA. This current level is compared with the measured current density (400 nA/cm² at 1 V) from the pristine Si wafer (p-type, 10¹⁶/cm³ boron doping) indicating that the exposed Si surface in a nanopore membrane device acts as an electrochemical reaction site. The leakage current is drastically reduced from >10 nA to <100 pA at 1 V by the deposition of a dielectric layer to the Si-based nanopore membrane device. We also noted that the root-mean-square noise of the ionic current is also reduced from 38 to 28 pA in correlation with the reduction of leakage current, indicating that electrochemical reaction provides one of the major sources of noise.     

Conceptual and basic designs of the Mobile Harbor crane based on topology and shape optimization

The Mobile Harbor (MH) has been recently proposed as a novel maritime cargo transfer system that can move to a container ship anchored in the deep sea and handle containers directly at sea with the aid of a stabilized MH crane. Because this system operates under at-sea conditions, the MH crane must be designed to support an inertia load and wind force, as well as its self-weight. The wave-induced motions of the MH, e.g. rolling, pitching, and heaving, generate a significant amount of inertia load, which has not been considered in the design of conventional quayside cranes installed on stable ground. Wind force is also a critical design factor due to the higher wind velocity in the open sea. In addition to the aforementioned structural rigidity, mass minimization is also important in the structural design of MH cranes because it reduces the overturning moment and therefore enhances ship stability. In this paper, the sensitivities of the design-dependent loads (i.e. self-weight, inertia load, and wind force) are derived with respect to the design variables, and then a topology optimization is conducted with the derived sensitivities in order to obtain a conceptual design. Then, the conceptual design is elaborated into a three-dimensional basic design through shape optimization with design regulations for offshore cranes. Through the integrated design process with the topology and shape optimizations, a conceptual and basic design is successfully obtained for the MH crane.     

Authentification and identification — Taking the user into account

Username/Password is still the prevailing authentication mechanism for internet based services — but it is not secure! We show how new authentication and identification mechanisms focused on usability and security can change this.     

Efficient verifiably encrypted signatures from lattices

Verifiably encrypted signature schemes can convince a verifier that a given ciphertext is an encryption of an ordinary signature on a given message and the ordinary signature can be recovered by the third party, called adjudicator. In 2010, Rückert et al. proposed a general construction for the verifiably encrypted signatures, and then, they also showed that there exist the lattice-based verifiably encrypted signature schemes. Their constructions are very insightful, but their schemes need an extra adjudication setup phase and Merkle trees, so they have large parameters and keys, that is, they are inefficient. Also, their schemes provide only the limited signature capacity because the signing keys should be reissued after generating \(k\) th verifiably encrypted signatures. To overcome the weaknesses of Rückert et al.’s scheme, we construct a verifiably encrypted signature scheme based on the hard lattice problems. Our scheme provides the full functionality, i.e., the signatures can be generated without any limitations and does not need any extra adjudication setup phases. Moreover, the size of the secret keys in our scheme is constant. Our scheme provides unforgeability, opacity, extractability, and abuse-freeness in the random oracle model.