Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots

Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %.     

Reliability and mechanical durability tests of flexible OLED with ALD coating

To improve the reliability and mechanical durability of a flexible organic light‐emitting diode display, the entire flexible display is coated with an aluminum oxide film by atomic layer deposition (ALD). Because the step coverage of ALD is excellent, the AlO_x film was deposited not only on the front and back surfaces but also on the side surfaces of the display. A high‐temperature and high‐humidity preservation test, repetitive bending tests, and a pencil hardness test were conducted on the flexible display with ALD‐AlO_x coating. The display survived 500 h of a 65°C, 95% preservation test, endured a 100,000‐time repetitive bending test with a curvature radius of 4 mm, and was found to have a pencil hardness of 4H.     

Relationship between crystallinity and device characteristics of In‐Sn‐Zn oxide

We have reported that the transistors having the c‐axis‐aligned crystalline (CAAC) In‐Ga‐Zn oxide (IGZO) show good performance. Recently, In‐Sn‐Zn Oxide (ITZO) has attracted much attention because of its high electron mobility, as well as IGZO. However, it has been reported that ITZO field effect transistors (FET) tend to have positive Vth (normally‐on characteristics) and poor reliability compared with IGZO‐FETs. We have reported that high‐performance and high‐reliability OS‐FETs can be fabricated by using CAAC‐IGZO, which has high crystallinity and has no clear grain boundaries, as an active layer. Therefore, we have fabricated CAAC‐ITZO thin films to improve performance of ITZO‐FETs by using CAAC‐ITZO as an active layer. In addition, FETs employing CAAC‐ITZO have better characteristics and reliability than FETs using nano‐crystal ITZO. Furthermore, constant photocurrent method (CPM) measurement was carried out in order to estimate density of deep‐level defect states caused by oxygen vacancies in oxide semiconductors. The results show that CAAC‐ITZO has lower density of deep‐level defect states than nano‐crystal ITZO. We attribute the improvement in reliability of ITZO‐FETs to a decrease in deep‐level defect states of an ITZO active layer, as is the case with IGZO.     

Generating function of color information detection using genetic programming

This article proposes a function for color information detection using genetic programming (GP). In image-processing, object detection is one of the important processes. In cases where the object has a complex color domain, detection becomes more difficult. We generated a detection function for a complex color domain by using GP. The detection function deals with one pixel of an input image, and it obtains an output image by processing for all pixels. We aimed at a reduction in the time taken by a human to consider an image-processing system design. We applied the generation of GP to detect a target color region in actual images. The results show that the detection function has sufficient ability for these detections.     

Compact cryogenic system with mechanical cryocoolers for antihydrogen synthesis

We have developed a compact cryogenic system which cools a vacuum chamber housing multi-ring trap electrodes (MRTs) of an antihydrogen synthesis trap using mechanical cryocoolers to achieve background pressure less than 10(-12) Torr. The vacuum chamber and the cryocoolers are thermally connected by copper strips of 99.9999% in purity. All components are installed within a diametric gap between the MRT of phi108 mm and a magnet bore of phi160 mm. An adjusting mechanism is prepared to align the MRT axis to the magnet axis. The vacuum chamber was successfully cooled down to 4.0 K after 14 h of cooling with heat load of 0.8 W.     

Ligand density-dependent influence of arginine–glycine–aspartate functionalized gold nanoparticles on osteogenic and adipogenic differentiation of mesenchymal stem cells

Extracellular matrix (ECM) plays a very important role in regulating cell function and fate. It is highly desirable to fabricate biomimetic models to investigate the role of ECM in stem cell differentiation. In this study, arginine–glycine–aspartate (RGD)-modified gold nanoparticles (Au NPs) with tunable surface ligand density were prepared to mimic the ECM microenvironment. Their effect on osteogenic and adipogenic differentiation of human mesenchymal stem cells (MSCs) was investigated. The biomimetic Au NPs were taken up by MSCs in a ligand density-dependent manner. The biomimetic NPs with a high RGD density had an inhibitive effect on the alkaline phosphatase (ALP) activity, calcium deposition, and osteogenic marker gene expression of MSCs. Their effect on oil droplet formation and adipogenic marker gene expression was negative when RGD density was low, while their effect was promotive when RGD density was high. The biomimetic Au NPs regulated the osteogenic and adipogenic differentiation of MSCs mainly through affecting the focal adhesion and cytoskeleton. This study highlights the roles of biomimetic NPs on stem cell differentiation that could provide a meaningful strategy in fabricating functional biomaterials for tissue engineering and biomedical applications.

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Role of the reaction product in the solidification of Ag–Cu–Ti filler for brazing diamond

In order to reveal the mechanism for brazing diamond using Ag–Cu–Ti filler metal, thermoanalysis of elemental metals (silver and copper) either with added diamond micropowder or with added titanium carbide micropowder as nucleant were investigated to detect undercoolings. No undercooling for the solidification of silver with added titanium carbide powder was detected by the thermoanalytical curve, and also no undercooling for copper with added diamond powder was detected. These phenomena suggest that titanium carbide powder acts in the solidification of silver effectively as a nucleant and that diamond powder also acts in the solidification of copper as a nucleant. Fine-grained silver was observed in the micrograph of the silver added with titanium carbide powder. The results of the calculations on the planar disregistry, , and the dispersion energy, Edisp revealed that the Ag (100)–TiC(100) interface and Cu(100)–diamond (100) interface are more stable than the other combinations. The results of undercoolings of various specimens correlated with both planar disregistry and dispersion energy. According to these results, the titanium carbide reaction product is considered to play an important role in the solidification of silver. The brazing strength is considered to arise from the solidification of the brazing filler metal from the titanium carbide reaction product. © 1998 Chapman & Hall