The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

Theoretical and Experimental Study of Water Transport in a Hollow Cylinder Applied to the Drying of Round Squid Mantle

Until now, attention has been focused solely in the drying of squid mantle from an experimental point of view, neglecting the transport phenomenon studies of water in squid muscle. This work studies the drying of squid mantle (Loligo brasiliensis), previously salted and smoked by liquid smoking (hickory extract), using a tubular dryer in closed cycle with a silicagel fixed bed in series. The mass transfer phenomenon during drying was studied, based on the Fick's second law, with the effective diffusivity supposed constant, which enabled an analytical solution to the problem. The drying curve calculated with the resulting equation was compared with experimental data. The model was applied to a hollow cylinder geometry (round squid mantle), with its internal surface isolated from the drying environment by a plastic film. The latter was given a tubular form and introduced inside the mantle cavity (impervious wall boundary condition).     

A sensorless brushless dc motor system

This paper describes a brushless dc motor system without position or speed sensor. The brushless motor consists of a permanent magnet synchronous motor and a voltage-source inverter capable of controlling the amplitude and frequency of voltage. The rectangular-shaped stator current with a conducting interval of 120° (electrical) is controlled to be in phase with the trapezoidal back electromotive force. This results in producing maximum torque. Variable speed is achieved by adjusting the average motor voltage similarly to chopper control of dc motors. In this paper, two sensorless position detecting methods, i.e., an “indirect method” suited for the lower-speed range and a “direct method” suited for the higher-speed range are proposed. The combination of the two makes it possible to detect the rotor position over a wide-speed range. Furthermore, a speed-sen-sorless PLL control is proposed in applying the principle of the direct method. Experimental results obtained from a prototype brushless dc motor are shown to confirm the validity of the sensorless drive. The starting procedure of the motor also is discussed because it is impossible to detect the rotor position at a standstill.     

Electron acceleration by single and double laser beams

The longitudinal electric field of single and double Gaussian laser beams are used to accelerate electrons. The longitudinal field of the single beam is concentrated on the axis and is favourable for acceleration. A set of two beams is considered. Beams run parallel, collinearly, overlap partially and have a phase difference iπ in between. As a result, the transverse components of fields cancel each other while the longitudinal components are double-fold. In both schemes, the electrons are accelerated in lengths of the Rayleigh range, which is common to the plasma-based accelerators.     

The relation between platelet aggregation and constitutional and lifestyle variables in two Japanese communities

To investigate the contribution of the platelet aggregation in the development of cardiovascular diseases, we examined the relation of constitutional and lifestyle variables with platelet aggregation for a total of 306 males aged 50 to 70 in Ikawa town, Akita prefecture (n = 163) and Noichi town, Kochi prefecture (n = 143). The examination of platelet aggregation was completed within 3 hours of obtaining blood samples. We used ADP (Adenosine 5'-diphosphate) as an agonist and obtained PATI (the platelet aggregatory threshold index) by nephelometry. Platelet count, mean platelet volume, white blood cell count, serum fatty acid compositions were also examined and dietary intake of fish, seafood and soy bean foods were inquired using one-week dietary records. PATI indicated a logarithmic normal distribution in both Ikawa and Noichi. The mean of logarithmic transformed PATI (log PATI) was higher in Ikawa than in Noichi. Thus platelet aggregation was lower in Ikawa than in Noichi. According to multiple regression analysis, age, platelet count in platelet rich plasma, mean platelet volume in platelet rich plasma, and white blood cell count were inversely associated with log PATI. Serum arachidonic acid composition tended to be inversely related with log PATI. Serum n3-polyunsaturated fatty acid composition was positively related with log PATI, and log gamma-GTP tended to be positively associated with log PATI. Soy protein intake and cigarette smoking showed no consistent associations with log PATI. This cross-sectional study suggests that serum n3-polyunsaturated fatty acid, and gamma-GTP, as an index of alcohol intake, reduce platelet aggregation while age, white blood cell count, platelet count, mean platelet volume, and serum arachidonic acid raise platelet aggregation.     

Interferon therapy after ablation of Kent bundle for a patient with chronic hepatitis type B complicated with WPW syndrome

Cardiotoxicity of interferon-alpha or gamma, such as fatal arrhythmia and myocardial infarction, has been reported. Therefore cardiotoxicity of interferon should be seriously considered before administration for patients with a pre-existing heart disease. We treated a patient with chronic active hepatitis type B, coexisted with Wolff-Parkinson-White syndrome, who has had frequent attacks of paroxysmal atrial fibrillation. To prevent the occurrence of fatal arrhythmia with an interferon therapy in this patient, we performed radiofrequency catheter ablation of the Kent bundle. After the successful ablation, we could safely administered recombinant interferon alpha-2b for chronic hepatitis type B.     

The integral experiment on beryllium with D-T neutrons for verification of tritium breeding

A clean benchmark experiment on beryllium was performed with D-T neutrons at the FNS facility of the Japan Atomic Energy Agency. The main objective was to verify the integral data related to the tritium production on lithium isotopes. Tritium production rates, as well as activation reaction rates were measured inside the beryllium assembly that was shaped as a pseudo-cylindrical slab with an area-equivalent diameter of 628 mm and a thickness of 355 mm. Experimental results were analyzed with a three-dimensional Monte Carlo transport code MCNP-4C and FENDL/MC-2.0, JENDL-3.2/3.3 neutron transport libraries. Evaluation of reaction rates was based on the cross section data taken from the JENDL Dosimetry File and ENDF B-VI data libraries. Analysis shows that all calculation combinations (transport and activation cross section libraries) used for evaluation of reaction rates give data that is agreeable with measured values within 10%.     

The Gmicro/500 superscalar microprocessor with branch buffers

The Gmicro/500, which features a RISC-like dual-pipeline structure for high-speed execution of basic instructions and represents a significant advance for the TRON architecture, is presented. Upwardly-object-compatible with earlier members of the Gmicro series, this microprocessor uses resident dedicated branch buffers to greatly enhance branch instruction execution speed. Its microprograms simultaneously use dual execution blocks to execute high-level language instructions effectively. Fabricated with a 0.6-μm CMOS technology on a 10.9-mm×16-mm die, the chip operates at 50/66 MHz and achieves a processing rate of 100/132 MIPS     

Properties of aqueous solutions of several salts of α,ω-alkanediol disulfates

Several salts of α,ω-sulfates, MO₃SO(CH₂)_n OSO₃M(n=12, 14, 16, 18, and M=Li, Na, and K) were prepared from the corresponding α,ω-alkane diols. The Krafft points of these α,ω-sulfates with common counterion as estimated by electroconductivity measurements increased with the increase of the hydrocarbon chain length, and the effect of the counterions on the Krafft points of the α,ω-sulfates with the same hydrocarbon chain length was in the order : Li<Na<K. Solutions of the α,ω-sulfates, except disodium dodecanediol disulfate, showed two break points corresponding to the first and second critical micelle concentration in each plot of the electroconductivity as a function of the concentration. The existence of the second break point suggested that another aggregation of rearrangement of the existing aggregates occurs in α,ω-sulfate solutions in addition to the usual micelle formation. The first and second break points of α,ω-sulfates with sodium counterion decreased logarithmically with increasing total number of methylene groups. The relationships were given as follows: log(first break point)=−0.138Nc−0.095; log(second break point)=−0.104Nc−0.251. The effect of the counterions upon the break points of α,ω-sulfates with the same hydrocarbon chain length was in accordance with their positions in the lyotropic series.