Autonomous mobile robot based on behavior decision skill and control skill of the operator

This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neural networks so that the selected motion control pattern corresponds to the action, which is obtained by the operator's behavior decision skill. To realize the selected motion control pattern, the orientation angle and the speed of the mobile robot are determined by fuzzy reasoning in which fuzzy rules are also automatically tuned so as to simulate the operator's control skill. We have implemented and tested the proposed control algorithm on an autonomous mobile robot and some experimental results demonstrate the effectiveness of the proposed control algorithm for the autonomous mobile robot. © 2000 Scripta Technica, Electr Eng Jpn, 131(2): 30–39, 2000     

Development of a 400 kJ Nb3Sn superconducting magnet for an SMES system

An Nb₃Sn superconducting magnet to store 400 kJ was developed as a unit magnet for a 2.4-MJ SMES system used for stabilization studies of electrical power systems. The superconducting magnet consists of a cryostat and an Nb₃Sn coil. The dimensions of the coil are: 340 mm inner diameter, 700 mm outer diameter and 177 mm axial length. The pool-cooled coil is a stack of 20 Nb₃Sn double pancakes, and the cooling channels are aligned between pancake coils. To reduce Joule loss in electrical power converters, the maximum operating current of the coil is designed to be 350 A, which is one order of magnitude less than the operating currents of similar scale coils for pulse use. The conductor is an Nb₃Sn monolithic conductor with cross section 1.50 × 2.38 mm. For good superconducting stability and high dielectric strength of the coil, the Nb₃Sn double pancakes were wound by the react-and-wind technique. Operation of dc current to 105% (367.5 A) of the design operating current was achieved without quench. After the whole of the coil was exposed out of liquid helium, the coil did not quench under 120 A current operation for more than 2 hours. It was verified that the coil was stable for the SMES system. © 1998 Scripta Technica, Inc. Electr Eng Jpn, 121(3): 44–52, 1997     

Measurement of tongue–artificial nipple contact pressure during infant sucking

To clarify the motor function of the infant tongue during sucking, we developed an artificial nipple that contained multiple small built‐in force sensors integrated with a PC‐based system which is capable of measuring tongue–artificial nipple contact pressures in real time. The force sensor is a cantilever structure with a small, thin stainless steel beam where an all‐purpose foil strain gauge is attached to the surface of the beam. An artificial nipple made of an elastomer containing these sensors is connected through an amplifier and an A/D converter to a PC via a USB port. Using this system, measurements were taken in three infants whose oral feeding was well established and in one infant of low birth weight. The results from each force sensor showed a pressure waveform of a nearly simple harmonic motion that indicated a peristalsis‐like movement of the tongue; the sucking frequency was found to be about two times per second. In addition, in the low‐birth‐weight infant, the pressure changed as the infant grew. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Size dependence of THz region dielectric properties for barium titanate fine particles

Barium titanate (BaTiO₃) crystallites with various particle sizes from 22 to 500 nm were prepared by the two-step thermal decomposition method of barium titanyl oxalate. Various characterizations revealed that these particles were impurity-free, defect-free, dense BaTiO₃ particles. The powder dielectric measurement clarified that the dielectric constant of BaTiO₃ particles with a size of around 58 nm exhibited a maximum of over 15,000. To explain this size dependence, the THz region dielectric properties of BaTiO₃ fine particles, especially Slater mode frequency, were measured using the far infrared (FIR) reflection method. As the result, the lowest Slater mode frequency was obtained at 58 nm. This tendency was completely consistent with particle size dependence of the dielectric constant.     

Oxidation mechanisms of SiC-fiber–reinforced Si eutectic alloy matrix composites at elevated temperatures

SiC-fiber–reinforced binary Si eutectic alloy composites have been developed for aerospace applications using the melt infiltration method. In this study, the oxidation mechanisms of various binary Si eutectic alloys were evaluated at elevated temperatures. We suggest that the oxidation resistance of eutectic alloys could be predicted using the Gibbs energy change for the oxidation reaction. Based on these calculations, eutectic alloys of Si-16at%Ti, Si-17at%Cr, Si-22at%Co, Si-38at%Co, and Si-27at%Fe were prepared. These alloys produced uniform SiO₂ layers and showed the same oxidation resistance as Si at 1000°C under humid conditions. Therefore, SiC composites using Si alloys with excellent oxidation resistance can be predicted using thermodynamic calculations.     

A PSS‐Free PEDOT Conductive Film Supported by a Hierarchical Nanoporous Layer Glass

The importance of transparent conductive film is increasing due to its use in applications such as touch‐panel devices. Although indium tin oxide is widely used because of its high conductivity and transparency, conductive polymers are being studied as alternative materials that avoid the use of rare metals and the brittleness associated with existing systems. Polyethylene dioxythiophene (PEDOT)/polyethylene sulfonic acid (PSS) is drawing a lot of attention due to its well‐balanced conductivity, transparency, film formability, and chemical stability. The nonconductive PSS reportedly covers the conductive PEDOT. The PSS shell provides carrier and film‐formability to PEDOT but is also a barrier that hinders electrical conductivity. Therefore, the PEDOT film formability is explored supported by a substrate without the addition of PSS. The “hierarchical nanoporous layer glass” holds the PSS‐free PEDOT with its nanopores to form a homogeneous, transparent film. The PSS‐free PEDOT film thus achieves transparency of over 85% and resistivity of below 500 Ω sq^?1.     

Solvent free mechanochemical synthesis of MnO2 for the efficient degradation of Rhodamine-B

MnO₂ nanorods were synthesized by mechanochemical processing with subsequent heat treatment and their photocatalytic activity was studied on the decolourization of aqueous solution of Rhodamine B at different pH levels. A solid state redox reaction 2KMnO₄ + MnCl₂ → 3MnO₂ + 2KCl + O₂ was activated during mechanical milling. Excess KCl salt was added in the starting powder mixture to prevent agglomeration of MnO₂ nanoparticles. The milling resulted in the production of amorphous MnO₂ nanoparticles with a high surface area of 204 m² g^?1. Crystalline MnO₂ nanorods of diameters about 15–20 nm were produced by heating the as-milled powder at 350 °C for 1 h in air. Amorphous MnO₂ nanoparticles showed higher degradation rate of Rhodamine B than crystalline MnO₂ nanorods under simulated sunlight. The degradation rate was higher under acidic conditions. This work demonstrates the potential for cost effective, green and scalable synthesis of MnO₂ nano-catalysts for environmental applications.     

Research on some basic deformations in free forging with robot and servo-press

Due to the disadvantages in casting or hot forging of Ti alloy artificial bones, such as low strength and high energy cost, this paper prompted an alternative method to manufacture individuated artificial bones. Free forging with a 6-axis freedom robot and servo-press could be very economical in the forming of complex shape parts because of its high flexibility and simple die-setting. Based on this system, the authors studied deformations of some basic elements, which could be assembled to artificial bones with complex shape. Firstly, the compression limit and effect of compression parameters on the roundness during reducing diameter process were declared for Al alloy and pure Ti. Secondly, an approximate theoretical equation of bending angle or curvature radius was proposed, and it matches experimental results well. Finally, a dimension prediction equation was presented by considering effect of material anisotropy, and then the ladder part without width spread was manufactured accordingly.     

Single molecule fluorescence autocorrelation measurement on anisotropic molecular diffusion in nematic liquid crystal

Diffusion kinetics of three dyes in nematic liquid crystals are studied with single-molecule fluorescence autocorrelation spectroscopy. Markedly large anisotropy was observed in the diffusion coefficient and structure of diffusion molecules showed no marked effect on the anisotropy.