Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots

On March 11, 2011, a massive earthquake (magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis due to the loss of all power that resulted from the meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions, and, in one building, the nuclear reactions became out of control. It was too dangerous for humans to enter the buildings to inspect the damage because radioactive materials were also being released. In response to this crisis, it was decided that mobile rescue robots would be used to carry out surveillance missions. The mobile rescue robots needed could not be delivered to the Tokyo Electric Power Company (TEPCO) until various technical issues were resolved. Those issues involved hardware reliability, communication functions, and the ability of the robots' electronic components to withstand radiation. Additional sensors and functionality that would enable the robots to respond effectively to the crisis were also needed. Available robots were therefore retrofitted for the disaster reponse missions. First, the radiation tolerance of the electronic componenets was checked by means of gamma ray irradiation tests, which were conducted using the facilities of the Japan Atomic Energy Agency (JAEA). The commercial electronic devices used in the original robot systems operated long enough (more than 100 h at a 10% safety margin) in the assumed environment (100 mGy/h). Next, the usability of wireless communication in the target environment was assessed. Such tests were not possible in the target environment itself, so they were performed at the Hamaoka Daiichi Nuclear Power Plants, which are similar to the target environment. As previously predicted, the test results indicated that robust wireless communication would not be possible in the reactor buildings. It was therefore determined that a wired communication device would need to be installed. After TEPCO's official urgent mission proposal was received, the team mounted additional devices to facilitate the installation of a water gauge in the basement of the reactor buildings to determine flooding levels. While these preparations were taking place, prospective robot operators from TEPCO trained in a laboratory environment. Finally, one of the robots was delivered to the Fukushima Daiichi Nuclear Power Plants on June 20, 2011, where it performed a number of important missions inside the buildings. In this paper, the requirements for the exploration mission in the Fukushima Daiichi Nuclear Power Plants are presented, the implementation is discussed, and the results of the mission are reported.     

Residual strength prediction for aircraft panels with Multiple Site Damage,using the “EPFEAM” for stable crack growth analysis

In this paper, a new analytical method for solving stable crack propagation problems in a ductile panel with a row of cracks, is presented. The main purpose of the present study is to estimate the maximum load carrying capacity of such panels accurately. The so called Elastic Plastic Finite Element Alternating Method (Pyo et al. (1994) was extended to account for the propagating cracks. The crack propagation algorithm utilizes the analytic crack solution to release the stresses ahead the crack tip. The T _inf ^sup* integral is employed as the crack extension criterion. This integral parameter accounts for the near tip stress-strain singularity and its critical values for crack propagation can be extracted from the P-a curve of single cracked specimen case. The present method can be applied to the problems of the fuselage skin of aging airplanes, in which a row of cracks develop (MSD; Multiple Site Damage) from rivet holes. The load carrying capacity of such damaged structure reduces by a considerable amount. In order to predict the behavior near the critical load, one must account for plastic deformation, if the material is ductile. Furthermore, the maximum load carried by the structure is often reached after some amount of crack propagation. In this paper, a series of analyses have been conducted and their results compare with the available experimental data.     

An elastic-plastic finite element alternating method for analyzing wide-spread fatigue damage in aircraft structures

In this paper, a new analytical technique to study the effect of wide-spread fatigue damage in ductile panels is presented. The main purpose of the study is to develop an efficient methodology to predict the maximum load carrying capacity of panels with cracks. The problem arises especially in the fuselage skin of aging airplanes, in which cracks initiate from a row of rivet holes. This problem is known as Multi Site Damage (MSD) in aging aircraft. It is very important to estimate the load carrying capacity. Usually, the approach based on elastic fracture mechanics may overestimate the load capacity. It is very important for the aircraft structure with MSD to estimate the load carrying capacity of such damaged structures. Approaches based on elastic fracture mechanics often lead to a considerable error. In this paper, the Elastic Finite Element Alternating Method (EFEAM) has been extended to the case of elastic-plastic fracture of panels with MSD cracks. In EFEAM, analytical solutions to crack problems in an infinite plate are employed. In this study, we adopted an analytical solution for a row of cracks in an infinite panel. Furthermore, the plastic deformation is accounted for, by using the initial stress algorithm. The T _inf ^sup* integral is employed for the fracture criterion. The methodology developed in the present study can be called as Elastic-Plastic Finite Element Alternating Method (EPFEAM) for MSD problems. A series of studies on the maximum load capacity of panels with a row of cracks has been conducted.The support of this work by the Federal Aviation Administration through a grant to the Center of Excellence for Computational Modeling of Aircraft Structures, at the Georgia Institute of Technology, is sincerely appreciated.     

Subcritical interlaminar crack growth in fibre composites exhibiting a risingR-curve

Subcritical crack growth behaviour has been evaluated in composite laminates based on uniaxial carbon fibres in poly(ether-ether ketone) matrices. Double cantilever beam (DCB) specimens have been employed to give mode I loading and it is first shown that the materials exhibit a risingR-curve, i.e. the value of the interlaminar fracture energy,G _IC, increases as the crack propagates through the specimens. Secondly, when a DCB specimen is held at a constant displacement, subcritical crack growth is found to occur. The velocity of the subcritical crack growth,v, has been measured using a load-relaxation technique. Hence, values of the crack velocity,v, have been obtained as a function of the strain-energy release rate,G _I applied during subcritical crack growth. Owing to the presence of theR-curve, these data have been measured at various stages during the development of theR-curve. The relationships betweenv andG _I are modelled using power-law expressions. Finally, it is considered that theR-curve behaviour is most likely caused by the fibre bridging which develops behind the crack tip as the delamination propagates through the specimen. Fibre bridging allows stress to be transferred across the crack faces, behind the advancing crack tip, and so results in a shielding of the stress field at the crack tip from the applied stress. Therefore, the expression ascertained for the relationship between the velocity,v, of subcritical crack growth and the corresponding value ofG _I has been further refined and modelled to account for the presence of fibre bridging.     

瞬变 / 谐变一体化的大地电磁收发线圈设计

采用瞬变电磁法和谐变电磁法仪器观测地下空间数据并进行融合处理,能够提高探测成像能力,然而现有的瞬变电磁法和谐变电磁法仪器独立成套,必须配置多套仪器分次采集。设计了一种可满足瞬变/谐变两种模式使用的小型、大带宽、高灵敏度大地电磁收发线圈,为便携、浅层高分辨的瞬变/谐变一体化电磁探测系统开发奠定基础。首先,建立了空心线圈传感器等效电路模型,分析了线圈传感器的灵敏度和噪声特性,制作的传感器经过测试表明,在1 125 Hz处,灵敏度为23.12 mV/nT,等效磁噪声9.27 pT/√Hz,传感器带宽1 Hz～100 kHz;然后,通过公式和有限元软件对传感线圈偏心放置时收发耦合进行了计算,确定了收发线圈组合的最佳耦合位置,计算和仿真结果与实际位置分别相差0.21%和0.17%,有效对消了发射磁场(一次场)。构建了时间域和频率域电磁法探测系统,测试表明,设计的瞬变/谐变一体化收发线圈能够满足时间域和频率域电磁法两种探测模式使用。     

Specifying Real-Time Finite-State Systems in Linear Logic (Extended Abstract)

Abstract

Real-time finite-state systems may be specified in linear logic by means of linear implications between conjunctions of fixed finite length. In this setting, where time is treated as a dense linear ordering, safety properties may be expressed as certain provability problems. These provability problems are shown to be in pspace. They are solvable, with some guidance, by finite proof search in concurrent logic programming environments based on linear logic and acting as sort of model-checkers. One advantage of our approach is that either it provides unsafe runs or it actually establishes safety.     

A new quadruple therapy for the eradication of Helicobacter pylori. Effect of pretreatment with omeprazole on the cure rate

The aim of the study was to assess the speech discrimination ability of postlingually deaf adults implanted with the Combi 40 cochlear implant and to compare the results with the postoperative data published for other devices. The postoperative open and closed set speech perception performance of 21 consecutive patients was tested using a standardized test battery comprising a number, monosyllable, sentence, consonant and vowel discrimination test as well as a rhyme test in the sound only condition. Mean values achieved for each test 1, 6 and 12 months after "switch on" were evaluated. The results demonstrate that all patients have a substantial benefit from their implant and show a continuous improvement in their speech perception abilities with increased device experience. The mean percentages of correct answers after 12 months were 93.4 for numbers, 44.6 for monosyllables, 78.5 for sentences, 67.6 for the rhyme test, 59.8 for vowel, and 67.3 for consonant discrimination. Preoperatively, the mean discrimination score for monosyllables was 0%. The speech discrimination scores of our patients were similar or higher than described for similar patient groups implanted with other devices. The high stimulation rate of the implant system using the continuous interleaved speech processing strategy as well as a deep atraumatic electrode insertion into the apicalmost regions of the scala tympani may be the reason for good performance.     

The Somatropin Reference Standard (Control 951) of the National Institute of Health Sciences

Somatropin material was examined for preparation of the "Somatropin Reference Standard". The candidate material was evaluated by a domestic collaborative study in which eight laboratories participated. The protein content was determined to be 4.5 mg/Vial based on amino acid analysis. Because of the possibility of application as a chemical reference standard for assay by the HPLC method, a physico-chemical evaluation of the candidate material was also performed. By SE-HPLC, the content of polymer, dimer were determined to be 0.54%, 0.98%, respectively. By RP-HPLC, the early peak area ascribed to desamido and sulfoxide form was 1.07% of the total peak area. And for informational data, the potency of the candidate material, being estimated by three different biological methods, weight gain assay, tibia test and adiposeconversion assay is 14.8 IU/vial. Based on the above results, the candidate was authorized as the Somatropin Reference Standard of the National Institute of Health Sciences.     

Incremental learning of gestures for human–robot interaction

For a robot to cohabit with people, it should be able to learn people’s nonverbal social behavior from experience. In this paper, we propose a novel machine learning method for recognizing gestures used in interaction and communication. Our method enables robots to learn gestures incrementally during human–robot interaction in an unsupervised manner. It allows the user to leave the number and types of gestures undefined prior to the learning. The proposed method (HB-SOINN) is based on a self-organizing incremental neural network and the hidden Markov model. We have added an interactive learning mechanism to HB-SOINN to prevent a single cluster from running into a failure as a result of polysemy of being assigned more than one meaning. For example, a sentence: “Keep on going left slowly” has three meanings such as, “Keep on (1)”, “going left (2)”, “slowly (3)”. We experimentally tested the clustering performance of the proposed method against data obtained from measuring gestures using a motion capture device. The results show that the classification performance of HB-SOINN exceeds that of conventional clustering approaches. In addition, we have found that the interactive learning function improves the learning performance of HB-SOINN.