Multi-rigid-body dynamics and online model predictive control for transformable multi-links aerial robot*

Transformable multi-links aerial robots have great potentials in application relying on the transformable features to change its shape during the flight. Compared to traditional quadrotor robots, transformable multi-links robots are equipped with servo motor between links. To simplify the non-linear dynamic system, the previous work restricts the robot to transform in very slow speed so that the robot could be approximated as a quadrotor robot at each time point. However, tradeoff comes as the dynamic performance is given up. In this paper, we come up with a new framework combining of computationally efficient non-linear model predictive controller and motion primitive to optimize thrust force and joints trajectory of the multi-links aerial robot. Finally, we verify our framework with fast transformation motions and table tennis task which requires dynamic performance.     

Robust Mapping for Mobile Robot Based on Immobile Area Grid Map Considering Potential Moving Objects

Mobile robots need Simultaneous Localization and Mapping (SLAM) for autonomous movement in human living environments. The occupancy grid map used in SLAM is a conventional method which makes a map by an occupancy probability in each grid. This method renews a map based on whether an object is observed or not. In order to remove moving objects from a map, an additional method is required. However, conventional methods deal only with actually moving objects, and potential moving objects (e.g., standing humans) are mapped as static objects. Furthermore, only binary states, used or not used, are given to each object in map updating. This paper proposes the immobility area grid map to represent a map by an immobility probability in each grid. The proposed method renews a map based on the identification of observed objects by a robot's sensors, in addition to whether an object is observed or not. We introduce the map update parameter, which is set adaptively from the certainty of identification result of the object. Observed objects can take continuous states, truly static—unknown—truly moving, according to the parameter value. Potential moving objects are not mapped if the parameter takes values corresponding to moving objects. The experimental results show robust mapping in dynamic environments including potential moving objects.     

Electrodeposition of amorphous gold alloy films

The process for electroplating amorphous gold-nickel-tungsten alloy that we developed previously based on the addition of a gold salt to a known amorphous Ni-W electroplating solution was investigated further using the X-ray diffraction (XRD) method for the purpose of quickly surveying the effects of various experimental variables on the microstructure of the alloy. In this system the gold concentration in the plating bath was found to be critical; i.e., when it is either very low or very high, the deposit becomes crystalline to XRD. The deposit composition varies linearly with the mole ratio of Au to Ni in solution, and the alloy deposit is amorphous to XRD when the atomic ratio of Au/Ni in the deposit is between 0.5 and 1.5. At suitable concentrations of the metal ions, the deposit contains essentially no tungsten. By extending the work on the Au-Ni-W system, an amorphous Au-Co alloy plating process was also developed.     

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.     

An Attractant of the Aphidophagous Gall Midge <Emphasis Type="Italic">Aphidoletes aphidimyza</Emphasis> From Honeydew of <Emphasis Type="Italic">Aphis gossypii</Emphasis>

Many natural enemies of insects use honeydew as a volatile cue to locate hosts or prey, as an oviposition stimulant, and as an arrestant for foraging. The aphidophagous gall midge Aphidoletes aphidimyza (Rondani) (Diptera: Cecidomyiidae) has predacious larval stages and can be used to control aphid populations, especially in greenhouses. Previous studies have shown that the honeydew, excreted by the aphid Myzus persicae, attracts A. aphidimyza, but the crucial attractants have not been identified. Using an olfactometer, we studied behavioral responses of female A. aphidimyza to volatiles emitted from honeydew excreted by the aphid Aphis gossypii on eggplants. The volatiles attracted female midges and induced oviposition. Moreover, using gas chromatography coupled with mass spectrometry (GC/MS), we identified phenylacetaldehyde as the attractant compound in the honeydew, although it did not induce oviposition in olfactometer experiments.     

Practical Continuous‐Flow Controlled/Living Anionic Polymerization

A continuous‐flow reaction system was developed, allowing flow conditions of the entire system to be maintained at a predetermined constant level, which is one of the most significant factors for successful industrial application. Controlled/living anionic polymerization was selected as a model reaction since the characteristics of its polymer products, molecular weights, and molecular weight distributions are highly susceptible to changes in the relative flow rates of a monomer and initiator solutions. In flow microreactors, controlled/living anionic polymerization of styrene in tetrahydrofuran (THF)/hexane initiated by THF‐diluted n‐butyllithium (n‐BuLi) was examined. Poly(styrenes) of larger molecule sizes such as Mn > 15 000 were successfully synthesized. After continuous operation for four hours, ca. 0.5 kg of the polymer was readily produced with narrow molecular weight distribution, demonstrating the applicability of this continuous‐flow system for controlled/living anionic polymerization on considerably large scale with a view to its industrial usage in the future.     

3D reconstruction considering calculation time reduction for linear trajectory shooting and accuracy verification with simulator

Artificial Life and Robotics - Photogrammetry is a three-dimensional (3D) reconstruction from images. In photogrammetry, when each image captures the features of the target object for 3D...     

Consumer confusion from price competition and excessive product attributes under the curse of dimensionality

AI & SOCIETY - The purpose of our study is to (i) investigate the effects of the number of products, product attributes, and prices on consumer confusion, (ii) conduct a numerical analysis to...     

Magnetic Field–Temperature Phase Diagram of Quasi-Two-Dimensional Organic Conductors Under Magnetic Fields

Under magnetic fields perpendicular to the conductive plane in quasi-two-dimensional organic conductors: -(BEDT-TTF)₂ MHg(SCN)₄ (M= K, Rb, and Tl), the experimentally reported H–T phase diagram has been explained partially. By the self-consistent numerical calculation including the quantum magnetic oscillation and the magnetic breakdown; in addition to the imperfectness of the SDW nesting, we try to completely understand the phase diagram.