Current-induced domain nucleation in ferromagnet

A key mechanism of the current-induced magnetization dynamics is the spin torque from a spin polarized current (spin current), which couples to spatial gradient of magnetization. Recently, it was pointed out that a large spin current applied to a uniform ferromagnet leads to a spin-wave instability. In this paper, we show that such instability is absent in a state containing a domain wall. This may indicate that nucleation of magnetic domains occurs above a certain critical spin current. This scenario is supported by an explicit energy comparison between the uniformly magnetized state and the domain-wall state under spin current.     

Design and Analysis of Internet-Based Tele-Coordinated Multi-Robot Systems

The coordination of multi-robots is required in many scenarios for efficiency and task completion. Combined with teleoperation capabilities, coordinating robots provide a powerful tool. Add to this the Internet and now it is possible for multi-experts at multi-remote sites to control multi-robots in a coordinated fashion. For this to be feasible there are several hurdles to be crossed including Internet type delays, uncertainties in the environment and uncertainties in the object manipulated. In addition, there is a need to measure and control the quality of tele-coordination. To this end, the measure of force sensed by each robot is suggested and justified as a coordination index. It was proven that if n robots are event-transparent and event-synchronous then they can be teleoperated under random delay conditions to coordinate to any index value, which is feasible under no delay conditions. The design procedure that ensures a system can satisfy a small coordination index was presented and analyzed.In addition, the design and analysis of event-synchronous systems using Petri Nets is detailed. The Petri Net design methodology is presented for both event-synchronous single operator single robot teleoperation systems and event-synchronous multi-operator multi-robot teleoperation systems.The theory developed was tested by bilaterally tele-coordinating two mobile manipulators via the Internet. The experimental results confirmed the theoretical results presented.     

Reusing Primitive and Acquired Motion Knowledge for Gait Generation of a Six-legged Robot Using Genetic Programming

There has been growing interest in motion planning problems for mobile robots. In this field, the main research is to generate a motion for a specific robot and task without previously acquired motions. However it is too wasteful not to use hard-earned acquired motions for other tasks. Here, we focus on a mechanism of reusing acquired motion knowledge and study a motion planning system able to generate and reuse motion knowledge. In this paper, we adopt a tree-based representation for expressing knowledge of motion, and propose a hierarchical knowledge for realizing a reuse mechanism. We construct a motion planning system using hierarchical knowledge as motion knowledge and using genetic programming as a learning method. We apply a proposed method for the gait generation task of a six-legged locomotion robot and show its availability with computer simulation.     

Sensor Fusion System Using Recurrent Fuzzy Inference

In robotic and manufacturing systems, it is difficult to measure the state of systems accurately because of many uncertain factors and noise, and it is very important to estimate the state of systems. We must measure the phenomena of systems by multiple sensors and estimate the state of systems by acquiring information of sensors. However, we can not acquire all of sensor information synchronically, because each sensor has particular sensor information and measuring time. For estimating the state of systems by multiple sensors, a multi-sensor fusion system fusing various sensory information is needed. In this paper, we propose a Recurrent Fuzzy Inference (RFI) with recurrent inputs and apply it to a multi-sensor fusion system for estimating the state of systems. The membership functions of RFI are expressed by Radial Basis Function (RBF) with insensitive ranges. The shape of the membership functions can be adjusted by a learning algorithm. The learning algorithm is based on the steepest descent method and incremental learning which can add new fuzzy rules. The effectiveness of the multi-sensor fusion system using RFI will be shown through a numerical experiment of moving robot and estimation of surface roughness in grinding process.     

Evaluation of Desulphurization Flux in CaO‐Al2O3‐BaO‐CeO2‐MgO System

The flux of the CaO‐Al₂0₃‐BaO‐CeO₂‐MgO system as a desulphurization flux containing no fluorine for the secondary metallurgy process was evaluated in this study. The flux composition was designed using the eutectic compositions of the binary systems. The melting and desulphurization abilities of the fluxes were evaluated by measuring their liquidus temperatures and the distribution ratios of sulphur between the fluxes and the carbon‐saturated iron or stainless steel. The lowest liquidus temperature of 1325°C was obtained by adding 5.7 mass% MgO to the 80mass%A‐20mass%B flux. (A: 12CaO‐7Al₂O₃, B: BaCeO₃+12mass%Al₂O₃). The distribution ratios of sulphur and sulphide capacities of the fluxes in this study were higher than those of the commercial product of calcium aluminate flux. This means that the CaO‐Al₂O₃‐BaO‐CeO₂‐MgO fluxes developed in this study have higher desulphurization and melting abilities compared with the commercial product of calcium aluminate flux.     

Partial redundancy elimination for access expressions by speculative code motion

We present a new memory access optimization for Java to perform aggressive code motion for speculatively optimizing memory accesses by applying partial redundancy elimination (PRE) techniques. First, to reduce as many barriers as possible and to enhance code motion, we perform alias analysis to identify all the regions in which each object reference is not aliased. Secondly, we find all the possible barriers. Finally, we perform code motions in three steps. For the first step, we apply a non‐speculative PRE algorithm to move load instructions and their following instructions in the backwards direction of the control flow graph. For the second step, we apply a speculative PRE algorithm to move some of them aggressively before the conditional branches. For the third step, we apply our modified version of a non‐speculative PRE algorithm to move store instructions in the forward direction of the control flow graph and to even move some of them after the merge points. We implemented our new algorithm in our production‐level Java just‐in‐time compiler. Our experimental results show that our speculative algorithm improves the average (maximum) performance by 13.1% (90.7%) for jBYTEmark and 1.4% (4.4%) for SPECjvm98 over the fastest algorithm previously described, while it increases the average (maximum) compilation time by 0.9% (2.9%) for both benchmark suites. Copyright © 2004 John Wiley & Sons, Ltd.     

Calculations from texture of earing in deep drawing for FCC metal sheets

The present study aims to calculate the height at each peripheral position of a cup drawn from polycrystalline sheet using texture data. In the analytical treatment the polycrystalline sheet is simplified to an aggregation of many single crystals with various orientations, and the texture is represented by a three-dimensional crystallite orientation distribution function. The ear is calculated crystallographically using the orientation distribution function as a volume fraction of a certain oriented crystal. In the experiment aluminium, Al-Mg alloy and copper sheets which are treated under various conditions of cold rolling and heat treatment are used. The average textures over the thicknesses of the sheets are measured by the Schulz reflection method. The calculated ears based on the measured textures are compared with the experimental ears for each material. The results show that all the principal features of the ears of drawn cups are predicted satisfactorily by the calculation.     

Microstructure evolution during thermomechanical processing in 3Mn-0.1C medium-Mn steel

ABSTRACT

Medium-Mn steels are energetically investigated as a candidate of the third generation advanced high strength steels (AHSSs). However, their phase transformation and microstructaure evolution during various heat treatments and thermomechanical processing are still unclear. The present study first confirmed the kinetics of static phase transformation behaviour in a 3Mn-0.1C medium-Mn steel. Hot compression tests were also carried out to investigate the influence of high-temperature deformation of austenite on subsequent microstructure evolution. It was found that static ferrite transformation was quite slow in this steel, but ferrite transformation was greatly accelerated by the hot deformation in austenite and ferrite two-phase regions. Characteristic dual-phase microstructures composed of martensite and fine-grained ferrite were obtained, which exhibited superior mechanical properties.

This paper is part of a Thematic Issue on Medium Manganese Steels.     

Fabrication and flow-sensor application of flexible thermal MEMS device based on Cu on polyimide substrate

A Cu on polyimide (COP) substrate was proposed as a MEMS material, and the fabrication process for a flexible thermal MEMS sensor was developed. The COP substrate application to MEMS devices has the advantage that typical MEMS structures fabricated in a SOI wafer in the past—such as a diaphragm, a beam, a heater formed on a diaphragm—can also be easily produced in the COP substrate in the flexible fashion. These structures can be used as the sensing element in various physical sensors, such as flow, acceleration, and shear stress sensors. A flexible thermal MEMS sensor was produced by using a lift-off process and sacrificial etching of a copper layer on the COP substrate. A metal film working as a flow sensing element was formed on a thin polyimide membrane produced by the sacrificial etching. The fabricated flexible thermal MEMS sensor was used as a flow sensor, and its characteristics were evaluated. The obtained sensor output versus the flow rate curve closely matched the approximate curve derived using King’s law. The rising and falling response times obtained were 0.50 and 0.67 s, respectively.