Simultaneous bipedal locomotion based on haptics for teleoperation

ABSTRACT

This paper proposes a novel, simultaneous bipedal locomotion method using haptics for remote operation of biped robots. In general, traditional biped walking methods require very high computational power and advanced controllers to perform the required task. However, in this proposed method, a master exoskeleton attached to the human’s lower body is used to obtain the trajectory and haptic information to generate the trajectory of the slave biped robot in real time. Lateral motion of the center of mass of the biped is constrained in this experiment. Also, it is considered that no communication delay is presented in between the two systems in this experiment, and they are not discussed in this paper. Since a direct motion transmission is used in the proposed method, this method is quite straight forward and a simultaneous walking can be realized at the same time with high performance. Also, it does not require an exact dynamic model of the biped or specific method to plan the trajectory. The gait pattern of the biped is directly determined by that of the human. Also, the operator can feel the remote environment through the exoskeleton robot. Results obtained from the experiments validate the proposed method.     

Novel process for cover glass with ideal stress distribution

Abstract — This paper proposes a new process to manufacture cover glass that overcomes a strength trade‐off between the face and the edge. In the process, alkali barrier films are deposited on glass faces before an ion exchange process in order to control face stress properties without inhibiting the edge strengthening. As a demonstration of the process, alkali‐alumino‐silicate glass sheets with sputter‐deposited SiO₂ films were chemically strengthened, and then their stress properties and strengths were investigated. As a result, thicker SiO₂ films cause lower face DOL (depth of strengthened layer), and it is observed that the faces have lower DOL than the edges. In strength tests corresponding to major fracture modes of smartphone cover glass, specimens with 80–100 nm films have more balanced face performance and better edge impact strengths than the no‐film specimen.     

Color registration error reduction method compensating the influence of belt thickness variation in electrophotographic process

This paper proposes a new belt drive control method for reducing a belt velocity-fluctuation that is caused by a belt thickness-variation in the circumferential direction. A belt driving system performs feedback control with a rotary encoder-output mounted on a driven roller. This proposed method correct the reference value of the feedback control for the purpose of the belt velocity regulation. The correction includes two steps. The first step acquires the encoder-output of the driven roller and calculates the rotational angular velocity-fluctuation with one cycle of the belt rotation. The second step converts from the velocity-fluctuation to the correction value of the feedback reference. The correction value cancels a detection error of the driven roller caused by the belt thickness-variation. After these steps, the belt driving system controls the belt velocity as compensating the belt velocity-fluctuation. Experimental result showed the significant fluctuation reduction on a typical tandem-engine printer.     

Evolving autonomous specialization in congested path formation task of robotic swarms

Redundancy in the number of robots is a fundamental feature of robotic swarms to confer robustness, flexibility, and scalability. However, robots tend to interfere with each other in a case, where multiple robots gather in a spatially limited environment. The aim of this paper is to understand how a robotic swarm develops an effective strategy to manage congestion. The controllers of the robots are obtained by an evolutionary robotics approach. The strategy of managing congestion is observed in the process of generating a collective path of robots visiting two landmarks alternately. The robotic swarm exhibits autonomous specialization that the robots traveling inside the path activate the LEDs, while the robots in the outer side deactivate them. We found that the congestion is regulated in an emergent way of autonomous specialization by the result of an artificial evolution.     

Mixing speed-controlled gold nanoparticle synthesis with pulsed mixing microfluidic system

Gold nanoparticles with diameters of a few tens of nanometer and a narrow size distribution were synthesized using a pulsed mixing method with a microfluidic system which consists of a Y-shaped mixing microchannel and two piezoelectric valveless micropumps. This mixing method enables control of the mixing speed of gold salts and reducing agent by changing the switching frequency of the micropumps, which was our focus to improve the particle size distribution, which is an essential parameter in gold nanoparticle synthesis. In the proposed method, the mixing time was inversely proportional to the switching frequency and the minimum mixing time was 95 ms at a switching frequency of 200 Hz. During synthesis experiments, the mean diameter of the synthesized gold nanoparticles was found to increase, and the coefficient of variation of particle size was found to decrease with decreasing mixing time. We successfully improved the coefficient of variation to less than 10% for a mean diameter of around 40 nm.     

A fast method for the determination of the efficiency coefficient of bare CR-39 detector

A fast and simple method for the determination of the efficiency coefficient (η) of bare CR-39 detector is presented and discussed. The efficiency coefficient of bare CR-39 detector is then calculated by different ways and the obtained values are found to be comparable to each other. The average value of η of bare CR-39 is found to be 0.20 ± 0.01 tracks cm⁻² day⁻¹ per Bq m⁻³.     

Status and research programs of the multinuclide accelerator mass spectrometry system at the University of Tsukuba

We present the current status and research programs of a multinuclide accelerator mass spectrometry (AMS) system on the 12UD Pelletron tandem accelerator at the University of Tsukuba (Tsukuba AMS system), Japan. A maximum terminal voltage of 12 MV is available for the AMS system. The Tsukuba AMS system can measure environmental levels of long-lived radioisotopes of ¹⁴C, ²⁶Al, ³⁶Cl and ¹²⁹I by employing a molecular pilot beam. Recently, enhancements in AMS techniques and equipment, including sample preparation, the ion source and the data acquisition system, have improved the performance of ³⁶Cl-AMS. The standard deviation of fluctuations is typically ±2%, and the machine background level for the ³⁶Cl/Cl ratio is lower than 1 × 10^?15 with a halite sample. We have measured over 500 samples in 1 year, including samples for earth and environmental sciences and nuclear safety research.     

An energy trading system with consideration of CO2 emissions

Abatement of CO₂ emission is one of the most important issues in the 21st century regarding preservation of the earth environment. This paper addresses a utility operations planning problem for distributed energy management systems (DEMSs), where we are to obtain optimal plans that minimize both costs and CO₂ emissions. A DEMS consists of multiple entities that seek their own economic profits. In this paper, we give a mathematical formulation of the utility operations planning problem for each entity, and propose an energy trading market, which utlizes a multi‐attribute auction protocol in order to deal with both a price and a CO₂ emission rate. Experimental results show that collaboration among entities through the market provides a more profitable plan for each entity and abatement of CO₂ emission is also achieved. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 162(4): 54–63, 2008; Published online in Wiley InterScience ( www.interscience.wiley. com ). DOI 10.1002/eej.20418     

Comparison between Y-doped ceria and Ho-doped ceria: Electrical conduction and microstructures

The electrical conduction and microstructure in Y-doped ceria and Ho-doped ceria were investigated. Visible differences between the two doped ceria were observed. The plots of conductivity of Y-doped ceria are well fit to the Arrhenius behavior, while curvature and kinks were observed on the plots of Ho-doped ceria. Such deviation from the Arrhenius behavior could be related to the existence of precipitates in Ho-doped ceria. It indicates that the electrolytic conductivity of doped ceria could be significantly influenced by microstructure features.     

Three-Dimensional Stress Analysis of Adhesive Butt Joints of Solid Cylinders Subjected to External Tensile Loads

This paper deals with a three-dimensional stress analysis of adhesive butt joints of similar solid cylinders subjected to external tensile loads. Similar adherends and an adhesive bond are replaced with finite solid cylinders in the analysis. Stress distributions on adhesive joints are analyzed strictly by using the three-dimensional theory of elasticity. The effects of stiffness, thickness and Poisson's ratio of the adhesive bonds and of external load distribution on the normal and the shear stress distributions are shown by numerical calculations. In addition, the analytical result is compared with the result obtained by F.E.M. It is seen that they are in fairly good agreement.