Team O2AS' approach for the task-board task of the World Robot Challenge 2018

ABSTRACT

In this paper, we describe the approach of Team O2AS to complete the task-board task of the World Robot Challenge 2018, held in Tokyo. We use a custom gripper and graspable tools with in-built compliance to work with various kinds of parts, increase robustness against uncertainties, and to avoid complicated control strategies. The robots are able to finish all the sub-tasks without the need to exchange grippers. The main idea is to use mechanical compliance and self-centering mechanisms to deal with uncertainty. This is achieved by aligning the objects using either the gripper and tools, or by the design of the robot motions.     

Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools

ABSTRACT

In this article, we propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as screwing and suctioning. A third gripper is used as a precision picking and centering tool, and uses in-built passive compliance to compensate for small position errors and uncertainty. A novel grasp point detection for bin picking is described for the kitting task, using a single depth map. Using the proposed system we competed in the Assembly Challenge of the Industrial Robotics Category of the World Robot Challenge at the World Robot Summit 2018, obtaining 4th place and the SICE award for lean design and versatile tool use. We show the effectiveness of our approach through experiments performed during the competition.     

Electron-energy-loss near edge structures of six-fold-coordinated Zn in MgO

Electron-energy-loss near edge structures (ELNES) at the Zn-L(2,3) edge and the O-K edge have been measured for 10 mol% ZnO-doped MgO, and were compared with spectra from reference materials. In order to interpret the spectra, first principles molecular orbital calculations were made using model clusters composed of 125 and 153 atoms. Photoabsorption cross sections (PACS) were computed at the Slater's transition state in which a half-filled core hole was included in the self-consistent calculations. The difference in the coordination numbers of Zn was found well distinguishable by the Zn-L(2,3)-edge ELNES. The experimental spectra in the first 25 eV were well reproduced by the theoretical PACS. In this energy region, the Zn-L(2,3)-edge ELNES from four-fold coordinated Zn showed four sets of peaks, whereas the six-fold coordinated Zn exhibits three sets of peaks. The origin of these peaks can be explained by the point symmetry within the first coordination unit. A small shift toward the lower energy side was observed in the O-K edge ELNES of the ZnO-doped MgO as compared with pure MgO. This can be ascribed to the lower energy of the Zn-4s orbital as compared with the Mg-3s orbital, which is the common mechanism to the difference in the band gap between MgO and ZnO.     

High-Density Frenkel Defects as Origin of N-Type Thermoelectric Performance and Low Thermal Conductivity in Mg3Sb2-Based Materials

Mg₃Sb₂-based intermetallic compounds with exceptionally high thermoelectric performance exhibit unconventional n-type dopability and anomalously low thermal conductivity, attracting much attention to the underlying mechanisms. To date, investigations have been limited to first-principle calculations and thermodynamic analysis of defect formation, and detailed experimental analysis on crystal structure and phonon modes has not been achieved. Here, a synchrotron X-ray diffraction study clarifies that, against a previous view of a simple crystal structure with a small unit cell, Mg₃Sb₂ is inherently a heavily disordered material with Frenkel defects, charge-neutral defect complexes of cation vacancies and interstitials. Ionic charge neutrality preserved in Mg₃Sb₂ is responsible for exotic n-type dopability, which is unachievable for other Zintl phase materials. The thermal conductivity of Mg₃Sb₂ exhibits deviation from the standard T⁻¹ temperature dependency with strongly limited phonon transport due to a strain field. Inelastic X-ray scattering measurement reveals enhanced phonon scattering induced by disorder. The results will draw renewed attention to crystal defects and disorder as means to explore new high-performance thermoelectric materials.     

Heterodimerization of Group I Ribozymes Enabling Exon Recombination through Pairs of Cooperative trans‐Splicing Reactions

Group I (GI) self‐splicing ribozymes are attractive tools for biotechnology and synthetic biology. Several trans‐splicing and related reactions based on GI ribozymes have been developed for the purpose of recombining their target mRNA sequences. By combining trans‐splicing systems with rational modular engineering of GI ribozymes it was possible to achieve more complex editing of target RNA sequences. In this study we have developed a cooperative trans‐splicing system through rational modular engineering with use of dimeric GI ribozymes derived from the Tetrahymena group I intron ribozyme. The resulting pairs of ribozymes exhibited catalytic activity depending on their selective dimerization. Rational modular redesign as performed in this study would facilitate the development of sophisticated regulation of double or multiple trans‐splicing reactions in a cooperative manner.     

New superconducting lead cuprate with 1201 structure, (Pb0.5B0.5) (SrLa)CuOz

New Pb-based superconducting cuprate with the 1201 structure has been synthesized in the (Pb_1 − yB_y)(Sr_2 − xLa_x)CuO_z system. From X-ray powder diffraction study, the almost-single 1201 phase sample is found to be obtained at x = 1.0 and y = 0.5 for the nominal composition of (Pb_1 − yB_y)(Sr_2 − xLa_x)CuO_z. The crystal structure has a tetragonal symmetry with the lattice parameters of a = 0.3779 nm and c = 0.8654 nm. The sample shows an onset of superconductivity at about 32 K as measured by the temperature dependence of the DC magnetic susceptibility.     

Structure-retention correlation of isomeric bile acids in inclusion high-performance liquid chromatography with methyl β-cyclodextrin

The structure-retention correlation of various C₂₄ bile acid isomers was studied by the addition of methyl β-cyclodextrin (Me-β-CD) to mobile phases in reversed-phase high-performance liquid chromatography (HPLC). The compounds examined include a series of monosubstituted bile acids related to cholanoic acids differing from one another in the position and configuration of an oxygen-containing function (hydroxyl or oxo group) at the position C-3, C-6, C-7, or C-12 and the stereochemistry of the A/B-ring fusion (trans 5α-H and cis 5β-H) in the steroid nucleus. The inclusion HPLC with Me-β-CD was also applied to biologically important 4β- and 6-hydroxylated bile acids substituted by three to four hydroxyl groups in the 5β-steroid nucleus. These bile acid samples were converted into their fluorescence prelabeled 24-pyrenacyl ester derivatives and chromatographed on a Capcell Pak C₁₈ column eluted with methanol-water mixtures in the presence or absence of 5 mM Me-β-CD. The effects of Me-β-CD on the retentions of each compound were correlated quantitatively to the decreasing rate of capacity factors and the relative strength of host-guest inter-actions. On the basis of the retention data, specific and nonspecific hydrogen-bonding interactions between the bile acids and the Me-β-CD were discussed.     

Synthesis of Microcrystalline Hematite and Magnetite in Organic Solvents and Effect of a Small Amount of Water in the Solvents

Microcrystalline magnetite (Fe₃O₄) particles having diameters of 7-34 nm were synthesized by thermal treatment of iron(III) acetylacetonate in organic solvents at high temperatures (423-573 K) and under autogenous pressures of the solvents. When the treatment was conducted in 1-propanol containing a small amount of water (1-3 vol%), nanosized hematite (α-Fe₂O₃) crystallized, which then was reduced to magnetite after a prolonged reaction time, indicating that a small amount of water in 1-propanol drastically changed the reaction mechanism for the formation of iron oxides.     

Enhancement of Bone-Forming Ability on Beta-Tricalcium Phosphate by Modulating Cellular Senescence Mechanisms Using Senolytics

Various stresses latently induce cellular senescence that occasionally deteriorates the functioning of surrounding tissues. Nevertheless, little is known about the appearance and function of senescent cells, caused by the implantation of beta-tricalcium phosphate (β-TCP)—used widely in dentistry and orthopedics for treating bone diseases. In this study, two varying sizes of β-TCP granules (<300 μm and 300–500 μm) were implanted, and using histological and immunofluorescent staining, appearances of senescent-like cells in critical-sized bone defects in the calvaria of Sprague Dawley rats were evaluated. Parallelly, bone formation in defects was investigated with or without the oral administration of senolytics (a cocktail of dasatinib and quercetin). A week after the implantation, the number of senescence-associated beta-galactosidase, p21-, p19-, and tartrate-resistant acid phosphatase-positive cells increased and then decreased upon administrating senolytics. This administration of senolytics also attenuated 4-hydroxy-2-nonenal staining, representing reactive oxygen species. Combining senolytic administration with β-TCP implantation significantly enhanced the bone formation in defects as revealed by micro-computed tomography analysis and hematoxylin-eosin staining. This study demonstrates that β-TCP granules latently induce senescent-like cells, and senolytic administration may improve the bone-forming ability of β-TCP by inhibiting senescence-associated mechanisms.     

High-pressure studies on Tc and crystal structure of iron chalcogenide superconductors

The superconducting transition temperature, T_c, in iron-based solids can be enhanced by applied pressure: T_c increases from 8 to 37 K for the 11-type FeSe when the pressure is raised from 0 to 4 GPa. High-pressure studies can elucidate the mechanism of superconductivity in such novel materials. In this paper, we present a high-pressure study of Fe(Se_1−xTe_x) and Fe(Se_1−xS_x). In the case of Fe(Se_1−xTe_x), the maximum T_c under high pressure did not exceed the T_c of FeSe, which can be attributed to the structural transition to the monoclinic phase. For Fe(Se_1−xS_x) (0 < x < 0.3), T_c exhibited a significant increase with pressure; however, the maximum T_c under high pressure did not exceed the T_c of FeSe. This may be due to the disorder induced by substituting S for Se, which is similar to the pressure effect on T_c for the 1111-type superconductor Ca(Fe_1−xCo_x)AsF. The T_c of Fe(Se_1−xS_x) showed a complex behavior below 1 GPa, first decreasing and then increasing with increasing pressure. From high-pressure x-ray diffraction measurements, the T_c (P) curve was correlated with the local structural parameter.