Control of biped walking robot for human living environment

This paper introduces biped robot adaptation to human living environment from viewpoints of battery operation time extension and environmental recognition. These issues are important when robots actually work at home. First, in order to extend battery operation time, we propose energy-saving bipedal locomotion gait. The problem is formulated as an optimal control problem, which is conventionally hard to solve when a target system is complicated. In this paper, partial derivatives appeared in optimal control problem are implicitly represented by using automatic differentiation technique. This approach enables complicated optimal control problem solvable. In combination with receding horizon control, its computation cost is also reduced. Second, we introduce the biped walk tracking based on the camera image mounted on the walking robot, and the visual servoing by the posture change for the purpose of the target image tracking in the camera frame. We propose a new control law to track the rotated target object using the characteristic of the walking, which considered the interference between translational motion and rotational motion. The decoupling is realized by simulations and experiments. As a result, the walking robot tracked the translated and rotated target object without a practical issue. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Determination of water-soluble vitamins using a colorimetric microbial viability assay based on the reduction of water-soluble tetrazolium salts

A method for the determination of water-soluble vitamins using a colorimetric microbial viability assay based on the reduction of the tetrazolium salt {2-(2-methoxy-4-nitrophenyl)-3-(4-nitrophenyl)-5-(2,4-disulfophenyl)-2H-tetrazolium, monosodium salt (WST-8)} via 2-methyl-1,4-napthoquinone (NQ) was developed. Measurement conditions were optimized for the microbiological determination of water-soluble vitamins, such as vitamin B₆, biotin, folic acid, niacin, and pantothenic acid, using microorganisms that have a water-soluble vitamin requirement. A linear relationship between absorbance and water-soluble vitamin concentration was obtained. The proposed method was applied to determine the concentration of vitamin B₆ in various foodstuffs. There was good agreement between vitamin B₆ concentrations determined after 24 h using the WST-8 colorimetric method and those obtained after 48 h using a conventional method. The results suggest that the WST-8 colorimetric assay is a useful method for the rapid determination of water-soluble vitamins in a 96-well microtiter plate.     

Plastic behaviours during tempering by crystal plasticity analyses using fast Fourier transform

ABSTRACT

Heat treatment, such as quenching and carburising, often involves volume change caused by phenomena such as thermal expansion, phase transformation, and carbide precipitation during tempering. During the tempering process, an external force induces additional plastic deformation. The authors termed this phenomenon ‘tempering plasticity’. In this study, we performed crystal plasticity analysis using fast Fourier transform considering the volume change in carbides to assess the mechanism of tempering plasticity. As a result, tempering plastic strain occurred as the volume fraction of carbide increased, and the tempering plastic phenomenon could be reproduced based on the transformation model proposed by Greenwood–Johnson. The result supports the idea that the volume change accompanied by carbide precipitation is an important mechanism that invokes tempering plasticity.     

Manufacture of organic transistors on large‐area flexible substrate using direct imaging exposure system by wet process suitable for roll‐to‐roll production

Organic thin‐film transistors (OTFTs) can be fabricated via a wet process and have exceptionally high flexibility. Therefore, production using the roll‐to‐roll (RtoR) method is expected. We succeeded in developing a new OTFT wet fabrication process adaptable to the RtoR process. Utilizing the electroless plating method for wiring formation, all materials can be formed in a wet process and can be patterned using the photolithography process. In addition, we succeeded in fabricating OTFT on an A4‐type flexible substrate using RtoR direct imaging exposure system.     

Chemical Growth of 1T‐TaS2 Monolayer and Thin Films: Robust Charge Density Wave Transitions and High Bolometric Responsivity

Ultrathin two‐dimensional (2D) charge density wave (CDW) materials, with sharp resistance change at the phase‐transition temperature, yet with ultrathin thickness, hold great potential for electrical device applications. However, chemical synthesis of high‐quality samples and observation of the CDW states down to the monolayer limit is still of great challenge. Chemical vapor deposition of 1T‐TaS₂ sheets on hexagonal boron nitride (h‐BN) with robust CDW states even down to the monolayer extreme is reported here. Further, based on the near commensurate CDW to incommensurate CDW phase transition with a high temperature coefficient of resistance (TCR), highly responsive room‐temperature bolometers are fabricated by suspending the as‐grown 1T‐TaS₂ sheets.     

An International Research Comparative Study of the Degree of Cooperation between disciplines within mathematics and mathematical sciences: proposal and application of new indices for identifying the specialized field of researchers

Behaviormetrika - Based on 10 years of data on academic papers from 2005 to 2014 available on the “Web of Science”, we conducted an in-depth review and analysis of...     

Synthesis of Co-Doped MoS2 Monolayers with Enhanced Valley Splitting

Internal magnetic moments induced by magnetic dopants in MoS₂ monolayers are shown to serve as a new means to engineer valley Zeeman splitting (VZS). Specifically, successful synthesis of monolayer MoS₂ doped with the magnetic element Co is reported, and the magnitude of the valley splitting is engineered by manipulating the dopant concentration. Valley splittings of 3.9, 5.2, and 6.15 meV at 7 T in Co-doped MoS₂ with Co concentrations of 0.8%, 1.7%, and 2.5%, respectively, are achieved as revealed by polarization-resolved photoluminescence (PL) spectroscopy. Atomic-resolution electron microscopy studies clearly identify the magnetic sites of Co substitution in the MoS₂ lattice, forming two distinct types of configurations, namely isolated single dopants and tridopant clusters. Density functional theory (DFT) and model calculations reveal that the observed enhanced VZS arises from an internal magnetic field induced by the tridopant clusters, which couples to the spin, atomic orbital, and valley magnetic moment of carriers from the conduction and valence bands. The present study demonstrates a new method to control the valley pseudospin via magnetic dopants in layered semiconducting materials, paving the way toward magneto-optical and spintronic devices.     

4032 ppi High‐resolution OLED microdisplay

A 0.5‐inch Ultra Extended Graphics Array (UXGA) organic light‐emitting diodes microdisplay has been developed with 6.3 μm pixel pitch. Not only 4032 ppi high resolution but high frame rate, low power consumption, wide viewing angle, and high luminance have been achieved. This newly developed organic light‐emitting diodes microdisplay is suitable for Near‐to‐Eye display applications, especially electronic viewfinders.     

An approach to the deep hydrodesulfurization of light cycle oil

Deep HDS of LCO to be <10 ppm was achieved by fractionating HDS. An LCO fraction having boiling point lower than 340 °C was easily hydrodesulfurized to be <10 ppmS under conventional HDS conditions because the hydrodesulfurization of the reactive sulfur species contained in the fraction was hardly inhibited by the aromatic compounds. In contrast, the heavier fraction was very hard to be hydrodesulfurized since its refractory sulfur species were strongly inhibited by large content of aromatic components. Dilution of the heavier fraction with common solvents showed higher reactivity over NiMo/Al₂O₃ catalyst than itself alone. Decalin, which showed the highest dilution effect, was believed to strip the strongly adsorbed aromatics off from the catalyst surface.     

High-Temperature Formation Phases and Crystal Structure of Hot-Pressed Thermoelectric CuGaTe<Subscript>2</Subscript> with Chalcopyrite-Type Structure

Polycrystalline CuGaTe₂ with a chalcopyrite-type structure consolidated by hot-pressing is a potential candidate as a medium-temperature thermoelectric (TE) material. However, its high-temperature formation phases have rarely been reported to date. Here, we investigated the temperature-dependent formation phases and crystal structure at 300–800 K of hot-pressed CuGaTe₂. From synchrotron x-ray diffraction data and crystal structure analysis of the heating and cooling processes, it was clarified that a certain amount of impurity phases, such as Te and CuTe, precipitated from the CuGaTe₂ matrix when the temperature was increased (to 500–650 K). This is the temperature range where CuGaTe₂ has been reported to show high TE performance. After CuGaTe₂ was heated to 800 K, such impurity phases remained, even when cooled to room temperature. They also affected the tetragonal distortion and the x-coordinate of Te in the CuGaTe₂ matrix, probably due to deficiencies of Cu and Te in the matrix. Our results reveal detailed information on the formation phases of CuGaTe₂ at high temperature and thus provide insight for evaluation of its high-temperature stability and transport properties.