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.     

High Levels of the Cleaved Form of Galectin-9 and Osteopontin in the Plasma Are Associated with Inflammatory Markers That Reflect the Severity of COVID-19 Pneumonia

Numbers of patients with coronavirus disease 2019 (COVID-19) have increased rapidly worldwide. Plasma levels of full-length galectin-9 (FL-Gal9) and osteopontin (FL-OPN) as well as their truncated forms (Tr-Gal9, Ud-OPN, respectively), are representative inflammatory biomarkers. Here, we measured FL-Gal9, FL-OPN, Tr-Gal9, and Ud-OPN in 94 plasma samples obtained from 23 COVID-19-infected patients with mild clinical symptoms (CV), 25 COVID-19 patients associated with pneumonia (CP), and 14 patients with bacterial infection (ID). The four proteins were significantly elevated in the CP group when compared with healthy individuals. ROC analysis between the CV and CP groups showed that C-reactive protein had the highest ability to differentiate, followed by Tr-Gal9 and ferritin. Spearman’s correlation analysis showed that Tr-Gal9 and Ud-OPN but not FL-Gal9 and FL-OPN, had a significant association with laboratory markers for lung function, inflammation, coagulopathy, and kidney function in CP patients. CP patients treated with tocilizumab had reduced levels of FL-Gal9, Tr-Gal9, and Ud-OPN. It was suggested that OPN is cleaved by interleukin-6-dependent proteases. These findings suggest that the cleaved forms of OPN and galectin-9 can be used to monitor the severity of pathological inflammation and the therapeutic effects of tocilizumab in CP patients.     

A Restart Control Method for Position Sensorless PMSM Drive Systems Without Potential Transformer for Railway Vehicle Traction

This paper proposes a restart control method for position sensorless PMSM drive systems without a potential transformer for railway vehicle traction. This method can estimate the initial rotor speed and position under coasting conditions over the entire speed range. The method can also be used when the back‐EMF voltage is higher than the inverter DC link voltage. The proposed method is verified by experiments using a 200‐kW PMSM.     

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.     

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...     

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.