Real-time exploration of a multi-robot rescue system in disaster areas

A system procedure is proposed for a multi-robot rescue system that performs real-time exploration over disaster areas. Real-time exploration means that every robot exploring the area always has a communication path to human operators standing by at a base station and that the communication path is configured by ad hoc wireless networking. Real-time exploration is essential in multi-robot systems for USAR (urban search and rescue) because operators must communicate with every robot to support the victim detection process and ad hoc networking is suitable to configure a communication path among obstacles. The proposed system procedure consists of the autonomous classification of robots into search and relay types and behavior algorithms for each class of robot. Search robots explore the areas and relay robots act as relay terminals between search robots and the base station. The rule of the classification and the behavior algorithm refer to the forwarding table of each robot constructed for ad hoc networking. The table construction is based on DSDV (destination-sequenced distance vector) routing that informs each robot of its topological position in the network and other essentials. Computer simulations are executed with a specific exploration strategy of search robots. The results show that a multi-robot rescue system can perform real-time exploration with the proposed system procedure and reduce exploration time in comparison with the case where the proposed scheme is not adopted.     

Improved visible-light responsive photocatalytic activity of N and Si co-doped titanias

Thermal reaction of titanium tetraisopropoxide and tetraethyl orthosilicate in 1,4-butanediol afforded nanocrystalline silica-modified titanias having large surface area and superior thermal stability. In this study, the thus-obtained silica-modified titanias were treated in an NH₃ flow at high temperatures, and their physical and photocatalytic properties were investigated. Compared with NH₃-treated TiO₂ without silica modification, the NH₃-treated silica-modified titanias showed a stronger absorption in the visible region (400–500 nm) and had a larger peak at 396 eV in the N 1s XPS spectrum. These results indicate that a larger amount of nitrogen was stably doped in the silica-modified titania. The obtained products exhibited a high photocatalytic activity for degradation of Rhodamine B and decomposition of acetaldehyde under visible light irradiation. Electronic supplementary material The online version of this article (doi:) contains supplementary material, which is available to authorized users.     

Microstructure and Thermal Shock Resistance of Molten Glass-Coated Carbon Materials Fabricated by Interfacial Control

Carbon substrates were coated completely with a molten silicate glass, where the wettability of carbon to glass was improved by infiltration and pyrolysis of perhydropolysilazane. Microstructures of the carbon–glass interface were dependent on P n ₂ during coating. Coating at lower P n ₂ induced the formation of cristobalite at the carbon–glass interface. When the coating was performed at higher P n ₂, the glass and carbon were strongly adhered, without the formation of cristobalite. Coating at higher P n ₂ improved the thermal shock resistance of the glass layer, because crack initiation was not induced by the phase transformation of cristobalite during the cooling process. In the case of coating at higher P n ₂, an oxynitride glass layer was formed at the glass subsurface by dissolution of N₂. A porous glass subsurface layer with uniform spherical micro-pores could be produced by soaking near the glass transition temperature in a steam environment. The porous layer with fine and homogeneous microstructure acts as a thermal shock absorbing layer, so that glass-coated carbon with a porous glass layer has excellent thermal shock resistance in addition to steam oxidation resistance.     

Strain-mediated phase control and electrolyte-gating of electron-doped manganites

A prototype Mott transistor, the electric double layer transistor with a strained CaMnO(3) thin film, is fabricated. As predicted by the strain phase diagram of electron-doped manganite films, the device with the compressively strained CaMnO(3) exhibits an immense conductivity modulation upon applying a tiny gate voltage of 2 V.     

Observation of Multiple Gap Structures Using NdFeAsO<Subscript>1−<Emphasis Type="Italic">x</Emphasis></Subscript>F<Subscript><Emphasis Type="Italic">x</Emphasis></Subscript>–GaAs Tunneling Junction

We have carried out point contact tunneling measurements by contacting degenerated GaAs semiconductor to polycrystalline samples of NdFeAsO_1−x F _x with T _c=44−51±1.2. The obtained conductance curves have plural structures included in energy region of the superconducting gap. These structures are seen at almost the same bias positions on every measurement. And as temperature increases, the structures are smeared out. Thus, the structures are attributed to multiple gap structures. The gap values are Δ _S=6.3±0.3 meV, Δ _L=12.5±0.5 meV and 2Δ _S/k _B T _c=3.1±0.3, 2Δ _L/k _B T _c=6.2±0.7. Separately from these multiple gap structures, some fine structures are seen in outer energy region of the gap structures. We have calculated d² I/dV ² and T _c from using conventional s-wave Eliashberg equations by appropriately assuming α ² F(ω). The phonon positions of the calculated d² I/dV ² curve are in quite good agreement with that of experimental result. Moreover, the calculated T _c reproduces the experimental one.     

A new generation of modems for power efficient radio systems

A new class of generalized intersymbol-interference and jitter-free (GIJF) modulated signals is introduced. Computer simulation and hardware experimental research results demonstrate that our proposed new generation of signals and modulators leads to significant performance improvements in non-linearly amplified broadband radio systems. For increased power efficiency, non-linear amplification is required in most commercial satellite and terrestrial microwave systems. In particular, we demonstrate that the 3 dB envelope fluctuation of currently used offset raised-cosine overlapped QPSK systems is reduced to 0-5 dB, and that the BER performance is improved by approximately 1 dB. These significant technical performance advantages are expected to lead to more economical implementations of digital transmission systems.     

Nanoparticle formation in H2O/N2 and H2O/Ar mixtures under irradiation by 20 MeV protons and positive corona discharge

To investigate the contribution of ions to gas nucleation, we have performed experiments on the formation of water droplets in H₂O/N₂ and H₂O/Ar gas mixtures by irradiation with a 20 MeV proton beam and by positive corona discharge. The size of the formed nanoparticles was measured using a differential mobility analyzer equipped with a Faraday cup electrometer. Using the proton beam, droplets around 10 nm in diameter were observed for both positively and negatively charged particles, but none were found when the corona discharge was used. This implies the importance of the presence of both positive and negative ions for the formation of nanosize droplets, which attract each other by Coulomb interactions, enhancing the collision frequency and leading to the formation of the 10 nm droplets.     

Detection of norovirus RNA in bivalve molluscs by using bacteria-culture-employed method (A3T method)

Norovirus (NV) RNA has rarely been detected in foods despite the use of highly sensitive methods such as RT-PCR and real-time RT-PCR. In the modified method (A3T method) reported previously, a bacterial culture process was introduced into the standard protocol for NV detection to remove some inhibitor(s) present in food ingredients. To confirm the efficiency of the A3T method and to examine NV contamination in bivalve molluscs, we tried to detect NV RNA in bivalve molluscs on the market and in oyster samples associated with foodborne outbreaks by using the standard method and the A3T method. NV RNAs were detected in 20 samples (18.0%) of 111 bivalve molluscs, including oysters, on the market by use of the A3T method, while only one sample (0.9%) was positive according to the standard method. NV RNA was also detected in 10 of 35 oyster samples related to foodborne outbreaks by the A3T method. Those results show that the A3T method is suitable for the detection of NV in bivalve molluscs in general laboratories.     

Tetra-Repeat Microsatellite Markers for the Masu Salmon (Oncorhynchus masou masou) and Its Application in Cross-Subspecies Amplification

We developed tetranucleotide-repeat microsatellite markers for the masu salmon (Oncorhynchus masou) complex. 454 pyrosequencing was used to discover repeat motifs, and seven polymorphic microsatellite-primer sets were identified. The number of alleles detected at each locus ranged from four to 24 and the expected heterozygosity varied from 0.57 to 0.92. Cross-subspecies amplification for O. m. masou, O. m. ishikawae and O. m. subsp. was successful. These microsatellites can be utilized in studies of genetic structure, genetic diversity, and intra- and inter-subspecific hybridization, making a contribution to conservation and management of the Oncorhynchus masou complex.