RUNA: a multimodal command language for home robot users

This article describes a multimodal command language for home robot users, and a robot system which interprets users’ messages in the language through microphones, visual and tactile sensors, and control buttons. The command language comprises a set of grammar rules, a lexicon, and nonverbal events detected in hand gestures, readings of tactile sensors attached to the robots, and buttons on the controllers in the users’ hands. Prototype humanoid systems which immediately execute commands in the language are also presented, along with preliminary experiments of faceto-face interactions and teleoperations. Subjects unfamiliar with the language were able to command humanoids and complete their tasks with brief documents at hand, given a short demonstration beforehand. The command understanding system operating on PCs responded to multimodal commands without significant delay. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Success rates in a multimodal command language for home robot users

This article considers the success rates in a multimodal command language for home robot users. In the command language, the user specifies action types and action parameter values to direct robots in multiple modes such as speech, touch, and gesture. The success rates of commands in the language can be estimated by user evaluations in several ways. This article presents some user evaluation methods, as well as results from recent studies on command success rates. The results show that the language enables users without much training to command home robots at success rates as high as 88%–100%. It is also shown that multimodal commands combining speech and button-press actions included fewer words and were significantly more successful than single-modal spoken commands.     

Development of fault cause estimation method for distribution line

We are planning to develop the new Advanced Distribution Automation System (ADAS) equipped with optical communication network and sectionalizer with sensor for more grid reliability and efficiency on maintenance operation. The new system is featured with the function of fault cause or damaged part estimation. The new sectionalizer captures the waveform of electrical line surge originated by fault and the system analyzes the waveform for this function. This paper mainly introduces the system configuration of ADAS and an early stage examination of fault cause estimation technology.     

Application of functionally graded material for solid insulator in gaseous insulation system

Functionally graded materials (FGM) have spatial distribution of a material property in order to achieve efficient stress control. An application of the FGM to a solid insulator (spacer) for a gaseous insulation system, like gas insulated switchgear, is expected to improve electric field (E-field) distribution around the spacer. In this paper, we describe the applicability of the FGM spacer to gas insulated power equipment. In the FGM spacer, we gave spatial distribution of dielectric permittivity to control the E-field distribution inside and outside the spacer. This paper includes following key results for the applications of the FGM. Firstly, E-field simulation results when applying the FGM by a finite element method are presented, in which we show the effective reduction of the maximum field strength by applying the FGM. Next, a fabrication technique of the FGM spacer sample with not only step-by-step but also continuous changes of permittivity is presented by use of centrifugal force. Finally, dielectric breakdown tests using FGM samples which are accurately controlled the spatial distribution of permittivity are carried out under lightning impulse voltage applications. The test result indicates the increase of breakdown voltage (BDV). From these results, we verified the applicability and the fabrication technique of FGM spacer for improvement of the dielectric strength in the gaseous insulation system.     

High-power CW deep-UV coherent light sources around 200 nm based on external resonant sum-frequency mixing

We report pure continuous-wave (CW) high-power (>100 mW) deep-ultraviolet (DUV) light sources emitting around 200-nm spectral region based on singly resonant sum-frequency mixing (SRSFM). Efficient DUV generation is made possible by use of a Brewster-cut CsLiB/sub 6/O/sub 10/ (CLBO) crystal near noncritically phase-matched (NCPM) condition for the SFM of 1-/spl mu/m output of neodymium lasers. The CW radiation of fifth-harmonic wavelength of a neodymium laser at 213 nm was generated by the SFM of enhanced 1064-nm radiation with single-passing 266-nm radiation produced by external-resonant frequency doubling of a 532-nm green laser. With 1.8 W of 266-nm radiation incident upon a CLBO crystal, as much as 180 mW of CW 213-nm power has been produced. The sub-200-nm CW radiation with 140-mW power has also been achieved by SFM of 1064 nm with 244-nm radiation from a frequency-doubled Argon-ion laser in the CLBO crystal operated near the NCPM condition.     

Microstructural Analysis of Liquid-Phase-Sintered β-Silicon Carbide

The microstructures of fine-grained β-SiC materials with α-SiC seeds annealed either with or without uniaxial pressure at 1900°C for 4 h in an argon atmosphere were investigated using analytical electron microscopy and high-resolution electron microscopy (HREM). An applied annealing pressure can greatly retard phase transformation and grain growth. The material annealed with pressure consisted of fine grains with β-SiC as a major phase. In contrast, the microstructure in the material annealed without pressure consisted of elongated grains with half α-SiC. Energy-dispersive X-ray analysis showed no differences in the amount of segregation of aluminum and oxygen atoms at grain boundaries, but did show a significant difference in the segregation of yttrium atoms at grain boundaries along SiC grains for the two materials. The increased segregation of yttrium ions at grain boundaries caused by the applied pressure might be the reason for the retarded phase transformation and grain growth. HREM showed a thin secondary phase of 1 nm at the grain boundary interface for both materials. The development of a composite grain consisting of a mixture of β/α polytypes during annealing was a feature common to both materials. The possible mechanisms for grain growth and phase transformation are discussed.     

Role of Grain-Boundary Glass Phase on the Superplastic Deformation of Tetragonal Zirconia Polycrystal

Superplastic deformation of tetragonal zirconia polycrystal (TZP) was investigated by compression test in the temperature range of 1000° to 1500°C. Special attention was paid to the role of the grain-boundary glass phase on hightemperature deformation behavior. A small addition of glass phase markedly improved the high-temperature deformability of TZP. Lithium silicate glass was much superior to aluminosilicate or lithium aluminum silicate glasses for lowering the high-temperature flow stress. The deformation mechanism was discussed on the basis of mechanical testing data and microstructural examinations.     

APPLICATION OF THE UNIFIED STATISTICAL MATERIAL DATABASE FOR DESIGN AND LIFE／RISK ASSESSMENT OF HIGH TEMPERATURE COMPONENTS

Statistical manipulation of material data was conducted for probabilistic life assessment or risk-based design and maintenance for high temperature components of power plants. To obtain the statistical distribution of material properties, dominant parameters affecting material properties are introduced into normalization of statistical variables. Those parameters are hardness, chemical composition, characteristic microstructural features and so on. Creep and fatigue properties are expressed by normalized parameters and the unified statistical distributions are obtained. These probability distribution functions show good coincidence statistically with the field database of steam turbine components. It was concluded that the unified statistical baseline approach is useful for the risk management of components in power plants.     

Effect of Cation Doping on the Superplastic Flow in Yttria-Stabilized Tetragonal Zirconia Polycrystals

The superplastic characteristics of various cation-doped yttria-stabilized tetragonal zirconia polycrystals (Y-TZP) were examined. For 1 mol% cation doping the true stress of Y-TZP is very dependent on the ionic radii of the doped cations; for instance, smaller cation radii give rise to lower true stress when compared with the other compositions for the same grain size, strain rate, and testing temperature. The altered true stress level must be due to the change in diffusivity of the accommodation process for grain boundary sliding caused by the addition of cations in ZrO₂. The strain to failure of the doped zirconia is affected by both ionic radius and valence of the dopant cations.