Development of a pulse control-type MEMS microrobot with a hardware neural network

This article presents the micro-electro-mechanical systems (MEMS) microrobot which demonstrates locomotion controlled by hardware neural networks (HNN). The size of the microrobot fabricated by the MEMS technology is 4 × 4 × 3.5 mm. The frame of the robot is made of silicon wafer, and it is equipped with a rotary-type actuator, a link mechanism, and six legs. The rotary-type actuator generates rotational movement by applying an electrical current to artificial muscle wires. The locomotion of the microrobot is obtained by the rotation of the rotary-type actuator. As in a living organism, the HNN realized robot control without using any software programs, A/D converters, or additional driving circuits. A central pattern generator (CPG) model was implemented as an HNN system to emulate the locomotion pattern. The MEMS microrobot emulated the locomotion method and the neural networks of an insect with the rotary-type actuator, the link mechanism, and the HNN. The microrobot performed forward and backward locomotion, and also changed direction by inputting an external trigger pulse. The locomotion speed was 0.325 mm/s and the step width was 1.3 mm.     

Replica Exchange Light Transport

We solve the light transport problem by introducing a novel unbiased Monte Carlo algorithm called replica exchange light transport, inspired by the replica exchange Monte Carlo method in the fields of computational physics and statistical information processing. The replica exchange Monte Carlo method is a sampling technique whose operation resembles simulated annealing in optimization algorithms using a set of sampling distributions. We apply it to the solution of light transport integration by extending the probability density function of an integrand of the integration to a set of distributions. That set of distributions is composed of combinations of the path densities of different path generation types: uniform distributions in the integral domain, explicit and implicit paths in light (particle/photon) tracing, indirect paths in bidirectional path tracing, explicit and implicit paths in path tracing, and implicit caustics paths seen through specular surfaces including the delta function in path tracing. The replica‐exchange light transport algorithm generates a sequence of path samples from each distribution and samples the simultaneous distribution of those distributions as a stationary distribution by using the Markov chain Monte Carlo method. Then the algorithm combines the obtained path samples from each distribution using multiple importance sampling. We compare the images generated with our algorithm to those generated with bidirectional path tracing and Metropolis light transport based on the primary sample space. Our proposing algorithm has better convergence property than bidirectional path tracing and the Metropolis light transport, and it is easy to implement by extending the Metropolis light transport.     

Pulsed laser annealing of GaAs in a high-pressure argon gas ambience

Pulsed laser annealing was carried out for n-type semiconducting GaAs in air, 1 bar nitrogen, 1 bar argon, and 100 bar argon gas ambiences. Depth profiles of the atomic ratio measured by SIMS indicate that pulse annealing in air results in As loss and penetration of oxygen into the crystal, both of which affect dopant redistribution and deteriorate electrical properties of the annealed layer. High electrical activity (100%) and electron mobilities were achieved for high-dose implants of Si⁺ (1 × 10¹⁵ cm⁻²) by pulsed laser annealing in the high-pressure ambience.     

Effect of Fe2O3 crystallite size on its mechanochemical reaction with La2O3 to form LaFeO3

Fe₂O₃ powders with different crystallite sizes prepared by heating FeOOH at various temperatures were ground with La₂O₃ powder using a planetary ball mill to investigate the effect of crystallite size on mechanochemical synthesis of LaFeO₃. Fe₂O₃ powder with smaller crystallite size obtained by heating at lower temperature reacts more easily with La₂O₃ than that with larger size. The mechanochemical reaction proceeds with an increase in grinding time. Specific surface area of the LaFeO₃ powder synthesized has a large value of over 11 m²/g. The mechanochemical process can be also applied to synthesize other iron complex oxides with rare earth elements such as Pr, Nd and Sm.     

A Simple Pneumatic Loading System Controlling Stress and Strain Rates for One-Dimensional Compression of Clay

A simple but automated pneumatic loading system that can control the stress and strain rates for one-dimensional (1D) compression of clay was developed. The rate-dependency of stress-strain behaviour due to the viscous property of clay was investigated by 1D compression tests on standard-size specimens by various loading methods: 1) Standard Consolidation Tests (SCTs), stepwise increasing the axial stress two times every one day; 2) ordinary Constant-Rate-of-Strain (CRS) tests at different strain rates; 3) special CRS tests including unloading and reloading cycles with different stress amplitudes at strain rates of which the absolute value was either kept constant throughout respective tests or changed at the start of reloading; and 4) special CRS tests including a number of sustained loading (SL) during otherwise primary loading or unloading or reloading at constant strain rate. Sufficiently low strain rates were employed to ensure essentially fully drained condition. The followings were found. Despite that the newly developed pneumatic loading system is rather simple, 1D compression tests following such various loading histories as above can be performed on four types of clay rather accurately. The stress-strain behaviour of clay is significantly rate-dependent, exhibiting significant creep strains at SL stages. The creep strain rate is significantly different whether SL starts during otherwise primary loading or unloading or reloading, controlled by the magnitude and sign of the initial strain rate at the start of SL. The whole observed trends of rate-dependent stress-strain behaviour can be qualitatively explained by the non-linear three-component elasto-viscoplastic model extended to cyclic loading conditions.     

Rate Effects on the Stress-Strain Behaviour of Eps Geofoam

The rate-dependency of the stress-strain behavior of EPS (Expanded Polystyrene) geofoam with densities of 19.3 and 28.0 kg/m³ was investigated by performing unconventional unconfined compression tests. A set of monotonic loading (ML) tests were performed at different constant values of vertical (axial) strain rate, ε_v. The ε_v value was stepwise changed many times and several sustained loading (SL) tests were performed during otherwise ML at a constant ε_v in other tests. A number of SL tests were performed during global unload and reload cycles to infer the stress-strain relation when ε_v=0. The elastic properties were evaluated by applying minute unload/reload cycles during otherwise ML. The rate-dependent stress-strain behaviour observed in these tests was described by an elasto-viscoplastic model (i.e., a non-linear three-component model), for which the vertical (axial) stress, σ_v, consists of inviscid and viscous components, σ_v^f and σ_v^v, while ε_v consists of elastic and irreversible components, ε_v^e and ε_v^ir. It is shown that the viscous property of EPS geofoam is of Isotach type in that, under the loading conditions where ε_v^ir is always positive, the current σ_v^v value is a unique function of instantaneous ε_v^ir and ε_v^ir, therefore the strength increases with ε_v. This viscous property was quantified based on the test results and incorporated into the model. The rate-dependent stress-strain behaviour, including the creep behaviour, observed in the experiment is simulated very well by the proposed model. In particular, the fact that the creep strain becomes significant when the sustained σ_v value becomes larger than the inviscid yield vertical stress is well simulated.     

From the Sup-Decomposition to Sequential Decompositions

W-operators are discrete set operators that are both translation invariant and locally defined within a finite window W. A particularly interesting property of W-operators is that they have a sup-decomposition in terms of a family sup-generating operators, that are parameterized by the operator basis. The sup-decomposition has a parallel structure that usually is not efficient for computation in conventional sequential machines. In this paper, we formalize the problem of transforming sup-decompositions into purely sequential decompositions (when they exist). The techniques were developed for general W-operators, specialized for increasing W-operators and applied on operators built by compositions of dilations and erosions.     

Solid phase synthesis of oligomannopeptoids that mimic the concanavalin A-binding trimannoside

Oligomannopeptoids from the dimer to the hexamer were produced by solid phase synthesis and their abilities to bind to concanavalin A (ConA) were assessed. The assessment indicated similarity between the oligomannopeptoids and the naturally occurring oligomannosides in the enthalpy of the binding and the valence number vs binding strength relationship, encouraging the use of the oligomannopeptoids as oligomannoside mimics.