Robust comprehension of natural language instructions by a domestic service robot

We present a method through which domestic service robots can comprehend natural language instructions. For each action type, a variety of natural language expressions can be used, for example, the instruction, ‘Go to the kitchen’ can also be expressed as ‘Move to the kitchen.’ We are of the view that natural language instructions are intuitive and, therefore, constitute one of the most user-friendly robot instruction methods. In this paper, we propose a method that enables robots to comprehend instructions spoken by a human user in his/her natural language. The proposed method combines action-type classification, which is based on a support vector machine, and slot extraction, which is based on conditional random fields, both of which are required in order for a robot to execute an action. Further, by considering the co-occurrence relationship between the action type and the slots along with the speech recognition score, the proposed method can avoid degradation of the robot’s comprehension accuracy in noisy environments, where inaccurate speech recognition can be problematic. We conducted experiments using a Japanese instruction data-set collected using a questionnaire-based survey. Experimental results show that the robot’s comprehension accuracy is higher in a noisy environment using our method than when using a baseline method with only a 1-best speech recognition result.     

Diphenyl Carbonate Synthesis by Homogeneous Pd Electrocatalyst

Electrochemical carbonylation of phenol with CO to diphenyl carbonate (DPC) using Pd electrocatalyst was studied at P(CO) = 1 atm and room temperature. Electrochemical carbonylation was conducted by galvanostatic electrolysis at 1 mA in electrolyte solutions containing phenol, sodium phenoxide and CH₃CN. It was found that electrochemical carbonylation by Pd was promoted by using 1,3-dimesitylimidazol-2-ylidene (IMes) ligand of a N-heterocyclic carbene. The current efficiency of DPC increased more than 3.4 times using the IMes ligand. The maximum current efficiency of DPC formation was 45 %.     

Optimization of reinforcement layout of scissor‐type bridge using differential evolution algorithm

Scissors mechanisms are commonly used in safety engineering during the construction of temporary structures, owing to their inherent advantages of foldability, transformability, and reusability. We effectively utilized these scissors mechanism features to develop a lightweight, deployable emergency Mobile Bridge (MB) based on optimization, and control of the folding structure. Here, we discuss the problems of optimal reinforcement layout for the MB by formulating and solving three optimization problems, namely: (a) the load capacity maximization problem, (b) the weight minimization problem, and (c) coupling the load capacity maximization problem and the weight minimization problem. The potential benefits resulting from the application of reinforcement were evaluated using a combination of finite element analysis and an optimization algorithm based on the differential evolution method. The results demonstrate the significant positive influence of the additional reinforcing members. In particular, the limit load was increased by over 10 times, while the weight was decreased to approximately half. The proposed methodology enabled the development of a substantially improved version of the MB characterized by a higher load capacity and lower weight in comparison to the initial bridge design.     

Conductive and flexible multi-walled carbon nanotube/polydimethylsiloxane composites made with naphthalene/toluene mixture

Conventional conductive materials face challenges when utilizing them for flexible and wearable electronics and soft robotics. Carbon nanotube/polydimethylsiloxane (CNT/PDMS) composites are a promising alternative to the conventional hard conductors because they are light and can realize large deformation. To date, well dispersion of CNTs into PDMS to increase conductivity while maintaining flexibility remains challenging. We aimed at developing highly electrically conductive and flexible multi-walled carbon nanotube/PDMS (MWCNT/PDMS) composites. To this end, we proposed a method to enhance the dispersion of MWCNTs into PDMS using naphthalene and toluene. Our results showed that the addition of naphthalene and toluene into the composites improved dispersion of the MWCNTs and increased the direct current (DC) electrical conductivity. We also found that the morphology of primary aggregates of the MWCNTs influenced the DC electrical conductivity of the composites. © 2019 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 48167.     

Preparation of porous membranes by selective decomposition of adamantane unit in ABA‐type triblock copolymer

The mechanism of pore formation by selective decomposition of adamantane unit in an ABA‐type triblock copolymer derived from 4,4‐(hexafluoroisopropylidene)diphthalic anhydride‐2,3,5,6‐tetramethyl‐1,4‐phenylenediamine (6FDA‐TeMPD) and poly(2‐methyl‐2‐adamantylmethacrylate) (PMAdMA) was investigated on this basis. This study aims to developing a novel method of material design for high‐precision gas separation membranes and application to electric devices by improving dielectric constant. Scanning electron microscopy images showed that the membrane structure changed considerably after heating; the difference increased with the increase in adamantane content. Interestingly, the internal structure of Block(36 mol%6FDA‐TeMPD/64 mol%PMAdMA) membrane was almost unchanged although its surface structure was changed. These results suggest that the mechanism of formation of porous membrane involves the decomposition of adamantane unit from surface. In addition, more adamantane units inside the membrane were discharged to the surface of the membrane through a path formed by decomposed adamantane units. POLYM. ENG. SCI., 56:1191–1200, 2016. © 2016 Society of Plastics Engineers     

Investigation of controllable self-organized honeycomb micro-structure

Patterned micro- and nanostructure are of great significance in industrial applications such as electronics, optics and sensors. Microporous honeycomb film of polyhpenylene oxide (PPO) was fabricated as the template via evaporation of solution in carbon bisulfide under humid ambience. The effect of fabrication conditions on patterned microstructure was investigated by self-organization experiments to build quantitative relationship between ambient conditions such as humidity, concentration and honeycomb microstructure (diameter and height), through which the honeycomb film formation can be controlled to self-organize desirable PPO patterned microstructure. Especially, the height of honeycomb was derived from the diameter of honeycomb, and its validity was clarified by morphological comparison between PPO template and PDMS molded structure. Moreover, soft mold experiments were conducted to demonstrate its high efficiency and excellence as an alternative to construct regular micro-pattern.     

Electrosynthesis and charge-transport properties of poly(3′,4′-ethylenedioxy-2,2′:5′,2′′-terthiophene)

Polythiophene containing 3,4-ethylenedioxythiophene (EDOT), poly(3′,4′-ethylenedioxy-2,2′:5′,2′′-terthiophene), was synthesized by electrochemical oxidation of the corresponding monomer, 3′,4′-ethylenedioxy-2,2′:5′,2′′-terthiophene, in acetonitrile. The resulting polymer was soluble in DMSO and THF, and was characterized by ¹H NMR and mass spectroscopies, and GPC. The electrical conductivity of the oxidized polymer film was found to be comparable to those for polythiophene and poly(methylthiophene) despite of its short π-conjugation length.