Map building method for urban gas pipelines based on landmark detection

This paper presents a map building method for an in-pipe robot to navigate inside urban gas pipelines autonomously, whose configuration is unknown or partially known. In the first, we explain the reason why the navigation in the pipeline is difficult and then, present a method for obtaining a robot’s posture by using a pipeline’s unique geometrical features. The robot can obtain its heading direction by detecting the standardized geometries of pipe elements. Based on the method, we propose a robot controller consisting of discrete and continuous controllers. The discrete controller is activated by pre-defined events and generates appropriate paths for exploration. The continuous controller receives the desired path and physically moves the robot to the desired path. The method is implemented in an in-pipe robot, called MRINSPECT-V and its effectiveness is validated.     

Development of a quadruped walking robot AiDIN-III using biologically inspired kinematic analysis

This paper presents a bio-inspired mechanism design for a quadruped walking robot. The approach is derived from the observation on the behaviors of quadruped locomotion, skeletal structure, and the study on the stability of walking based on morphological analysis. In the first, we define the design parameters such as the dimensions of the body and limbs, the center of mass position, and locomotion mechanisms based on surveys on the literatures from biologists. Then, by using the parameters, we propose an useful framework for determining the design parameters of a quadruped walking robot. For implementations, we manufacture a dog-type self-contained quadruped walking robot, named AiDIN-III (Artificial Digitigrade for Natural Environment version III) and the effectiveness of the proposed idea is validated via experimental works.     

Intelligent digital redesign for nonlinear systems using a guaranteed cost control method

In this paper, a novel intelligent digital redesign (IDR) technique using the guaranteed cost control method is proposed for nonlinear systems which can be represented by a Takagi-Sugeno (T-S) fuzzy model. The IDR technique, which is one of the sampled-data fuzzy controller design methods, guarantees not only the stability condition of the sampled-data closed-loop system with the sampleddata fuzzy controller and the state-matching error is presented. By using the concept of the guaranteed cost control method, sufficient conditions are obtained for both minimization of the state-matching error and stabilization of the sampled-data closed-loop system and derived in terms of linear matrix inequalities (LMIs). Finally, a numerical example is provided to verify the effectiveness of the proposed technique.     

A distributed multi-agent meeting scheduler

Electronic calendars are important tools that are used by consumers on a daily basis. However, scheduling a meeting that involves persons with different commitments and preferences remains a difficult task. Meeting scheduling is difficult because current calendaring applications cannot handle the responsibility of automatically and autonomously managing time slots. This paper presents a distributed multi-agent system architecture in which each person is represented by an agent. These agents automatically and autonomously work together to assist different users to book meetings on their behalf. Each agent has the capability to manage, negotiate and schedule tasks, meetings, events, appointments for its assigned user. In this multi-agent system, the agents coordinate their activities and negotiate on behalf of their associated users to find a solution that satisfies the users' meeting requirements and preferences. A prototype of this system is implemented to demonstrate how the agents can automatically book meetings.     

Ambient‐light sensor system with wide dynamic range enhanced by adaptive sensitivity control

Abstract— A new digital ambient‐light sensor system is presented which employs two linear light sensors with different sensitivities and automatically adjusts the sensitivity based on the illumination condition. The adaptation mechanism allows a very wide range of light intensity to be detected, and the input dynamic range of the system is substantially improved from 22.5 to 45.1 dB. The proposed method does not require any additional precision bits for output data. Due to the small number of the output bits and the simple conversion process, the system can be easily integrated on the display panel.     

Heavy Electron Superconductors in Terms of Block Spin Phenomenology

We investigate the relationship between superconductivity and spin glasses, which were observed to be coexistent in heavy fermion superconductors (HFSs). We begin by explaining the phase of spin glass using concepts of finite-sized block spin. We then introduce the phase of superconductivity in HFSs as collective Cooper pairing, that is, the pairing of block spins with net spin = 1/2, each of which is comprised of a large number of random spins that together produce a majority spin direction. The superconducting Bardeen-Cooper-Schrieffer (BCS)-type phonon-mediated electron-electron interaction is substituted for the BCS-type electron-electron interaction mediated by phonon-enhanced spin flips previously suggested by us. An effective charge of any value stemming from an electron attached to the flux of an electric field can be referred to as a composite charge. The distinguished difference between ours and the original BCS model is the following: (i) another BCS-type interaction, (ii) bare electrons that are substituted for block spins with net spin = 1/2 and net charge = e in the presence of electric fields, and (iii) Fermi-Dirac distributions that are replaced by a new distribution called as Brillouin distribution.     

Rational Design and Synthesis of Extremely Efficient Macroporous CoSe2–CNT Composite Microspheres for Hydrogen Evolution Reaction

Uniquely structured CoSe₂–carbon nanotube (CNT) composite microspheres with optimized morphology for the hydrogen‐evolution reaction (HER) are prepared by spray pyrolysis and subsequent selenization. The ultrafine CoSe₂ nanocrystals uniformly decorate the entire macroporous CNT backbone in CoSe₂–CNT composite microspheres. The macroporous CNT backbone strongly improves the electrocatalytic activity of CoSe₂ by improving the electrical conductivity and minimizing the growth of CoSe₂ nanocrystals during the synthesis process. In addition, the macroporous structure resulting from the CNT backbone improves the electrocatalytic activity of the CoSe₂–CNT microspheres by increasing the removal rate of generated H₂ and minimizing the polarization of the electrode during HER. The CoSe₂–CNT composite microspheres demonstrate excellent catalytic activity for HER in an acidic medium (10 mA cm^?2 at an overpotential of ≈174 mV). The bare CoSe₂ powders exhibit moderate HER activity, with an overpotential of 226 mV at 10 mA cm^?2. The Tafel slopes for the CoSe₂–CNT composite and bare CoSe₂ powders are 37.8 and 58.9 mV dec^?1, respectively. The CoSe₂–CNT composite microspheres have a slightly larger Tafel slope than that of commercial carbon‐supported platinum nanoparticles, which is 30.2 mV dec^–1.