Distributed memory implementation of KLIC

This paper describes external reference management and distributed unification in a distributed implementation of a concurrent logic programming language KL1. This implementation is based on the KLIC system. KLIC has a feature calledgeneric objects that enable easy modification and extension of the system without changes in the core implementation. This distributed implementation is built upon the same core and external references are represented using generic objects. Unification operations are defined as methods of generic objects. Since creation of interprocessor reference loops cannot be avoided, we studied a new unification scheme that can cope with interprocessor reference loops. We built several experimental distributed systems that all demonstrate reasonable efficiency.     

Realization of Dynamic Walking and Running of the Quadruped Using Neural Oscillator

In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on flat terrain by using a nervous system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch reflex and a flexor reflex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the flexor reflex and the crossed extension reflex. A modification of the single driving input to the neural oscillator network makes it possible for the robot to walk up a step. For running on flat terrain, we combine a spring mechanism and the neural oscillator network. It became clear in this study that the matching of two oscillations by the spring-mass system and the neural oscillator network is important in order to keep jumping in a pronk gait. The present study also shows that entrainment between neural oscillators causes the running gait to change from pronk to bound. This finding renders running fairly easy to attain in a bound gait. It must be noticed that the flexible and robust dynamic walking on irregular terrain and the transition of the running gait are realized by the modification of a few parameters in the neural oscillator network.     

A self-organizing map with twin units capable of describing a nonlinear input-output relation applied to speech code vector mapping

This paper describes a new type of self-organizing map (SOM) with twin units as opposed to the single unit type conventional SOM proposed by Kohonen. The present self-organizing map with twin units (TW-SOM) can describe a nonlinear input-output relation with high accuracy. It is applied to voice conversion problem from bone conduction voice to air conduction voice (nonlinear code vector mapping), and its superiority over the conventional method using Linde-Buzo-Gray (LBG) algorithm is discussed. The tone quality of the converted voice is examined not only from the quantization distortion viewpoint, but also from the auditory sensation viewpoint through actual listening tests. The enhancement of the tone quality was experimentally confirmed.     

An architecture framework for an adaptive extensible processor

To improve the performance of embedded processors, an effective technique is collapsing critical computation subgraphs as application-specific instruction set extensions and executing them on custom functional units. The problem with this approach is the immense cost and the long times required to design a new processor for each application. As a solution to this issue, we propose an adaptive extensible processor in which custom instructions (CIs) are generated and added after chip-fabrication. To support this feature, custom functional units are replaced by a reconfigurable matrix of functional units (FUs). A systematic quantitative approach is used for determining the appropriate structure of the reconfigurable functional unit (RFU). We also introduce an integrated framework for generating mappable CIs on the RFU. Using this architecture, performance is improved by up to 1.33, with an average improvement of 1.16, compared to a 4-issue in-order RISC processor. By partitioning the configuration memory, detecting similar/subset CIs and merging small CIs, the size of the configuration memory is reduced by 40%.     

Product design logic for an intelligent product modelling system

Recent research in CAD systems has been conducted to realize intelligent processing. Several CAD systems and product modelling systems have been developed using AI techniques. However, in order to develop more intelligent CAD systems, the design logic which connects the functional requirement to the geometric and the technological information of the designed product must be evaluated.

A product model used in such intelligent CAD systems has to include not only the geometric and the technological information of the product but also the designer's thought process which explains the design logic.

Design logic is generally divided into two parts. One is the generalized design logic which is commonly used in the conceptual design of mechanical products. The other is the product specified design logic which is used in the fundamental and detailed design phase. Different logic is applied to each product. This type of design logic is often used in modification design and compilation design, where the dimensions of parts have to be modified according to different functional requirements. When the dimensions and accuracies of the products are defined in connection with the functional requirements through design logic, the CAD system can automatically make decisions according to the given requirements. In this paper, suitable presentation formats and processing functions for these two types of design logic are discussed.

The importance of design logic in product modelling is proven through several case studies in this paper. As a conclusion, the intelligent product modelling system is developed, which should expedite the progress of design automation in the near future. In conceptual design, the design logic is processed in the modelling system and the product structure, with the technological information decided automatically from the functional requirement. Automation in the detailed design phase is also facilitated by the modelling system using the product specified design logic in the product model.     

Application of induction motor speed sensorless vector control to railway vehicle traction

Pulse generators (PGs) are equipped to detect the rotor frequency of induction traction motors for torque control in railway vehicle traction field. Eliminating PGs is preferable from the viewpoints of increasing the reliability of the traction system, reduction of both the initial and maintenance cost, and downsizing induction traction motors. Expecting those advantages, we have been studying the application of a sensorless control method to induction traction motor control. Prior to some reports of studies and tests to apply speed sensorless strategy to railway vehicle traction we launched ideas to apply the speed sensorless control strategy and results of the studies and tests. In this paper, we present the novel control method for railway vehicle traction and some results of theoretical study and tests. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 161(2): 69–77, 2007; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20273     

Gas entrainment rate and flow pattern of vertical plunging liquid jets

For a vertical plunging liquid jet system using various liquids, the effects of the operating conditions including the nozzle length-to-diameter ratio on the gas entrainment rate Q_g were evaluated experimentally. The differences in Q_g were related to the changes in the jet shape before plunging and the velocity of the plunging liquid jet at the point where the gas sheath breaks up. Empirical relationships were also presented to predict the maximum depth Z of bubbles entrained by the diffusing jet. The changes of Z were further discussed in terms of the downward liquid velocity distribution in the submerged two-phase region, which depends mainly on the size of entrained bubbles.     

Influence of the nigrosine dye on the thermal behavior of polyamide 66

To reveal the effect of the nigrosine dye, that the addition of the dye lowers the crystallization point (T_c) of molten polyamide resins with substantially no shift in the melting point (T_m), thus suppressing the crystallization enhancement of the crystalline nucleation agents, the characteristics of polyamide 66 (PA‐66) containing nigrosine dye EX (N‐EX) were investigated. Differential scanning calorimetry (DSC) analysis showed that the addition of N‐EX reduced the crystallization rate and T_c of molten PA‐66 with substantially no shift in T_m, and the crystallization enthalpy per unit of weight of PA‐66 was substantially constant. T_c of molten PA‐66 was lowered with an increase in the amount of N‐EX and reached its maximum at 13 wt % N‐EX. Dynamic mechanical analysis showed that the glass‐transition temperature and the secondary glass‐transition temperature increased with an increasing amount of the dye. On the other hand, the DSC and X‐ray diffraction results indicated that no dye molecule was present in the crystal structure of PA‐66. This effect of the nigrosine dye on PA‐66 is in contrast to those of crystalline nucleation agents, plasticizers, and antiplasticizers. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 101: 3270–3274, 2006     

Factors affecting soluble selenium removal by a selenate-reducing bacterium Bacillus sp. SF-1

High concentrations of soluble selenium, selenate and selenite, have acute and chronic toxicity toward living things. With the aim of developing a biological process for selenium removal, the effects of a variety of parameters on the reduction of soluble selenium by a Bacillus sp. strain SF-1, which is capable of reductively transforming selenate into selenite and, subsequently, into nontoxic insoluble elemental selenium, were studied. The bacterial strain could effectively reduce 20 mM of selenate to selenite and 2 mM of selenite to elemental selenium in the presence of an appropriate carbon source and in the absence of oxygen. The reduction rate of selenate to selenite was much higher than that of selenite to elemental selenium, resulting in the transient accumulation of selenite during selenate reduction. The selenate reduction rate increased with increases in the selenate concentration up to 20 mM, while the rate of selenite reduction decreased sharply at selenite concentrations of more than 2 mM. The elemental selenium transformed from selenate via selenite was found both inside and outside the cells. Bacillus sp. SF-1 was able to utilize a variety of organic acids or sugars as a carbon source in selenate reduction. Although the copresence of sulfate did not inhibit selenate reduction, it was completely inhibited by some other oxyanions, including nitrate. A model sequencing batch system using the bacterial strain was developed and exhibited good performance in the treatment of wastewater containing high concentrations of selenate.