What competitions were conducted in the service categories of the World Robot Summit?

The World Robot Summit is a competition held to realize a world where humans and robots can cooperate and coexist. The WRS Service Categories are competitive events which, with ‘cooperation between human and robot’ as their important theme, present robot technology competitions designed, mainly, to enable people and robots to cooperate with and complement each other, as they will be required to do so in homes, shops, and other living spaces. In this paper, we described the details of three competitions, the Partner Robot Challenge (Real Space), Partner Robot Challenge (Virtual Space and Future Convenience Store Challenge which conducted in the WRS Service Category.     

Study on the Effect of Elastic Stress and Microstructure of Low Carbon Steels on Barkhausen Noise

The present study investigates the effect of elastic stress and microstructure on Barkhausen noise in low carbon steels subjected to different heat treatments. Barkhausen noise in an as-received test piece and a test piece heated at 450 ^°C for 1.5 hours was found to increase with increasing elastic stress. However, in a test piece heated at 700 ^°C for 10 hours, Barkhausen noise was observed to saturate with increasing elastic stress following an initial increase. To clarify the reason for this saturation behavior, magnetization measurements were carried out and the microstructure and texture of the test pieces were evaluated using microscopy and electron backscatter diffraction. The results indicated that for the test piece heated at 700 ^°C for 10 hours, a drastic change in the microstructure occurred compared to that for the other test pieces. From the experimental and analytical results, it was concluded that for the former test piece, Barkhausen noise saturated under a low elastic stress due to the globularization of pearlite, which caused 90^° domain walls to become 180^° domain walls when a low elastic stress is applied.     

Modification of a hydrophobic-ligand-containing porous sheet using tri-n-octylphosphine oxide,and its adsorption/elution of bismuth ions

A neutral extractant, tri-n-octylphosphine oxide (TOPO), was used to chemically modify a porous sheet, with a final density of 1.0 mmol/g. First, glycidyl methacrylate (GMA) was graft-polymerized onto a porous polyethylene sheet with an average pore diameter, porosity, and thickness of 1.2 μm, 75%, and 2.0 mm, respectively. Second, an octadecane thiol group was introduced into the poly-GMA graft chain. Third, TOPO was deposited on the graft chain via a hydrophobic interaction. Bismuth chloride solution (BiCl₃ in 0.15 M HNO₃) was forced through the pores of the TOPO-modified porous sheet. The equilibrium binding capacity for bismuth was 0.19 mmol/g. Bismuth ions bound to TOPO were quantitatively eluted with 11 M HNO₃.     

Influence of Nafion film on oxygen reduction reaction and hydrogen peroxide formation on Pt electrode for proton exchange membrane fuel cell

The influence of Nafion^® film on ORR kinetics and H₂O₂ formation on a Pt electrode was investigated using RRDE in 0.1 M HClO₄. It was found that the Nafion^®-coated Pt system showed lower apparent ORR activity and more H₂O₂ production than the bare Pt electrode system. From the temperature sensitivity, it was revealed that the apparent activation energies of ORR in the Nafion^®-coated Pt system were lower than the bare Pt electrode system, and the H₂O₂ formation was suppressed with the increase of the temperature. In order to analyze the results furthermore, other systems (0.1/1.0 M, HClO₄/CF₃SO₃H) with the bare Pt electrodes were also examined as references. It was exhibited that the ORR kinetic current, the H₂O₂ formation, and the apparent activation energies of 1.0 M CF₃SO₃H system were close to those of the Nafion^®-coated Pt system. We concluded that the orientation of anion species of Nafion^® and CF₃SO₃H to the Pt surface via water molecules, as well as a fluorocarbon polymer network of Nafion^®, might block O₂ adsorption, resulting in the smaller effective surface area of the Pt electrode for ORR, the smaller ORR kinetic current, and the more H₂O₂ production.     

Comparative study of Nd:YAG laser-induced breakdown spectroscopy and transversely excited atmospheric CO2 laser-induced gas plasma spectroscopy on chromated copper arsenate preservative-treated wood

Taking advantage of the specific characteristics of a transversely excited atmospheric (TEA) CO(2) laser, a sophisticated technique for the analysis of chromated copper arsenate (CCA) in wood samples has been developed. In this study, a CCA-treated wood sample with a dimension of 20 mm × 20 mm and a thickness of 2 mm was attached in contact to a nickel plate (20 mm × 20 mm × 0.15 mm), which functions as a subtarget. When the TEA CO(2) laser was successively irradiated onto the wood surface, a hole with a diameter of approximately 2.5 mm was produced inside the sample and the laser beam was directly impinged onto the metal subtarget. Strong and stable gas plasma with a very large diameter of approximately 10 mm was induced once the laser beam had directly struck the metal subtarget. This gas plasma then interacted with the fine particles of the sample inside the hole and finally the particles were effectively dissociated and excited in the gas plasma region. By using this technique, high precision and sensitive analysis of CCA-treated wood sample was realized. A linear calibration curve of Cr was successfully made using the CCA-treated wood sample. The detection limits of Cr, Cu, and As were estimated to be approximately 1, 2, and 15 mg/kg, respectively. In the case of standard LIBS using the Nd:YAG laser, the analytical intensities fluctuate and the detection limit was much lower at approximately one-tenth that of TEA CO(2) laser.     

Nonlinear motion correction of respiratory-gated lung SPECT images

We propose a method for correcting the motion of the lungs between different phase images obtained by respiratory-gated single photon emission computed tomography (SPECT). This method is applied to SPECT images that show a preserved activity distribution in the lungs such as 99m-Tc macro aggregated albumin (99m-Tc-MAA) perfusion images and 99m-Tc-Technegas ventilation images. In the proposed method, an objective function, which consists of both the degree of similarity between a reference image and a deformed image, and the smoothness of deformation is defined and optimized using a simulated annealing algorithm. For the degree of similarity term in the objective function, an expansion ratio, defined as the ratio of change in local volume due to deformation, is introduced to preserve the total activity during the motion correction process. This method was applied to data simulated from computer phantoms, data acquired from a physical phantom, and 17 sets of clinical data. In all cases, the motion correction between inspiration and expiration phase images was successfully achieved.     

Occurrence of estrogenic compounds in and removal by a swine farm waste treatment plant

The total estrogenic activity of the wastewater from a swine farm in Japan was quantitatively characterized, and the compounds responsible for the estrogenic activity were identified and quantified. The wastewater treatment process consisted of a series of an up-flow anaerobic sludge blanket (UASB) and a trickling filter. Samples were collected at each treatment step, and the total estrogenic activity was determined by use of an in vitro gene expression assay (MVLN; MCF-7 human breast cancer cell stably transfected with the pVit-tk-LUC receptor plasmid). Individual estrogenic compounds were identified and quantified using liquid chromatography-mass spectrometry (LC/MS) and liquid chromatography-tandem mass spectrometry (LC/ MS/MS). To further identify the compounds contributing to the estrogenic activity in the wastewater, the sample extracts were fractionated into 12 fractions (fractions 1-12) by HPLC. The rate of removal of estrogenic activity between the effluent and the influent was greater than 97%. The trickling filter removed the majority of the estrogenic activity. The removal rates of specific estrogenic compounds ranged from 44 to 99%. Estrogenic activity was detected mainly in the fractions containing estrone (El), 17beta-estradiol (betaE2), 17alpha-estradiol (alpha E2), estriol (E3), bisphenol A (alphaPA), and equol (EQ0). The ratios of betaE2-EQc (betaE2 equivalents derived from chemical analysis) to betaE2-EQB (betaE2 equivalent derived from bioassay) in the 12 fractions collectively were contributed by El (17-30%), betaE2 (23-30%), acE2 (<1%), E3 (1-2%), BPA (<1%), and EQO (2-3%) in the influent and El (16-37%), PE2 (<1-7%), alphaE2 (<1%), E3 (<1-3%), BPA (<1%), and EQO (<1%) in the effluent. The compounds responsible for most of the estrogenic activity measured in the bioassay were natural estrogens such as El and betaE2.     

Model comparison for Escherichia coli growth in pouched food

We recently studied the growth characteristics of Escherichia coli cells in pouched mashed potatoes (Fujikawa et al., J. Food Hyg. Soc. Japan, 47, 95-98 (2006)). Using those experimental data, in the present study, we compared a logistic model newly developed by us with the modified Gompertz and the Baranyi models, which are used as growth models worldwide. Bacterial growth curves at constant temperatures in the range of 12 to 34 degrees C were successfully described with the new logistic model, as well as with the other models. The Baranyi gave the least error in cell number and our model gave the least error in the rate constant and the lag period. For dynamic temperature, our model successfully predicted the bacterial growth, whereas the Baranyi model considerably overestimated it. Also, there was a discrepancy between the growth curves described with the differential equations of the Baranyi model and those obtained with DMfit, a software program for Baranyi model fitting. These results indicate that the new logistic model can be used to predict bacterial growth in pouched food.     

Fluidic lens by using thermal lens effect

This research presents a novel fluidic lens based on thermal lens effect. Effects of the pump power and the pump beam intensity distribution to the probe beam profile in the dual thermal lens system are investigated experimentally and theoretically. A model, which accounts for heat conduction, natural heat convection and ray tracing in inhomogeneous medium is developed to predict the characteristics of the thermal lens system. Numerical results show the advantage of the uniform pump beam in reducing the spherical aberration compared with the Gaussian pump beam. An experiment with the uniform pump beam is carried out to confirm the numerical prediction. Experimental results show a good agreement with the calculated results. Finally, the pump power is varied to adjust the focal length of the system.