Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots

Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %.     

High-aspect-ratio through-hole array microfabricated in a PMMA plate for monodisperse emulsion production

Microchannel (MC) emulsification is a promising technique for producing monodisperse emulsions consisting of highly uniform droplets. The authors developed a high-aspect-ratio microstructure (HARMST) made of poly(methyl methacrylate) (PMMA) as a new MC emulsification device. A PMMA straight-through MC array plate consisting of 31,250 through-holes with a 7.3 × 22.9-μm oblong section and a 200-μm depth was fabricated by a process of synchrotron radiation (SR) lithography and etching. Oblong MCs fabricated in a PMMA straight-through MC array were highly uniform with a coefficient of variation of less than 2%. The fabricated PMMA straight-through MC array plate was used to produce water-in-oil (W/O) emulsions. Monodisperse W/O emulsions with average droplet diameters of approximately 25 μm and a minimum coefficient of variation of 3.2% were produced via a hydrophobic PMMA straight-through MC array. The PMMA straight-through MC array plate also produced monodisperse W/O emulsions at droplet production rates of up to 1.7 × 10⁴/s. The PMMA straight-through MC array plates developed in this work are expected to expand the application field of emulsification using straight-through MC array plates, which have previously been made of single-crystal silicon.     

Generating function of color information detection using genetic programming

This article proposes a function for color information detection using genetic programming (GP). In image-processing, object detection is one of the important processes. In cases where the object has a complex color domain, detection becomes more difficult. We generated a detection function for a complex color domain by using GP. The detection function deals with one pixel of an input image, and it obtains an output image by processing for all pixels. We aimed at a reduction in the time taken by a human to consider an image-processing system design. We applied the generation of GP to detect a target color region in actual images. The results show that the detection function has sufficient ability for these detections.     

An optimum design of robotic food handling by using Burger model

This paper discusses an optimum design approach on robotic food handling by considering the characteristics of viscoelasticity of object. We pick up a traditional Japanese food, “Norimaki” as a typical example with the viscoelastic characteristics. We first show that the dynamic characteristics of Norimaki can be expressed by utilizing the Burger model. After testing the parameter sensitivity, we show an example of the optimum design for determining the combination of the hand stiffness and the operating velocity. We further show that the resultant plastic deformation can be formulated with the exact solution.     

Ligand density-dependent influence of arginine–glycine–aspartate functionalized gold nanoparticles on osteogenic and adipogenic differentiation of mesenchymal stem cells

Extracellular matrix (ECM) plays a very important role in regulating cell function and fate. It is highly desirable to fabricate biomimetic models to investigate the role of ECM in stem cell differentiation. In this study, arginine–glycine–aspartate (RGD)-modified gold nanoparticles (Au NPs) with tunable surface ligand density were prepared to mimic the ECM microenvironment. Their effect on osteogenic and adipogenic differentiation of human mesenchymal stem cells (MSCs) was investigated. The biomimetic Au NPs were taken up by MSCs in a ligand density-dependent manner. The biomimetic NPs with a high RGD density had an inhibitive effect on the alkaline phosphatase (ALP) activity, calcium deposition, and osteogenic marker gene expression of MSCs. Their effect on oil droplet formation and adipogenic marker gene expression was negative when RGD density was low, while their effect was promotive when RGD density was high. The biomimetic Au NPs regulated the osteogenic and adipogenic differentiation of MSCs mainly through affecting the focal adhesion and cytoskeleton. This study highlights the roles of biomimetic NPs on stem cell differentiation that could provide a meaningful strategy in fabricating functional biomaterials for tissue engineering and biomedical applications.

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Fabrication of X-rays mask with carbon membrane for diffraction gratings

We have produced diffraction gratings for obtaining high resolution X-ray phase imaging, such as X-ray Talbot interferometer. These diffraction gratings were required to have a fine, high accuracy, high aspect ratio structure. Therefore, we decided to use the X-rays lithography technique that used synchrotron radiation of the directivity for a manufacture process. The accuracy of the completed structure depends largely on the accuracy of the X-ray mask. In our group, a resin material is conventionally used for the membrane of large X-ray masks. However, X-ray masks comprising a resin membrane have the disadvantage that, after several cycles of X-ray exposure, they crease and sag due to X-ray-derived heat. As a substitute for the conventional resin membrane, we experimentally fabricated a new X-ray mask using a carbon wafer membrane. The newly fabricated X-ray mask was subjected to X-ray exposure experiment. We succeeded in making the structure body which was almost shape. And the experimental results verified that the new mask did not deteriorate even when used repeatedly, demonstrating that it was highly durable.     

Translational lemmas for DLOGTIME-uniform circuits,alternating TMs,and PRAMs

We present translational lemmas for the three standard models of parallel computation, and apply them to obtain tight hierarchy results. It is shown that, for arbitrarily small rational constant , (i) there is a language which can be accepted by a -uniform circuit family of depth and size but not by any -uniform circuit family of depth and size , (ii) there is a language which can be accepted by a -time -space ATM with l worktapes but not by any -time -space ATM with the same l worktapes if the number of tape symbols is fixed, and (iii) there is a language which can be accepted by a -time PRAM with processors but not by any -time PRAM with processors. Here, c > 0, d ≥ 1, r ₁ > 1, and r ₂ ≥ 1 are arbitrary rational constants, and l ≥ 2 is an arbitrary integer. Preliminary versions of different parts of this paper appeared in Proc. MCU 2004 (LNCS 3354) and Proc. FCT 2005 (LNCS 3623).