Input-output linearization of retarded non-linear systems by using an extension of Lie derivative

This paper considers the input-output linearization problem for retarded non-linear systems, which have time-delays in the state. By using an extension of the Lie derivative for functional differential equations, we derive a coordinates transformation and a static state feedback to obtain linear input-output behaviour for a class of retarded non-linear systems. The obtained coordinates transformation is allowed to contain not only the current value of the state variables but also the past values of ones. In addition, we show that the coordinates transformation is invertible in a neighbourhood of the origin and examine the stability condition of the closed loop system with the static state feedback. The effectiveness of the proposed technique is demonstrated through numerical simulations.     

Development of a high‐resolution RGBW flexible display using a white organic light‐emitting diode with microcavity structure and that of a side‐roll touch panel

In this study, white organic electroluminescent devices with microcavity structures were developed. A flexible high‐resolution active‐matrix organic light‐emitting diode display with low power consumption using red, green, blue, and white sub‐pixels formed by a color‐filter method was fabricated. In addition, a side‐roll touch display was developed in combination with a capacitive flexible touch screen.     

ILU factorization well suited to the vector processor using a variant of the 5-point difference scheme

The implementation on the vector processor of Incomplete LU factorization in the Preconditioned Conjugate Gradient method and other Preconditioned CG-like methods for the numerical solutions of the partial differential equations is discussed. For sufficient vectorization, a variant of the standard 5-point difference scheme for 2-dimensional problems is introduced. The convergence property of ILU factorization for this variant is examined in comparison with that vectorized with the usual hyperplane ordering method for the standard 5-point difference scheme on the vector processor. The efficiency and effectiveness of this factorization for the variant of the difference scheme is demonstrated through several computational experiments.     

A teaching method using a self-organizing map for reinforcement learning

We described a new preteaching method for re-inforcement learning using a self-organizing map (SOM). The purpose is to increase the learning rate using a small amount of teaching data generated by a human expert. In our proposed method, the SOM is used to generate the initial teaching data for the reinforcement learning agent from a small amount of teaching data. The reinforcement learning function of the agent is initialized by using the teaching data generated by the SOM in order to increase the probability of selecting the optimal actions it estimates. Because the agent can get high rewards from the start of reinforcement learning, it is expected that the learning rate will increase. The results of a mobile robot simulation showed that the learning rate had increased even though the human expert had showed only a small amount of teaching data. This work was presented in part at the 7th International Symposium on Artificial Life and Robotics, Oita, Japan, January 16–18, 2002     

Outdoor autonomous navigation using SURF features

In this article, we propose a speeded-up robust features (SURF)-based approach for outdoor autonomous navigation. In this approach, we capture environmental images using an omni-directional camera and extract features of these images using SURF. We treat these features as landmarks to estimate a robot’s self-location and direction of motion. SURF features are invariant under scale changes and rotation, and are robust under image noise, changes in light conditions, and changes of viewpoint. Therefore, SURF features are appropriate for the self-location estimation and navigation of a robot. The mobile robot navigation method consists of two modes, the teaching mode and the navigation mode. In the teaching mode, we teach a navigation course. In the navigation mode, the mobile robot navigates along the teaching course autonomously. In our experiment, the outdoor teaching course was about 150 m long, the average speed was 2.9 km/h, and the maximum trajectory error was 3.3 m. The processing time of SURF was several times shorter than that of scale-invariant feature transform (SIFT). Therefore, the navigation speed of the mobile robot was similar to the walking speed of a person.     

Anodic acyloxylation based on the acid–base reactions between acetic acid or trifluoroacetic acid and solid-supported bases

We have developed a novel electrolytic system for anodic acyloxylation based on the acid–base reactions between acetic acid or trifluoroacetic acid and solid-supported bases. On the basis of the electrolytic system, anodic acyloxylation of organic compounds, which even have considerably high oxidation potentials, was successfully carried out to provide the corresponding acyloxylated products in moderate to excellent yields. Furthermore, it was found that silica gel supported bases are not only chemically stable under acidic conditions but also electrochemically stable and thus reusable for many times.     

Nanosecond and femtosecond mass spectroscopic analysis of a molecular beam produced by the spray-jet technique

The spray-jet molecular beam apparatus enabled us to produce a molecular beam of non-volatile molecules under high vacuum from a sprayed mist of sample solutions. The apparatus has been used in spectroscopic studies and as a means of molecular beam deposition. We analyzed the molecular beam, consisting of non-volatile, solvent, and carrier-gas molecules, by using femtosecond- and nanosecond- laser mass spectroscopy. The information thus obtained provided insight into the molecular beam produced by the spray-jet technique.     

New type of pressurized cultivation method providing oxygen for piezotolerant yeast

For efficient oxygen supply to pressurized culture, we developed a method using a highly pressurized membrane reactor with an air-saturated medium circulation system. The new method increased the cell growth of aerobic yeast approximately 20 folds larger than that in the case of using a conventional method.     

Adhesion improvement of HIVIPP C targets on Au backings

Accurate measurement of the cross-section of the ¹²C(α, γ)¹⁶O reaction is very important in nuclear astrophysics. Enriched ¹²C targets prepared with the high energy vibrationl powder plating [HIVIPP] method for this purpose have been used successfully. Initially, however, the ¹²C deposits for studying this small cross-section partially peeled from their Au backings when irradiated with beam currents≥2 times the 7 μA pulsed α-beam used previously. This problem was solved when the amorphous ¹²C powders were converted to graphite by heat-treatment in a high-temperature furnace. We investigated powder heat treatments at temperatures of 2600-3500 °C to reveal, which conditions resulted in uniform and highly adhesive depositions on Au backings.