Multistage bayesian autonomy for high‐precision operation in a large field

This paper presents a generalized multistage bayesian framework to enable an autonomous robot to complete high‐precision operations on a static target in a large field. The proposed framework consists of two multistage approaches, capable of dealing with the complexity of high‐precision operation in a large field to detect and localize the target. In the multistage localization, locations of the robot and the target are estimated sequentially when the target is far away from the robot, whereas these locations are estimated simultaneously when the target is close. A level of confidence (LOC) for each detection criterion of a sensor and the associated probability of detection (POD) of the sensor are defined to make the target detectable with different LOCs at varying distances. Differential entropies of the robot and target are used as a precision metric for evaluating the performance of the proposed approach. The proposed multistage observation and localization approaches were applied to scenarios using an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Results with the UGV in simulated environments and then real environments show the effectiveness of the proposed approaches to real‐world problems. A successful demonstration using the UAV is also presented.     

Preparations and tribological properties of soft-metal/DLC composite coatings by RF magnetron sputter using composite targets

This work reports the characteristics and tribological properties of both Ag/DLC nanocomposite coatings (RF-Ag-DLC) and Cu/DLC nanocomposite coatings (RF-Cu-DLC) with hydrogen-free DLC matrix deposited by RF magnetron sputtering using a concentric composite target (CCT). The CCT consisted of a C base target and metal tablet, and the tablet was located on the center of the base target concentrically where the etching rate by Ar ions is extremely low. By changing the diameter of Ag or Cu tablets in CCT, RF-Ag-DLC with an Ag concentration ranging from 6 to 65 at.% and RF-Cu-DLC with Cu concentration ranging from 7 to 75 at.% can be prepared. These coatings show a granular structure having Ag or Cu nano-crystals with a diameter ranging from 5 to 10 nm dispersed homogeneously in the hydrogen-free DLC matrix. The friction coefficient of DLC varied depending on the species and content of metal. The transition of the friction coefficient became stable when metal-rich tribofilms formed on the counterfaces.     

Selection of injection conditions for aluminum particles as a raw material by numerical analysis in the synthesis of ultrafine particles with transferred type arc plasma

We investigated by numerical analysis the dependence of vaporization behavior of aluminum particles injected into transferred type arc plasma on injection conditions in synthesis of aluminum nitride ultra fine particles. On the basis of calculation results, we chose one proper injection condition where aluminum particles vaporized more. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 170(2): 46–52, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20852     

Laser brazing of a dissimilar joint of austenitic stainless steel and pure copper

In many industries, there are applications that require the joining of stainless steel and copper components; therefore, the welding of dissimilar stainless steel/copper joints is a common process. For this investigation, the optimal brazing conditions and suitable filler metals for laser brazing of stainless steel/copper lap joints were studied. Tensile shear force increases with increases in the laser spot diameter or in the laser irradiation angle, which is associated with increased bonding width; however, as bonding width approaches 2 mm, tensile shear force reaches a saturated value due to fracturing at the HAZ of the Cu base plate. In order to obtain joints with high tensile shear strength, laser brazing was optimized by using Cu–Si-based filler metal under the following conditions: laser power, 4 kW; spot diameter, 3 mm; laser irradiation angle, 80°; irradiation position shift, 0.6 mm; brazing speed, 0.30 m/min; and filler metal feed speed, 0.30 min. Concerning filler metals, it was found that the Ni–Cu type showed relatively large tensile shear force even at high welding speeds in comparison with those of the Cu–Si, Cu, Cu–Ni, Ni–Cu and Ni types, respectively.     

Flexible and Conductive 3D Printable Polyvinylidene Fluoride and Poly(N,N‐dimethylacrylamide) Based Gel Polymer Electrolytes

In this work, 3D printable gel polymer electrolytes (GPEs) based on N,N‐dimethylacrylamide (DMAAm) and polyvinylidene fluoride (PVDF) in lithium chloride containing ethylene glycol solution are synthesized and their physicochemical properties are investigated. 3D printing is carried out with a customized stereolithography type 3D gel printer named “Soft and Wet Intelligent Matter‐Easy Realizer” and free forming GPE samples having variable shapes and sizes are obtained. Printed PVDF/PDMAAm‐based GPEs exhibit tunable mechanical properties and favorable thermal stability. Electrochemical proprieties of the printed GPEs are carried out via impedance spectroscopy in the temperature range of 25–90 °C by varying PVDF content. Ionic conductivity as high as 6.5 × 10^?4 S cm^?1 is achieved at room temperature for GPE containing low PVDF content (5 wt%) and conductivity of the GPEs is increased as temperature rises.     

Novel High‐Temperature Antiferroelectric‐Based Dielectric NaNbO3–NaTaO3 Solid Solutions Processed in Low Oxygen Partial Pressures

The (1?x)NaNbO₃–(x)NaTaO₃ solid solution was investigated for x ≤ 0.4 in terms of new high‐temperature and high‐permittivity dielectric system that is suitable for base metal inner electrode capacitor applications. The addition of Ta significantly enhanced the resistivity of the dielectric, resulting in superior resistivity than the dielectrics‐formulated BaTiO₃ systems that dominate the multilayer ceramic capacitor dielectric devices. The voltage dependence of the permittivity was also superior to BaTiO₃‐based materials, providing higher capacitance at higher temperatures. A transmission electron microscopy study illustrated that the grains had so‐called core‐shell structure. According to the electron diffraction analysis, the core region had an inhomogeneous structure between antiferroelectric and ferroelectric phases, and shell region had an incommensurate ferroelectric‐like structure. The core and shell region had Nb‐ and Ta‐rich composition, respectively, and their interface was compositionally sharp, implying that shell region was formed via a liquid phase during the sintering process with an incongruent Ta dissolution reprecipitation. We anticipate that these or similar materials based on the alkali‐niobate perovskites can be further enhanced to provide capacitor solutions from 150°C to 250°C, which is an important range for a number of new AC–DC invertor and engine control units.     

Synthesis and characterization of propylene‐α‐olefin random copolymers with isotactic propylene sequence. II. Propylene–hexene‐1 random copolymers

A series of novel hexene‐1–propylene random copolymers with isotactic sequence of propylene was synthesized with a MgCl₂‐supported Cr(acac)₃ catalyst. The molecular weight distribution of copolymers and homopolymers was considerably narrower than that of typical polyolefins produced by heterogeneous Ziegler–Natta catalysts. The crystallizability of the copolymers having a propylene‐unit content of more than 50 mol % drastically decreased with decreasing propylene‐unit content, and the copolymers with a propylene content of less than 50 mol % were completely amorphous. In the present novel type of random copolymers with crystallizable and noncrystallizable units, a single glass transition was observed between pure polypropylene and polyhexene‐1, and a major component was found to govern the final morphology and the mechanical characteristics. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 92: 2949–2954, 2004     

Self‐Expansion Behavior of Silk Fibroin Film

Summary: Silk fibroin cast film was prepared using a ternary solvent system of CaCl₂/CH₃CH₂OH/H₂O (1/2/8 in mole ratio). A drying temperature at casting influenced crystal structure of fibroin. When a drying temperature was set lower than 9 °C, the cast film became amorphous. When a drying temperature was set higher than 40 °C, a fibroin film of silk‐II structure was obtained. In order to produce a fibroin film of silk‐I structure, a preferable temperature range was from 20 to 26 °C. The crystal transformation from random coil structure into silk‐I could be made through exposure of an amorphous film to water vapor. As for the crystal transformation from silk‐I into silk‐II, the treatment with a glycerin solution was effective. In the course of the treatment a film showed self‐thinning and self‐expanding. The expansion ratio exceeded 40% at maximum. The film produced accompanying self‐expansion was ductile in nature.

The apparent self‐expansion percentage as a function of initial thickness of the film. The ductility of the film was classified into four stages from the observation of recovery behavior after folding: ?, very soft; ?, soft; ?, middle; ?, hard (see Figure 5 ).