Model-less visual servoing using modified simplex optimization

This article describes a robot positioning task with respect to a static target by visual servoing. The vision system is uncalibrated, and the kinematic model of the robot may be totally unknown. The displacements of the robot at joint level are generated in real time in order to minimize the objective function. The objective function includes the quadratic error between the current and the desired target images. A simplex method is used to minimize the objective function, and a Newton-like method is also used near convergence. We successfully validated this method with simulations under the graphic library OpenGL. This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005     

Electrical properties and microstructure in the system ceria-alkaline earth oxide

The ionic conduction of oxygen in the ceria-alkaline earth oxide system was investigated as a function of temperature, partial pressure of oxygen and oxide composition, together with its crystal structure, density, and microstructure. Undoped ceria and its solid solution with alkaline earth oxides have a cubic fluorite structure. The ionic conductivity of ceria is greatly enhanced by additions of calcia and strontia, even when they are added in excess of the solubility limit. The conductivities of ceria-calcia and ceria-strontia were much higher than those of calcia-and yttria-stabilized zirconia. Up to the limit of calcia and strontia, the ionic transference number was nearly unity in the temperature range between 600 and 900°C. With an increase in calcia and strontia content, the ionic conductivity was little affected by the presence of a second phase of CaO and SrCeO₃.     

Maximum Likelihood-Based Direction-of-Arrival Estimator for Discrete Sources

This paper addresses the problem of direction-of-arrival (DOA) parameter estimation in array processing when the signals are inherently discrete, which is the case mainly in the digital communication context. Based on the particular structure of the signal space in the data model, a maximum likelihood-based approach is introduced. The strategy consists in transforming the parameter estimation problem into a decision task. It is shown through numerical simulations that the proposed solution closely follows the performance limit given by the Cramér–Rao bound. Some important features of the technique are as follows: (i) it is capable of handling any number of sources, provided that the number of sensors is greater than or equal to two and the number of snapshots is sufficiently greater than the cardinality of the signal space; (ii) the estimation quality is not affected by the angle and phase separation; and (iii) it offers the possibility to deal with uncalibrated arrays.     

Leak-tightness characteristics concerning the containment structures of the HTTR

The containment structures of the HTTR consist of the reactor containment vessel, the service area, and the emergency air purification system, which minimise the release of fission products in postulated accidents, which lead to fission product release from the reactor facilities. The reactor containment vessel is designed to withstand the temperature and pressure transients and to be leak-tight in the case of a rupture of the primary concentric hot-gas duct, etc. The pressure inside the service area is maintained at a negative pressure by the emergency air purification system. The emergency air purification system will also remove airborne radioactivity and will maintain a correct pressure in the service area.The leak-tightness characteristics of the containment structures are described in this paper. The measured leakage rates of the reactor containment vessel were enough less than the specified leakage limit of 0.1%/d confirmed during the commissioning tests and annual inspections. The service area was kept in a way that the design pressure becomes well below its allowable limitation by the emergency air purification system, which filters efficiency of particle removal and iodine removal well over the limited values.The obtained data demonstrate that the reactor containment structures were fabricated to minimise the release of fission products in the postulated accidents with fission product release from the reactor facilities.     

Electrochemical behaviors of uranium and plutonium at simultaneous recoveries into liquid cadmium cathodes

Experiments were conducted on simultaneous recovery of uranium and plutonium electrochemically into laboratory scale liquid cadmium cathodes (LCCs) at different U/Pu ratios in the salt phase, and the influence of the salt composition on the recovered amounts of uranium and plutonium, the morphologies of uranium and plutonium in the LCC, and the behavior of americium, which is present as a decay product of plutonium-241, were examined. As a result, it was shown that there is a threshold in the U/Pu ratio in the salt phase between 1/4.3 and 1/1.73 for the successful simultaneous recovery of uranium and plutonium up to 10 wt% in the LCC at high current efficiencies. In the LCC, uranium and plutonium existed in the forms of intermetallic compounds, (U, Pu)Cd₆ and (U, Pu)Cd₁₁, and also pure uranium metal. It was also revealed that americium associates with plutonium according to the separation factor during the LCC operation.     

Massive adrenal hemorrhage secondary to metastasis of lung cancer

Hemorrhagic adrenal metastasis from lung cancer is extremely rare, although adrenal involvement is common in widely disseminated cancer. We report a case of massive adrenal hemorrhage secondary to metastasis of lung cancer. A 47-year-old female was treated by left upper lobectomy and mediastinal lymph node resection for an adenocarcinoma with intrapulmonary metastasis in the left upper lobe. Eight months later, she presented with right flank and back pain, and abdominal ultrasonography and computed tomography showed a right solitary adrenal tumor with massive hemorrhage. The tumor was not resectable and partially responded to chemotherapy. A massive adrenal hemorrhage, secondary to metastasis of lung cancer, presents with nonspecific clinical signs and symptoms. In lung cancer patients with an acute flank or back pain, hemorrhagic adrenal metastasis should be considered in the differential diagnosis.     

Progress in ECRF antenna development for JT-60SA

Structural, mechanical and optical design work on antennas/launchers for the electron cyclotron range of frequency heating and current drive system in JT-60 Super Advanced (JT-60SA) have been advanced based on a linear motion antenna concept. A CAD model of the launcher was built with realistic component sizes. A mock-up of the steering structure consisting of two different bellows sections for poloidal and toroidal beam scanning was fabricated to test movement of the bellows. The poloidal (?40° to +20°) and toroidal (?15° to +15°) injection angle ranges required in JT-60SA were shown to be realized by this steering structure and mirrors.     

Interactive Optimization of System Reliability Under Multiple Objectives

This paper considers a multiobjective reliability allocation problem for a series system with time-dependent reliability. The method determines the most preferable reliability allocation and preventive maintenance schedule. The problem is multiobjective nonlinear mixed-integer. The decision making procedure is based on interactive optimization and a nonlinear programming algorithm. The method is illustrated by a numerical example.     

Modulation characteristics of 1.3 ?m buried-stripe InGaAsP laser up to 2 Gbit/s data rates

Modulation experimenting on a buried-stripe (b.s.) InGaAsP laser emitting at 1.3 ?m was carried out up to 2 Gbit/s. The b.s. laser is free from relaxation oscillation, which degrades modulated optical pube waveforms, especially at high data rates. The repeater gain of 1.6 Gbit/s transmission systems is improved by 9 dB compared with previously reported experiments. Modulation characteristics up to 2 Gbit/s are reported.     

In vitro apatite formation on organic–inorganic hybrids in the CaO–SiO<Subscript>2</Subscript>–PO<Subscript>5/2</Subscript>–poly(tetramethylene oxide) system

The osteoconduction potential of artificial materials is usually evaluated in vitro by apatite formation in a simulated body fluid (SBF) proposed by Kokubo and his colleagues. This paper reports the compositional dependence of apatite formation on organic–inorganic hybrids in the CaO–SiO₂–PO_5/2–poly(tetramethylene oxide) system, initiated from tetraethoxysilane (TEOS), triethyl phosphate (OP(OEt)₃), calcium chloride (CaCl₂) and poly(tetramethylene oxide)(PTMO) modified with alkoxysilane. Formation of an apatite layer was observed on the surface of the organic–inorganic hybrids with molar ratios of TEOS/OP(OEt)₃ ranging from 100/0 to 20/80. The rate of apatite formation remarkably decreased when the hybrids were synthesized with TEOS/OP(OEt)₃ ratios of 40/60 or less. Hybrids without TEOS showed no apatite formation in SBF for up to 14 days. Addition of small amounts of OP(OEt)₃ to TEOS in the hybrids led to the high dissolution of calcium and silicate, while addition of large amounts of OP(OEt)₃ decreased the dissolution of calcium and silicate ions and resulted in reduced apatite formation regardless of the dissolution of phosphate ions from the hybrids.