A master-slave control system for a semi-autonomous underwater vehicle-manipulator system

Underwater vehicle-manipulator systems (UVMS) are expected to play an important role in ocean exploration. It is considered that UVMS will be operated by both automatic and manual control. We have proposed an automatic control method. In this article, we propose a master-slave system for a UVMS. The effectiveness of the proposed master-slave control system is demonstrated by using a floating underwater robot with a 2-link manipulator.     

Robust comprehension of natural language instructions by a domestic service robot

We present a method through which domestic service robots can comprehend natural language instructions. For each action type, a variety of natural language expressions can be used, for example, the instruction, ‘Go to the kitchen’ can also be expressed as ‘Move to the kitchen.’ We are of the view that natural language instructions are intuitive and, therefore, constitute one of the most user-friendly robot instruction methods. In this paper, we propose a method that enables robots to comprehend instructions spoken by a human user in his/her natural language. The proposed method combines action-type classification, which is based on a support vector machine, and slot extraction, which is based on conditional random fields, both of which are required in order for a robot to execute an action. Further, by considering the co-occurrence relationship between the action type and the slots along with the speech recognition score, the proposed method can avoid degradation of the robot’s comprehension accuracy in noisy environments, where inaccurate speech recognition can be problematic. We conducted experiments using a Japanese instruction data-set collected using a questionnaire-based survey. Experimental results show that the robot’s comprehension accuracy is higher in a noisy environment using our method than when using a baseline method with only a 1-best speech recognition result.     

Prediction of carbon dioxide separation from gas mixtures in petroleum industries using the Levenberg–Marquardt algorithm

In this study, two mathematical models for hydrate formation process to separate carbon dioxide by a combination of two different kinds of organic and surfactant promoters are presented. Promoters such as sodium dodecyl sulfate, sodium dodecyl benzene sulfonate, and dodecyl trimethyl ammonium chloride as surfactant promoters; also, tetrahydrofuran, cyclopentane, 1,3-dioxolane, and 2-methyl tetrahydrofuran as organic promoters have been used in recent years. The results showed that a combination of 3000 ppm of surfactant promoters and 4 wt% organic promoters had the highest separation rate of carbon dioxide and; consequently, the investigated models were based on this optimum condition. As a matter of fact, by using these simulations the hydrate formation behavior was predicted with high accuracy; moreover, conducting consuming experiments is not essential anymore. To sum up, in the present research both Vandermonde matrix model and Levenberg-Marquardt algorithm were applied to predict the hydrate formation behavior; in addition, their results were precisely considered and validated with experimental data.     

Intestinal absorption and biological effects of orally administered amorphous silica particles

Although amorphous silica nanoparticles are widely used in the production of food products (e.g., as anticaking agents), there is little information available about their absorption and biological effects after oral exposure. Here, we examined the in vitro intestinal absorption and in vivo biological effects in mice of orally administered amorphous silica particles with diameters of 70, 300, and 1,000 nm (nSP70, mSP300, and mSP1000, respectively) and of nSP70 that had been surface-modified with carboxyl or amine groups (nSP70-C and nSP70-N, respectively). Analysis of intestinal absorption by means of the everted gut sac method combined with an inductively coupled plasma optical emission spectrometer showed that the intestinal absorption of nSP70-C was significantly greater than that of nSP70. The absorption of nSP70-N tended to be greater than that of nSP70; however, the results were not statistically significant. Our results indicate that silica nanoparticles can be absorbed through the intestine and that particle diameter and surface properties are major determinants of the degree of absorption. We also examined the biological effects of the silica particles after 28-day oral exposure in mice. Hematological, histopathological, and biochemical analyses showed no significant differences between control mice and mice treated with the silica particles, suggesting that the silica nanoparticles evaluated in this study are safe for use in food production.     

Production of hyaluronic‐acid‐based cell‐enclosing microparticles and microcapsules via enzymatic reaction using a microfluidic system

This article describes the preparation of cell‐enclosing hyaluronic acid (HA) microparticles with solid core and microcapsules with liquid core through cell‐friendly horseradish peroxidase (HRP)‐catalyzed hydrogelation. The spherical vehicles were made from HA derivative possessing phenolic hydroxyl moieties (HA‐Ph) cross‐linkable through the enzymatic reaction by extruding cell‐suspending HA‐Ph aqueous solution containing HRP from a needle of 180 μm in inner diameter into the ambient coaxial flow of liquid paraffin containing H₂O₂ in a microtubule of 600 μm in diameter. By altering the flow rate of liquid paraffin, the diameters of gelatin and HA‐Ph microparticles were varied in the range of 120–220 μm and 100–300 μm, respectively. The viability of the enclosed human hepatoma HepG2 cells in the HA‐Ph microparticles of 180 μm in diameter was 94.2 ± 2.3%. The growth of the enclosed HepG2 cells was enhanced by decreasing the HRP concentration. The microcapsules of 200 μm in diameter were obtained by extruding HA‐Ph aqueous solution containing thermally liquefiable cell‐enclosing gelatin microparticles of 150 μm in diameter using the same microfluidic system. The enclosed cells grew and filled the cavity within 10 days. Spherical tissues covered with a heterogeneous cell layer were obtained by degrading the microcapsule membrane using hyaluronidase after covering the surface with a heterogeneous cell layer. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 43107.     

Epitaxial p-type SiC as a self-driven photocathode for water splitting

Solar-to-hydrogen conversion efficiencies of water-splitting photochathodes using epitaxially grown p-type 4H-, 6H- and 3C-SiC were estimated in a two-electrode system without applying any external bias. By using electrode materials with small oxygen overpotentials as counter electrodes, the photocurrent became comparable to that observed in a three-electrode system with a suitable bias. Estimated efficiencies seem to depend on the bandgap of the SiC polytypes. For the 3C-SiC, the obtained efficiency was 0.38%, which is so far the highest value reported for SiC. We confirmed that the hydrogen volumes estimated from the photocurrent were almost the same as actual volumes observed by gas chromatography.     

Preparation and mesostructure control of highly ordered zirconia particles having crystalline walls

Mesostructured zirconia particles having monoclinic-type crystalline walls were prepared using a low-temperature crystallization technique. Crystalline zirconia particles with highly-ordered mesostructures were obtained through the sol–gel process of zirconium sulfate tetrahydrate at 333 K in the presence of molecular self-assemblies of cetyltrimethylammonium bromide (CTAB) or mixtures of CTAB and anionic molecules such as sodium dodecyl sulfate and sodium p-toluenesulfonate. Variations in the molar ratios of CTAB and the chemical species of anionic molecules led to the variations in the periods of highly-ordered zirconia having crystalline walls. Calcination of the mesostructured zirconia particles prepared using templates consisting solely of CTAB yielded crystalline mesoporous zirconia particles.     

Preparation of Plate‐Like Sodium Niobate Particles by Hydrothermal Method

Sodium niobate NaNbO₃ hydrate (NN‐hydrate) particles with a plate‐like morphology were prepared at 140°C for 2 h in 12 mol/L of NaOH by the hydrothermal method. Bar‐like Na₈Nb₆O₁₉·13H₂O particles were synthesized at as low as 100°C for 2 h. This work demonstrates that by carefully optimizing the reaction condition, we can selectively fabricate niobate structures, including the bar‐like, plate‐like, fibers and cube particles through a direct reaction between NaOH solution and Nb₂O₅. It was found that Nb₆O₁₉^8? formed was an important premise for formation of the NN‐hydrate, and lower [OH^–] was not favorable in preparing the NN‐hydrate as there was an optimum [OH^?]. Through researching effects of the reaction temperature, time, concentration of NaOH, and content of Nb₂O₅ on the NN‐hydrate structure and evolution, the formation mechanism from solid reactants to the intermediate were investigated. After calcining at 800°C, the synthesized NN‐hydrate particles made a phase almost transform to the perovskite NaNbO₃, and the morphology of these calcined particles was still plate‐like.     

Preparation of Morphology‐Controlled Plate‐Like Sodium Niobate Particles by Hydrothermal Synthesis

Sodium niobate (NaNbO₃) particles with plate‐like morphology and hexagonal unit cells were prepared by the hydrothermal method. The result of SEM showed that the hexagonal NaNbO₃ were characterized by plate‐like morphology with a diameter of 5–15 μm and a thickness of 1–2 μm. The crucial influences on the morphology and crystal phase of the NaNbO₃, such as concentration of [OH^?], surfactant, and K⁺:Na⁺ ratio, were established. By further calcination treatment, the plate‐like hexagonal NaNbO₃ particles could be completely transformed into perovskite structure without morphology change. The XRD and EBSD results indicate that the major face of the calcined particles is parallel to the crystallographic (001)_pc (pseudo cubic index) plane. Compared with the traditional high‐temperature molten salt method, this work provides a simpler way to prepare the template for fabricating textured ceramics.     

Non‐cooperative game‐based packet ferry forwarding for sparse mobile wireless networks

In sparse mobile wireless networks, normally, the mobile nodes are carried by people, and the moving activity of nodes always happens in a specific area, which corresponds to some specific community. Between the isolated communities, there is no stable communication link. Therefore, it is difficult to ensure the effective packet transmission among communities, which leads to the higher packet delivery delay and lower successful delivery ratio. Recently, an additional ferry node was introduced to forward packets between the isolated communities. However, most of the existing algorithms are working on how to control the trajectory of only one ferry work in the network. In this paper, we consider multiple ferries working in the network scenario and put our main focus on the optimal packet selection strategy, under the condition of mutual influence between the ferries and the buffer limitation. We introduce a non‐cooperative Bayesian game to achieve the optimal packet selection strategy. By maximizing the individual income of a ferry, we optimize the network performance on packet delivery delay and successful delivery ratio. Simulation results show that our proposed packet selection strategy improves the network performance on packet delivery delay and successful delivery ratio. Copyright © 2013 John Wiley & Sons, Ltd.