Component-based robot system design for grasping tasks

The paper presents a robot system design with highly reusable components for a component-based robot system for manipulation tasks. The robot system is designed based on the analysis of manipulation tasks using a unified modeling language use case diagram. For a service robot with locomotion and manipulation mechanisms, reusability of robot system components is improved by adopting the proposed design. Our structure consists of scenario, task, robot information management server, data analyzer, sensor hardware controller, skill, and motion hardware controller on a component-based robot system. Based on the proposed robot system, we implemented a component-based robot system and subsequently realized a grasping motion by a service robot.     

Synergistic effect of Pt or Pd and perovskite oxide for water gas shift reaction

The water gas shift (WGS) reaction over Pt and Pd catalysts supported on various perovskite oxides has been investigated at 573 K without catalyst pretreatment. The Pt and Pd catalysts on LaCoO₃ support showed high catalytic activity. Interaction between Pt or Pd and the support is considered to promote the WGS reaction: Pt/LaCoO₃ had high initial activity but deactivated immediately; Pd/LaCoO₃ was less active than Pt/LaCoO₃, but had superior stability. Catalysts were characterized using XRD, STEM, XPS, and H₂-temperature programmed reduction (TPR). Results of this study showed that reduction of the support decreased the CO conversion on Pt/LaCoO₃. On the other hand, Pd/LaCoO₃ showed stable activity for the WGS reaction. Therefore, Pd was added to Pt/LaCoO₃ for stabilizing the catalyst activity, and 0.5 wt.% Pd/1 wt.% Pt/LaCoO₃ catalyst showed higher activity and stability.     

Formation of a Network Structure in the Gaseous Reduction of Magnetite Doped with Alumina

Reduction of un-doped magnetite is developed topochemically with the formation of a dense iron shell. However, the reduction of alumina-doped magnetite to wüstite proceeds with the formation of a network-like structure which consists of criss-crossed horizontal and vertical plates of wüstite. Reduction of magnetite includes the conversion of Fe³⁺ to Fe²⁺ and the movement of iron cations from the tetrahedral sites on the {400} and {220} planes of magnetite to the octahedral sites on the {200} planes of wüstite. Alumina has a negligibly small solubility in wüstite. In the reduction of magnetite doped with Al₂O₃, rejected Al³⁺ cations from wüstite diffuse to the magnetite–hercynite solid solution. Enrichment of the Fe₃O₄–FeAl₂O₄ solution with alumina in the vicinity of the reduction interface restricts the growth of {220} planes of wüstite and nucleation of {220} planes adjusted to the existing planes, preventing the merging of wüstite plates during the reduction process. Reduction of magnetite from the magnetite–hercynite solid solution practically stops when the Al³⁺ content at the interface approaches the solubility limit. Wüstite in the separated plates is reduced further to iron.     

Crystal growth and structure analysis of twin-free monoclinic hydroxyapatite

Single crystals of hydroxyapatite were grown by a flux method using Ca₃(PO₄)₂ and Ca(OH)₂ under 100 MPa of Ar gas. The crystals obtained had stoichiometric composition of Ca₁₀(PO₄)₆(OH)₂ and some of them were twin-free single crystals. From X-ray diffraction analyses, the space group was confirmed to be monoclinic P2₁/b with cell parameters a=0.9419(3) nm, b=1.8848(6) nm, c=0.6884(2) nm, and =119.98(2)°. The detailed crystal structure was determined with a reliability factor R_w=0.033; the O atoms of OH were located just on the 2₁ axis while the H atoms of OH occupied the positions a little deviated from the 2₁ axis. The origin of this structure was ascribed to the formation of hydrogen bonds between the H atoms of the OH ions and the specific O atoms of the PO₄ ions.     

Protective layer for high‐efficiency PDPs driven at low voltage

Abstract— The sustain pulse voltage of a panel for 66‐kPa Ne + Xe (5–30%) with an (SrCa)O protective layer is 20–40% lower than that with an MgO protective layer. The luminous efficiency of the panel with a Ne + Xe (30%) (SrCa)O protective layer is 1.5 times that of the conventional panel with a Ne + Xe (10%) MgO protective layer; the sustain pulse voltages of these panels are almost the same. The power loss caused by panel capacitance is proportional to the second power of the sustain pulse voltage. Using the (SrCa)O protective layer for Xe (5–30%), the power loss is reduced by 35–60% compared with the MgO protective layer. It follows that, using the (SrCa)O protective layer, we can increase the Xe content with little power loss and thus achieve high‐efficiency PDPs. As for MgO and CaO with Xe ions, electrons are probably ejected from only the defect states. On the other hand, as for the SrO with Xe ions, it is likely that electrons can be ejected from not only defect states but also the valance band. This seems to be the reason why the driving voltage is lower with the (SrCa)O protective layer than with the MgO protective layer.     

Laser Thomson scattering and optical emission studies of striated PDP micro‐discharge plasmas

Abstract— Properties of a plasma‐display‐panel (PDP) like discharge were examined by emission and laser Thomson scattering (LTS) measurements. Emission measurements were performed using an intensified CCD camera. By varying several external parameters such as the amplitude of the input voltage, gas composition, and pressure, the influence of these parameters on the discharge behavior was studied. Results of emission measurements showed that they were in good agreement with similar emission measurements on real PDP cells. LTS measurements were performed for the striated PDP‐like discharge at a pressure of 100 Torr and the results showed clear modulations in both profiles of electron density and electron temperature.     

Stability tests and stabilization for piecewise linear systems based on poles and zeros of subsystems

This paper provides several stability tests for piecewise linear systems and proposes a method of stabilization for bimodal systems. In particular, we derive an explicit and exact stability test for planar systems, which is given in terms of coefficients of transfer functions of subsystems. Restricting attention to the bimodal and planar case, we show simple stability tests. In addition, we drive a necessary stability condition and a sufficient stability condition for higher-order and bimodal systems. They are given in terms of the eigenvalue loci and the observability of subsystems. All the stability tests provided in this paper are computationally tractable, and our results are applied to the stabilizability problem. We confirm the exactness and effectiveness of our approach by illustrative examples.     

A Social Robot that Stands in Line

Recent research in mobile robot navigation make it feasible to utilize autonomous robots in service fields. But, such applications require more than just navigation. To operate in a peopled environment, robots should recognize and act according to human social behavior. In this paper, we present the design and implementation of one such social behavior: a robot that stands in line much as people do. The system employs stereo vision to recognize lines of people, and uses the concept of personal space for modeling the social behavior. Personal space is used both to detect the end of a line and to determine how much space to leave between the robot and the person in front of it. Our model of personal space is based on measurements from people forming lines. We demonstrate our ideas with a mobile robot navigation system that can purchase a cup of coffee, even if people are waiting in line for service.     

Spatial indexing of high-dimensional data based on relative approximation

We propose a novel index structure, the A-tree (approximation tree), for similarity searches in high-dimensional data. The basic idea of the A-tree is the introduction of virtual bounding rectangles (VBRs) which contain and approximate MBRs or data objects. VBRs can be represented quite compactly and thus affect the tree configuration both quantitatively and qualitatively. First, since tree nodes can contain a large number of VBR entries, fanout becomes large, which increases search speed. More importantly, we have a free hand in arranging MBRs and VBRs in the tree nodes. Each A-tree node contains an MBR and its children VBRs. Therefore, by fetching an A-tree node, we can obtain information on the exact position of a parent MBR and the approximate position of its children. We have performed experiments using both synthetic and real data sets. For the real data sets, the A-tree outperforms the SR-tree and the VA-file in all dimensionalities up to 64 dimensions, which is the highest dimension in our experiments. Additionally, we propose a cost model for the A-tree. We verify the validity of the cost model for synthetic and real data sets. Edited by T. Sellis. Received: December 8, 2000 / Accepted: March 20, 2002 Published online: September 25, 2002