Preparation of flexible transparent acryl/alumina nano-hybrid materials exhibiting low thermal expansion coefficient

In this study, flexible transparent hybrid films with low thermal expansion coefficient were prepared by combination of alumina fillers and polymerizable/non-polymerizable surface modifiers with carboxyl group. Four types of alumina fillers with different shape and size were used in this study, and could modify with surface modifiers containing carboxyl groups by electrostatic interaction and disperse homogeneously in resulting hybrid films regardless of the shape and size. So the hybrid films obtained showed high transmittance around 90%T, and it was considered, from transmission electron microscopic analysis, alumina fillers were dispersed at near original filler size, without aggregation. Moreover, thermal mechanical analysis cleared that the use of pillar or fiber type filler is more effective to reduce CTE compared with plate type fillers, especially CTE of hybrid film prepared with fiber type filler was drastically decreased to 17 ppm/K, while the influence by the difference of filler shape/size was not observed on tensile properties, surface hardness. By use of fiber type alumina filler and combination of polymerizable surface modifier and non-polymerizable surface modifier which seems to interact with matrix, for optimizing of the crosslink density, it was possible to reduce CTE, while the good mechanical properties was kept. Finally, hybrid film indicating low CTE value as 19 ppm/K, high flexibility (windable against 0.4 mm radius steel bar), and good tensile properties and surface hardness which were equal to or higher than those of matrix could prepared.     

Iterative Path Integral Approach to Nonlinear Stochastic Optimal Control Under Compound Poisson Noise

Nonlinear stochastic optimal control theory has played an important role in many fields. In this theory, uncertainties of dynamics have usually been represented by Brownian motion, which is Gaussian white noise. However, there are many stochastic phenomena whose probability density has a long tail, which suggests the necessity to study the effect of non‐Gaussianity. This paper employs Lévy processes, which cause outliers with a significantly higher probability than Brownian motion, to describe such uncertainties. In general, the optimal control law is obtained by solving the Hamilton–Jacobi–Bellman equation. This paper shows that the path‐integral approach combined with the policy iteration method is efficiently applicable to solve the Hamilton–Jacobi–Bellman equation in the Lévy problem setting. Finally, numerical simulations illustrate the usefulness of this method.     

Character motion synthesis by principal component analysis and motion control interface by hands

In this paper, we propose an interactive character motion control interface that uses hands. Using their hands and fingers, the user can control a large number of degrees of freedom at the same time. We applied principal component analysis to a set of sample poses and assigned the extracted principal components to each degree of freedom of the hands (such as the hand positions and finger bending/extending angles). The user can control the blending weights of the principal components and deform the character's pose by moving their hands and bending/extending their fingers. We introduced pose and action controls, so that we can alter the standing pose and perform various actions with deformations. So that various types of actions were possible, we constructed a number of action models in advance. We introduced action model selection and action execution mechanisms. We developed methods for computing the feature vector, for applying principal component analysis, and for pose and action synthesis. In addition, we introduced a pose transition method for performing a step motion when necessary to prevent foot sliding. We present our experimental results and demonstrate the effectiveness of our interface. Copyright © 2015 John Wiley & Sons, Ltd.     

Preparation of oriented gold plate/cellulose nanofiber composite films by using TEMPO-oxidized cellulose nanofiber as a reducing agent

Microsystem Technologies - TEMPO-oxidized cellulose nanofiber (TOCN) has been drawing much attention as a useful material for preparation of transparent and stiff films or substrates. In this work,...     

Data-driven dual-rate cascade control and application to pitch angle control of UAV

A data-driven design method for a cascade control system is proposed. The cascade control system consists of inner and outer loops, where the control interval of the outer loop is an integer multiple of the inner loop; hence, the system is a dual-rate system. In the proposed method, controllers in the inner and outer loops are designed based on one-shot data. In such a dual-rate cascade system, since the controllers are designed using different data-rate signals, the lifting technique is applied to align the dual-rate data. To show its effectiveness, the proposed method is compared with a conventional single-rate cascade control method, and numerical simulations and experiments are presented to examine servo and regulation performance.     

Estimating leaf carotenoid contents of shade-grown tea using hyperspectral indices and PROSPECT–D inversion

Quantifying carotenoid contents has many applications in agriculture, ecology, and health science. Hyperspectral reflectance has been one of the promising tools for this purpose. However, previous studies were based on measurements under relatively low light–stress conditions. Therefore, assessing its robustness by using measurements under various levels of stress is required. In this study, the measurements of reflectance and carotenoid contents were carried out with four shading treatments including open–0%, 35%, 75%, and 90% shading to generate various chlorophyll/carotenoid ratios. Then the performances of 15 published hyperspectral indices and PROSPECT–D inversion were evaluated based on our data set for estimating leaf carotenoid contents. According to the ratio of performance to deviation, R_NIR/R₅₁₀, R₇₂₀/R₅₂₁–1, and PROSPECT–D inversion were applicable for this purpose, although calibration of the absorption coefficients was required for PROSPECT–D. Using them, root mean square percentage errors of 4.53–5.46% were achieved. Given that total chlorophyll/carotenoid ratios could be a good indicator for evaluating environmental stress in plants, PROSPECT–D, which also estimates total chlorophyll and anthocyanin contents, could be a strong tool for controlling the qualities of shade-grown tea.     

A solution to SLAM problems by simultaneous estimation of kinematic parameters including sensor mounting offset with an augmented UKF

Accurate localization is required for autonomous robots to navigate in cluttered environments safely. Therefore, Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), which incorporate probabilistic concepts as localization methods, have been researched up to now. It should be noted, however, that the errors of kinematic parameters such as wheel diameter, tread, and mounting sensor offset are not enough considered in conventional works. We propose an Augmented UKF-SLAM (AUKF-SLAM), which is an extension of the UKF-SLAM and can estimate the kinematic parameters including a sensor mounting offset together with the localization and mapping. The UKF-SLAM and the AUKF-SLAM are compared through some simulations to show that the proposed AUKF-SLAM is more accurate than the UKF-SLAM. Furthermore, localization experiments with only odometry are conducted using a real robot. The experimental results show to demonstrate that the localization using kinematic parameters estimated by the AUKF-SLAM is more accurate than that using values measured by hand in advance. Through some experimental verifications in an elevator hall, cluttered rooms, and a long distance corridor, it is confirmed that the proposed AUKF-SLAM which simultaneously estimates the effective kinematic parameters largely contributes to the total accuracy improvement of SLAM.     

Hybrid negative example selection using visual and conceptual features

An application of Query-By-Example (QBE) is presented where shots that are visually similar to provided example shots are retrieved. To implement QBE, counter-example shots are required to accurately distinguish shots that are relevant to the query from those that are not (Li and Snoek (2009), Yu et al. (2004)). However, there are usually a huge number of shots, not relevant to a particular query, which can serve as counter-example shots. It is difficult for a user to provide counter-example shots that would aid retrieval. Thus, we developed a QBE method based on partially supervised learning where a retrieval model is constructed by selecting counter-example shots from shots without user supervision. To ensure the speed and accuracy of the QBE method, we select a small number of counter-example shots that are visually similar to given example shots but irrelevant to the query. Such shots are useful for characterizing the boundary between relevant and irrelevant shots. For our method, we first filter shots that are visually dissimilar to example shots based on SVMs on a visual feature. Then we filter shots relevant to the query based on concept detection results from pre-constructed classifiers. Shots that pass the above two tests are considered as counter-example shots. Experimental results obtained using TRECVID 2009 video data validate the effectiveness of our method.     

Infiltrating the zebrafish swarm: design,implementation and experimental tests of a miniature robotic fish lure for fish–robot interaction studies

Robotic fish are nowadays developed for various types of research, such as bio-inspiredrobotics, biomimetics and animal behavior studies. In the context of our research on the social interactions of the zebrafish Danio Rerio, we developed a miniature robotic fish lure for direct underwater interaction with the living fish. This remotely controlled and waterproof device has a total length of 7.5 cm with the same size ratio as zebrafish and is able to beat its tail with different frequencies and amplitudes, while following the group of living animals using a mobile robot moving outside water that is coupled with the robotic lure using magnets. The robotic lure is also equipped with a rechargeable battery and can be used autonomously underwater for experiments of up to 1 h. We performed experiments with the robot moving inside an aquarium with living fish to analyze its impact on the zebrafish behavior. We found that the beating rate of the tail increased the attractiveness of the lure among the zebrafish shoal. We also demonstrated that the lure could influence a collective decision of the zebrafish shoal, the swimming direction, when moving with a constant linear speed inside a circular corridor. This new robotic fish design and the experimental results are promising for the field of fish–robot interaction.