Sensor Fault Tolerance Method by Using a Bayesian Network for Robot Behavior

This paper presents FTBN, a new framework that performs learning autonomous mobile robot behavior and fault tolerance simultaneously. For learning behavior in the presence of a robot sensor fault this framework uses a Bayesian network. In the proposed framework, sensor data are used to detect a faulty sensor. Fault isolation is accomplished by changing the Bayesian network structure using interpreted evidence from robot sensors. Experiments including both simulation and a real robot are performed for door-crossing behavior using prior knowledge and sensor data at several maps. This paper explains the learning behavior, optimal tracking, exprimental setup and structure of the proposed framework. The robot uses laser and sonar sensors for door-crossing behavior, such that each sensor can be corrupted during the behavior. Experimental results show FTBN leads to robust behavior in the presence of a sensor fault as well as performing better compared to the conventional Bayesian method.     

Precipitation Behavior of M2N in a High-Nitrogen Austenitic Stainless Steel During Isothermal Aging

The precipitation behavior of M2N and the microstructural evolution in a Cr-Mn austenitic stainless steel with a high nitrogen content of 0.43mass% during isothermal aging has been investigated using optical microscopy （ OM）, scanning electron microscopy （SEM）, and transmission electron microscopy （TEM）. The aging treatments have led to the decomposition of nitrogen supersaturated austenitic matrix through discontinuous cellular precipitation. The precipitated cells comprise alternate lamellae of M2N precipitate and austenitic matrix. This kind of precipitate morphology is similar to that of pearlite. However, owing to the non-eutectoidic mechanism of the reaction, the growth characteristic of the cellular precipitates is different from that of pearlite in Fe-C binary alloys. M2N precipitate in the cell possesses a hexagonal crystal structure with the parameters a = 0.4752nm and c = 0.4429nm, and the orientation relationship between the M2V precipitates and austenite determined from the SADP is [01^-10]M2N//[101]γ, [2^-1^-10]M2N//[010]γ.     

Evaluating the human likeness of an android by comparing gaze behaviors elicited by the android and a person

Our research goal is to discover the principles underlying natural communication among individuals and to establish a methodology for the development of expressive humanoid robots. For this purpose we have developed androids that closely resemble human beings. The androids enable us to investigate a number of phenomena related to human interaction that could not otherwise be investigated with mechanical-looking robots. This is because more human-like devices are in a better position to elicit the kinds of responses that people direct toward each other. Moreover, we cannot ignore the role of appearance in giving us a subjective impression of human presence or intelligence. However, this impression is influenced by behavior and the complex relationship between appearance and behavior. This paper proposes a hypothesis about how appearance and behavior are related, and maps out a plan for android research to investigate this hypothesis. We then examine a study that evaluates the human likeness of androids according to the gaze behavior they elicit. Studies such as these, which integrate the development of androids with the investigation of human behavior, constitute a new research area that fuses engineering and science.     

A method of measuring grinding points for a self-teaching grinding robot

This paper investigates human consciousness in comparison with a robots' internal state. On the basis of Husserlian phenomenology, nine requirements for a model of consciousness are proposed from different technical aspects: self, intentionality, anticipation, feedback process, certainty, embodiment, otherness, emotionality and chaos. Consciousness-based Architecture (CBA) for mobile robots was analyzed in comparison with the requirements proposed for a consciousness model. CBA, previously developed, is a software architecture with an evolutionary hierarchy of the relationship between consciousness and behavior. Experiments with this architecture loaded on two mobile robots explain the emergence of self, and some of the intentionality, anticipation, feedback process, embodiment and emotionality. Modification of CBA will be necessary to better explain the emergence of self in terms of the relationship between consciousness and behavior.     

Development of a Hybrid Wheel-Legged Mobile Robot WR-3 Designed for the Behavior Analysis of Rats

This paper presents the design and development of a bio-inspired mobile robot called WR-3 (Waseda Rat no. 3). The purpose of the robot is to work as an experimental tool to study social interaction between rats and robots. According to the results of the analysis of the motion of rats, their behavior can be divided into two phases: movement and interaction. Therefore, a novel hybrid mechanism that uses wheels during the movement phase and legs while interacting has been designed to actuate WR-3. Consequently, the robot can move at a high speed using its wheels, and reproduce the rat's interaction behavior using its legs and other parts. Based on body structure of a mature rat, WR-3 has been designed with similar dimensions and shape as a mature rat, and the quality of the shape imitation has been verified by the experiments of a rat's interestingness to the robot and stuffed rat. Evaluation experiments show that WR-3 is capable of reproducing a rat's actions such as chasing, rearing, grooming, mounting, etc., similar to a real rat. Furthermore, preliminary social interaction tests with living rats reveal that WR-3 is to some extent able to evoke natural reactions form a real rat and is therefore able to perform a certain level of realistic interaction.     

Broadening student experience in mental hygiene and abnormal psychology.

"At Whittier college an attempt is made to relate closely the student's experience in the mental hygiene and abnormal psychology courses." "In mental hygiene, emphasis is placed upon the practical problems of community mental health, and an attempt is made to stimulate the student's interest… ." "In the abnormal psychology course… trips are arranged to an institution for the mentally defective, a hospital for the care of the physically handicapped, a school for delinquents, and a state mental hospital. Other procedures and possibilities for provoking student interest and enriching class experience are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Curing behavior and viscoelastic properties of pine and wattle tannin-based adhesives studied by dynamic mechanical thermal analysis and FT-IR-ATR spectroscopy

This study investigated the curing behavior and viscoelastic properties of two types of tannin-based adhesives, wattle and pine, with three hardeners: paraformaldehyde, hexamethylenetetramine and TN (tris(hydroxylmethyl)nitromethane), by FT-IR-ATR spectroscopy and dynamic mechanical thermal analysis (DMTA). Using FT-IR-ATR spectroscopy, the chemical structures of tannin-based adhesives were determined and the degrees of curing as a function of temperature and time were compared with the conversion degrees of the hydroxyl groups. Paraformaldehyde was shown to be more reactive with wattle tannin than the other hardeners, while hexamethylenetetramine was the most reactive with the pine tannin. As the quantity of hardener was increased, the conversion degree also increased. The storage modulus (E′), loss modulus (E′′) and loss factor (tan δ) of each adhesive system were obtained by DMTA. With increasing temperature, as the tannin-based adhesives hardened, the storage modulus (E′) increased in all adhesive systems. The curing behavior results obtained by DMTA showed a similar tendency as seen from the FT-IR-ATR spectroscopy results. The curing behavior of the tannin-based adhesives was successfully determined using FT-IR-ATR spectroscopy in combination with DMTA.     

Rheological behavior of anaerobic adhesives: Rheological profile modelling depending on the composition

A study is done on the influence of fumarate-based thickeners on the rheological behavior of low-molecular-weight poly(ethylene glycol) dimethacrylate monomers diluents, often used as major components in the formulation of anaerobic adhesives. These solutions generally showed pseudoplastic behavior. The Cross equation was selected to determine the viscosity vs. shear rate curves, at constant temperature. The final equation relates the viscosity as a function of shear rate and thickener concentration. In addition, the zero shear rate viscosity evolution as a function of the thickener weight fraction was studied, showing that two critical concentrations were present.     

Modeling the rheology of anaerobic adhesive formulations

In a previous paper, the influence of the two typical major components of anaerobics (fumarate-based thickeners and low-molecular-weight poly(ethylene glycol) dimethacrylate monomers) on the blend rheology was studied. The blends obtained showed pseudoplastic behavior, and their viscosity at room temperature was established using the Cross equation as a function of the composition and the shear rate. In addition, the evolution of the zero shear rate viscosity as a function of the thickener weight fraction was studied, and it was shown that two critical concentrations were present. This work has focused on three-component formulations, based on the two previous components plus a thixotropic agent; fumed silica. Various fumed silicas were evaluated and they showed a significant effect on the blend pseudoplasticity even at low concentrations. In addition, the mixtures showed both the Bingham effect and thixotropy. These formulations were modeled using non-phenomenological equations. Finally, a method based on the previous models has been proposed to estimate the flow behavior in actual dispensing equipments.