The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

A Dual-Tone Multifrequency Receiver Using Synchronous Additions and Subtractions

This paper describes a new detection algorithm for a dualtone multifrequency (DTMF) signal. The new algorithm basically uses only additions and subtractions but no multiplications. A signaling tone can be detected by sampling an input signal at four times each frequency involved in a signaling tone and accumulating these sampled values synchronously by additions and subtractions. This algorithm is referred to as the synchronous additions and subtractions (SAS) method. Many conventional methods have used various types of filters to detect signaling tones. In the SAS method in which the design of filters is unnecessary, only the generation of sampling pulses is required, and main operations are additions and subtractions. These features are useful to implement flexible receivers and various types of receivers. The simplicity of the SAS method is demonstrated by the implementation of a DTMF receiver using a conventional 8-bit microcomputer without any special hardware. The minimum signal-to-noise ratio is 5.7 dB when the receiver operates for the signaling tones to be accepted. Four easily measurable parameters are used to distinguish signaling tones from noise inputs. Only two false detections occurred for severe noise inputs of thirty hours.     

Room temperature pulsed operation of 1.5 μm GaInAsP/InPvertical-cavity surface-emitting laser

Room-temperature pulsed operation of a GaInAsP/InP vertical-cavity surface-emitting laser diode (VCSELD) with an emission wavelength near 1.55 μm is reported. A double heterostructure with a 34-pair GaInAsP (λ_g=1.4 μm)/InP distributed Bragg reflector (DBR) was grown by metalorganic chemical vapor deposition (MOCVD). The measured reflectivity of the semiconductor DBR is over 97% and threshold current is 260 mA for a 40-μmφ device with a 0.88-μm-thick active layer. Threshold current density is as low as 21 kA/cm² at room temperature     

Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots

On March 11, 2011, a massive earthquake (magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis due to the loss of all power that resulted from the meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions, and, in one building, the nuclear reactions became out of control. It was too dangerous for humans to enter the buildings to inspect the damage because radioactive materials were also being released. In response to this crisis, it was decided that mobile rescue robots would be used to carry out surveillance missions. The mobile rescue robots needed could not be delivered to the Tokyo Electric Power Company (TEPCO) until various technical issues were resolved. Those issues involved hardware reliability, communication functions, and the ability of the robots' electronic components to withstand radiation. Additional sensors and functionality that would enable the robots to respond effectively to the crisis were also needed. Available robots were therefore retrofitted for the disaster reponse missions. First, the radiation tolerance of the electronic componenets was checked by means of gamma ray irradiation tests, which were conducted using the facilities of the Japan Atomic Energy Agency (JAEA). The commercial electronic devices used in the original robot systems operated long enough (more than 100 h at a 10% safety margin) in the assumed environment (100 mGy/h). Next, the usability of wireless communication in the target environment was assessed. Such tests were not possible in the target environment itself, so they were performed at the Hamaoka Daiichi Nuclear Power Plants, which are similar to the target environment. As previously predicted, the test results indicated that robust wireless communication would not be possible in the reactor buildings. It was therefore determined that a wired communication device would need to be installed. After TEPCO's official urgent mission proposal was received, the team mounted additional devices to facilitate the installation of a water gauge in the basement of the reactor buildings to determine flooding levels. While these preparations were taking place, prospective robot operators from TEPCO trained in a laboratory environment. Finally, one of the robots was delivered to the Fukushima Daiichi Nuclear Power Plants on June 20, 2011, where it performed a number of important missions inside the buildings. In this paper, the requirements for the exploration mission in the Fukushima Daiichi Nuclear Power Plants are presented, the implementation is discussed, and the results of the mission are reported.     

Working with robots in disasters

The Robot World Cup Initiative (RoboCup) is an international research and education initiative. It was started in order to foster artificial intelligence search. RoboCupRescue's domain is search and rescue operations in urban disasters. The RoboCup Rescue league consists of two projects: the simulation project and the robotics and infrastructure project. A multi-agent-based approach to disaster simulation provides many research themes and supports rescue operations in real situations. Simulation Project, not only agent implementation, but also the evaluation of the social agents' performance, the architecture of the distribution system, and the quality of communications, etc. The following features are important in this project to promote the research and provide verification methods.     

Release of granule proteins from human eosinophils stimulated with mast-cell mediators

The distribution of three integrin subunits, alpha3, alpha5 and alpha(v), in immature and mature human oocytes has been examined using immunofluorescence and confocal microscopy. The results demonstrate that both alpha5 and alpha(v) are present at the germinal vesicle stage, while alpha3 was only detected in oocytes after germinal vesicle breakdown, in metaphase I and II stage oocytes. The cortical concentration of integrin subunits alpha3 and alpha5 is consistent with their localization in the oolemma. In contrast, the homogeneous distribution of alpha(v) throughout the oocyte suggests the existence of cytoplasmic reservoirs of this protein in the oocyte.     

Disintegration process of yttria-stabilized zirconia ceramics using hydrothermal conditions

Capability of the recycling of high strength and high fracture toughness yttria-stabilized tetragonal zirconia polycrystalline (Y-TZP) sintered body utilizing “low-temperature annealing degradation” phenomenon was investigated. Hydrothermal treatment was employed to induce the phase transformation from tetragonal to monoclinic zirconia and to disintegrate the Y-TZP sintered body. 3 mol% Y₂O₃–ZrO₂ specimens sintered at 1,550 °C and more were disintegrated without leaving the original appearances when the treatment temperature was between 200 °C and 400 °C. The size of the disintegrated fragments of Y-TZP sintered body was much affected by hydrothermal treatment conditions. Only with hydrothermal treatment and simple ball milling, the sintered body was pulverized into the primary particle level. This technique is expected to apply to a sustainable recycling system for the zirconia ceramics, which restrains an energy consumption compared to crushing zirconia using mechanical procedures.     

Microstructure of External Stress Whiskers and Mechanical Indentation Test Method

Lead-free commercial products have been dramatically increasing in the world markets as the restriction of certain hazardous substances (RoHS) directive in the European Union has been enacted. At the same time, the problem of “tin whiskers” has become one of the most serious problems in the industry. Growth of tin whiskers is believed to be related to residual stress inside the tin plating film and external compressive stress. Whiskers in fine-pitch connectors have affected the practical production of advanced digital equipment. The Japan Electronics and Information Technology Industries Association (JEITA) has proposed a new testing method to evaluate tin whiskers, especially for the fine-pitch connectors. This paper describes the microstructures of external stress whiskers and the mechanical indentation test method.