The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition. 相似文献
We synthesized new composite particles for hydrogen storage on the basis of an idea of “particle designing”. As starting materials, powders of Mg and YNi2 were selected. Fine composite particles containing mainly Mg2Ni could be designed by repetitive hydriding and dehydriding cycles at 673 K. In the synthesis process of the composite particles, the following two points were found to be essential for this technique. The first point is that, after being activated by the sequential processes of hydrogenation, amorphization and disproportionation, YNi2 reacts effectively with Mg. The second point is that evaporated Mg, which occurs during dehydriding, adheres to the surface of the activated YNi2 and accelerates a diffusion reaction to form Mg2Ni at the interface. In these composite particles, Mg2NiH4 is formed, even at 373 K, under a hydrogen pressure of 5 MPa. 相似文献
The surface chemical states of the perovskite-type compounds, strontium doped lanthanum cobalt oxides (La1?xSrxCoO3), have been investigated using X-ray photoelectron spectroscopy (XPS). Catalytic oxidations of both methane and CO have also been investigated using flow methods. The chemical composition of the surface of La1?xSrxCoO3 was very different from that in the bulk, which was measured by X-ray fluorescence spectroscopy (XRFS). The catalytic activity of La1?xSrxCoO3 increased with an increase in the quantity of cobalt atoms on the surface. 相似文献
The demand for energy in Japan is expected to increase steadily into the future, and it seems that the importance of nuclear power generation will be heightened more when the situation of our country which is not rich in energy resources is taken into account.
Furthermore, when we consider the present situation that the light water reactors have become common, recent outlook for the supply and demand for uranium resources, trends in the development of the fast breeder reactor technology, etc., the light water reactors are expected to remain dominant in the nuclear power generation of our country until at least the second half of the 21st century.
Based on such a background five PWR utilities in Japan (Hokkaido, Kansai, Shikoku, Kyushu, and the Japan Atomic Power), and Mitsubishi Heavy Industries, Ltd. have jointly started researching the Next Generation PWR which is expected to be the leading nuclear power plant taking place of APWR. 相似文献
The adsorption properties of oxygen and methane on Ga-ZSM-5 and Cu-ZSM-5 catalysts were examined by a TPD method to clarify the extraordinary selectivity of HC-SCR using methane on Ga-ZSM-5. It was observed that Ga-ZSM-5 did not adsorb oxygen but adsorbed methane dissociatively, while on Cu-ZSM-5 oxygen was dissociatively adsorbed and reacted with adsorbed ethylene. 相似文献
Polyarylates from substituted hydroquinones (HQs) and p-terphenyl-4,4″-dicarboxylic acid (TPDA) that were modified with 1,2-bis(phenoxy)ethane-4,4′-dicarboxylic acid (PEC), 1,2-bis(2-chlorophenoxy)ethane-4,4′-dicarboxylic acid (ClPEC), terephthalic acid (TA) and p-hydroxybenzoic acid (HBA) were prepared and their thermal and mechanical properties were investigated. These polyarylates exhibited liquid crystallinity at about the same temperatures as polyarylates derived from substituted HQs and 4,4′-diphenyldicarboxylic acid (BB). However, as-spun fibers and injection-molded specimens of these polyarylates exhibited lower moduli than those of substituted HQs and BB that were modified with PEC, Cl-PEC and TA. 相似文献
Active wustite (FeδO, with a δ value of 0.98) was prepared by keeping normal wustite (δ value of 0.94) in a N2 atmosphere at 300°C for 10 min. This reaction is given by (4δ2–3)Feδ1O→(4δ1–3)Feδ2O + (δ2–δ1)Fe3O4 where δ1= 0.94 and δ2= 0.98. The equation indicates that the normal wustite undergoes eutectoid decomposition into active wustite and stoichiometric magnetite (Fe3O4). Carbon dioxide (1.013 × 105 Pa) was almost completely (100%) decomposed into carbon (zero valence) by the active wustite at the low temperature of 300°C, which was associated with the transformation of the active wustite into the stoichiometric magnetite. The internal pressure of the reaction cell eventually became a vacuum. 相似文献
The paper discusses development of a method for estimating disaster waste that can be potentially generated by a natural disaster in the future for pre-disaster waste management. In particular, this research focuses on micro-disaster waste originating from household consumer durables. We documented the number of household consumer durables and built a mass per unit database of major consumer durables using web-based and statistical surveys. We also estimated present and future figures of disaster waste that can be generated in the study area. The estimated total amount of disaster waste that could be generated in 2015 was 24.1 kt (18.1–29.8 kt) and 108 kt (81.8–133 kt) for Kobe City and Ise-Shima region, respectively. The total quantities of TV sets, air conditioners, refrigerators, and washing machines generated in Kobe and Ise-Shima will range between 10.9 and 22.8 kt (247,000–545,000 units) in 2015, and 10.7 kt to 22.8 kt (249,000–550,000 units) in 2035. The quantity estimated for 2015 is equal to 61 % of the annual processing capacity of Plant A, Japan’s leading home appliances recycling plant. Finally, we discussed the contribution of the estimation results and geographic information systems in future recycling planning. 相似文献