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.     

Impaired stereoacuity due to a lesion in the left pulvinar

A right-handed patient with a haematoma in the left pulvinar showed impaired stereoacuity. In contrast with previous reports, he did not show peripheral visual extinction or prolonged reaction times for targets on the side contralateral to the lesion.     

Phonons and spin excitations in the extended t-J model

We consider the effects of spin-phonon coupling within the slave-boson mean-field treatment of the extended t-J model. With no additional assumptions the theory is found to give a semi-quantitative account of the frequency and linewidth anomalies observed for certain phonon modes in Y Ba₂Cu₃O₇ at the superconducting transition. We report also investigations of the role of this coupling in affecting thermodynamic properties and spin dynamics.     

Analysis of polarization plane rotation characteristic in 2D photonic crystal waveguide with chiral medium by condensed node spatial network

Using the photonic band gap in photonic crystals, the fundamental waveguide structures for the light wavelength range have been developed. Based on the fine structure of these many functional devices have been proposed by analytical or numerical simulation methods and the experiments of trial manufacture. In this paper, the treatment of chiral dielectric in the Condensed Node Spatial Network for the vector potential is explained, and we show the polarization plane rotation property in air‐hole and pillar type photonic crystal waveguide structures with the chiral medium substrate. Then, we show the fundamental advantage of the air‐hole type photonic crystal waveguide structure in application to a mode converter. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 152(1): 7–14, 2005; Published online in Wiley InterScience ( www.interscience. wiley.com ). DOI 10.1002/eej.20098     

Delay time compensation based on coefficient of restitution for collision hybrid motion simulator

A hybrid motion simulator embeds a hardware experiment in a numerical simulation loop. However, it is often subjected to the inherent problem of an energy increase in the collision of two pieces of hardware in a loop because of the delay time. This paper proposes a delay time compensation method based on contact dynamics model for a collision hybrid motion simulator under delay time and establishes a compensation method for coupled translational and rotational motion. The model developed in this paper describes linear uniform motion of a floating object during the period of the delay time until the force and torque are observed and non-linear motion according to environmental stiffness after the initial delay time period in contact. By using the above model, compensation parameters are designed based on desired coefficient of restitution with iterative calculation. The proposed method achieves accurate delay time compensation and simultaneously realizes a variable desired coefficient of restitution over a wide range of frequencies. Furthermore, the compensation method for multi-dimensional motion is established under the assumption that the friction effect is very small. The efficiency of the proposed method is verified through collision experiments for the coupled motion in two dimensions.     

Effect of applying voltage on photocatalytic destruction of 1,4-dioxane in aqueous system

In the current work, we prepared a TiO₂ coating on stainless mesh using electrophoretic deposition (EPD), and applied voltage to a stainless mesh to examine the synergy effect on photocatalysis of both 1,4-dioxane and ethylene glycol diformate (EGDF), a main intermediate of the photocatalysis of 1,4-dioxane. The photocatalytic decomposition rate of 1,4-dioxane depends on applying voltage under diffusion-limited reaction conditions. Ethylene glycol diformate and 1,4-dioxane exhibited inverse voltage dependence. Voltage swing provides high-efficiency photocatalysis of 1,4-dioxane while suppressing EGDF formation. This method will be effective for a photocatalysis system containing several chemicals, each with different voltage dependence.     

Observation of single-walled carbon nanotubes by photoemission microscopy

Single-walled carbon nanotube networks grown on SiO₂ pillars were studied by means of scanning photoemission microscopy. The individual nanotubes or nanotube bundles growing from the pillar tops were observed in C 1s images. Band bending near catalytic Fe/nanotube contacts in an end-bonded configuration was studied by measuring C 1s spectra along the tube axes. Within our experimental resolution, no band bending was observed. This implies that the depletion width is less than the spatial resolution of the scanning photoemission microscope (90 nm) or that the amount of the band bending is less than 0.1 eV.     

Solving multicolumn equilibrium stage operations by total linearization

An efficient, reliable and easily programmed method for solving systems of equilibrium stage separation devices is described. The method is an extension of an algorithm developed by Ishii and Otto⁽⁹⁾ for single columns. It solves all equations simultaneously, takes advantage of the basic tridiagonal matrix form form of the linearized steady state equations and can handle configurations which include distillation columns, absorbers and reboiled absorbers. The solution for a thermally coupled distillation system is presented.