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.     

Computation of mutual entropy in quantum markov chains

There are several damping phenomena in quantum optics. Such phenomena have been usually explained by open systems. In statistical physics, open system dynamics have been used to study the irreversibility and the approach to equilibrium. In this paper, the dynamical change of the mutual entropy for an open system, frequently studied in the quantum optics literature, is rigorously computed through a model of quantum Markov chain. In particular, the concrete formula of Stinespring expression for such a model is obtained and applied to the derivation of the mutual entropy, and some computational results are presented.     

Effect of Milling on Slip Casting of Partially Stabilized Zirconia

Specimens of partially stabilized zirconia were slip cast from aqueous suspensions and sintered at 1500°C for 3 h. The relative density of the cast specimens and the firing shrinkage of the sintered specimens depend on the milling time for the suspension. Vickers hardness and K_IC values of 11.46±s0.07 GN/m² and 6.10 ±0.04 MN.m^3/2, respectively, were obtained for all sintered specimens. The dispersion of the suspension is important in increasing the relative density of the cast specimens.     

Evolutionary design of dynamic neural networks for evaporator control

This paper presents a novel neural network (NN) to control an ammonia refrigerant evaporator. Inspired by the latest findings on the biological neuron, a dynamic synaptic unit (DSU) is proposed to enhance the information processing capacity of artificial neurons. Treating the dynamic synaptic activity after the nonlinear somatic activity helps to capture the dynamics demarcated by the Gaussian activation pertaining to the input space. This practice leads to a remarkable reduction in curse of dimensionality. The proposed NN architecture has been compared with two other conventional architectures; one with dynamic neural units (DNUs) and the other with nonlinear static functions as perceptrons. The objective is to control evaporator heat flow rate and secondary fluid outlet temperature while keeping the degree of refrigerant superheat in the range 4–7 K at the evaporator outlet by manipulating refrigerant and evaporator secondary fluid flow rates. The drawbacks of conventional approaches to this problem are discussed, and how the novel method can overcome them are presented. An evolutionary approach is adopted to optimize the parameters of the NN controllers. Then evaporator process model is accomplished as a combination of governing equations and a sub NN resulting in a simple and sufficiently accurate model. The effectiveness of the proposed dynamic NN controller for the evaporator system model is validated using experimental data from the ammonia refrigeration plant.     

Pixel design of pulsed CMOS image sensor for retinal prosthesis with digital photosensitivity control

A newly designed pulse frequency modulation photosensor for use in retinal prosthesis is proposed and demonstrated. The pixel converts the intensity of incident light into biphasic current pulses at frequencies suitable for the electrical stimulation of retinal neurons. Experimental results showed that the device was sensitive over a dynamic range of input light of about 120 dB, and that photosensitivity could be varied from 0 dB to around -40 dB.     

Excessive closure of the right eye: a new sign of infarction in the territory of the ipsilateral right middle cerebral artery

In right middle cerebral territory infarction a new sign, excessive closure of the right eye ipsilateral to the lesion and mild closure of the left eye on command, was noted. The excessive ipsilateral eye closure was not observed on spontaneous eye closure.     

Bias-stress-induced increase in parasitic resistance of InP-based InAlAs/InGaAs HEMTs

The reliability of InP-based HEMTs is studied, focussing on how it is affected by the doped layer material and gate recess structure. Bias-and-temperature stress tests reveal that fluorine-induced donor passivation in the recess region, formed adjacent to the gate electrode, causes the source resistance (R_s) to increase at large drain bias voltages. The increase in R_s can be prevented by using InP or InAlP as the carrier supply layer material instead of InAlAs. On the other hand, the increase in the drain resistance (R_d) does not depend on the material of the carrier supply layer, which suggests that a mechanism different from that in the case of R_s should be considered. It is also found that a deep gate recess suppresses the increase in R_d after long-term stressing.     

STRUCTURE FORMATION OF COATED FILMS WITH DISPERSED PIGMENTS DURING DRYING

In the drying of coated films with dispersed pigments, such as floppy disks, the structure of the film is formed during the drying process and depends on the drying condition. It is important to understand the structure formation during drying for the design of the dryer and die better quality of the product. We measured die drying characteristics of the film and determined the structure of dried film experimentally. A qualitative model for the structure formation during drying of the coated film is suggested.     

Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.