Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

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.     

MnGeP2 Thin Films Grown by Molecular Beam Epitaxy

Growth conditions for MnGeP₂ thin films have been investigated by using molecular beam epitaxy (MBE) method. Mn and Ge were evaporated by K-cells, and P₂ was supplied by decomposing tertialybutylphosphine (TBP). GaAs (001) and InP (001) single crystals were used as substrates. An X-ray diffraction peak, which can be assigned to (008) peak of MnGeP₂, was observed at nearly the same position as the (004) peak of GaAs. The lattice constant of the MnGeP₂ thin film was determined to be 1.13 nm assuming its crystal structure is a c-axis oriented chalcopyrite type structure. Secondary phases such as GeP, MnGe_x and MnP were observed for beam fluxes of Mn and Ge as high as 1×10^–8 Torr.     

60 GHz band 64 QAM/OFDM terrestrial digital broadcasting signaltransmission by using millimeter-wave self-heterodyne system

This paper describes the first time experimental studies on 60-GHz band transmissions of terrestrial digital broadcasting signals (ISDB-T) with 64-QAM modulations on coded orthogonal frequency division multiplexing (COFDM) format. It has been a very difficult experiment to accomplish because it requires very stable and low phase-noise oscillators in the millimeter-wave band. The use of our proposed millimeter-wave self-heterodyne system, overcame this problem without using a stable oscillator, and provided a bit error rate (BER) of less than 10^-6 without any forward error correction. We also discuss the relationship between the carrier-to-noise power ratio and the BER obtained, and demonstrate that the penalty of the required CNR for our experimental system is less than 1 dB compared to the results of a back-to-back BER test     

MnGeP<Subscript>2</Subscript> Thin Films Grown by Molecular Beam Epitaxy

Growth conditions for MnGeP₂ thin films have been investigated by using molecular beam epitaxy (MBE) method. Mn and Ge were evaporated by K-cells, and P₂ was supplied by decomposing tertialybutylphosphine (TBP). GaAs (001) and InP (001) single crystals were used as substrates. An X-ray diffraction peak, which can be assigned to (008) peak of MnGeP₂, was observed at nearly the same position as the (004) peak of GaAs. The lattice constant of the MnGeP₂ thin film was determined to be 1.13 nm assuming its crystal structure is a c-axis oriented chalcopyrite type structure. Secondary phases such as GeP, MnGe _x and MnP were observed for beam fluxes of Mn and Ge as high as 1×10^?8 Torr.     

Comparing the Osteogenic Potential and Bone Regeneration Capacities of Dedifferentiated Fat Cells and Adipose-Derived Stem Cells In Vitro and In Vivo: Application of DFAT Cells Isolated by a Mesh Method

Background: We investigated and compared the osteogenic potential and bone regeneration capacities of dedifferentiated fat cells (DFAT cells) and adipose-derived stem cells (ASCs). Method: We isolated DFAT cells and ASCs from GFP mice. DFAT cells were established by a new culture method using a mesh culture instead of a ceiling culture. The isolated DFAT cells and ASCs were incubated in osteogenic medium, then alizarin red staining, alkaline phosphatase (ALP) assays, and RT-PCR (for RUNX2, osteopontin, DLX5, osterix, and osteocalcin) were performed to evaluate the osteoblastic differentiation ability of both cell types in vitro. In vivo, the DFAT cells and ASCs were incubated in osteogenic medium for four weeks and seeded on collagen composite scaffolds, then implanted subcutaneously into the backs of mice. We then performed hematoxylin and eosin staining and immunostaining for GFP and osteocalcin. Results: The alizarin red-stained areas in DFAT cells showed weak calcification ability at two weeks, but high calcification ability at three weeks, similar to ASCs. The ALP levels of ASCs increased earlier than in DFAT cells and showed a significant difference (p < 0.05) at 6 and 9 days. The ALP levels of DFATs were higher than those of ASCs after 12 days. The expression levels of osteoblast marker genes (osterix and osteocalcin) of DFAT cells and ASCs were higher after osteogenic differentiation culture. Conclusion: DFAT cells are easily isolated from a small amount of adipose tissue and are readily expanded with high purity; thus, DFAT cells are applicable to many tissue-engineering strategies and cell-based therapies.     

Direct dissimilar joining of aluminium alloys and polyamide 6 by friction lap joining*

Direct dissimilar joining of various Al alloy (A1050, A3004, A5052 and A5083) plates and a polyamide 6 plate was performed using friction lap joining (FLJ) with the Al alloy plate as a top and the polyamide 6 plate as a bottom. The effect of Mg content in Al alloys on the joining strength was investigated. TEM analysis made clear that the polyamide 6 and Al alloys were joined via oxide layer consisting of Al₂O₃ and MgO. The results of XPS analysis indicated that MgO was formed by the heating during FLJ, and the quantity of MgO was increased with increasing Mg content in Al alloys. The tensile shear strengths of A3004, A5052 and A5083 joints were saturated to about 2 kN because of the tensile fracture at the polyamide 6 plate outside the tool-passed zone, which were higher than that of the A1050 joint fractured at the joint interface. The peel strength of the joint was increased with increasing Mg content in Al alloys, and the fracture occurred both at the joint interface and at the polyamide 6 plate on the joint area. The fraction of polyamide 6 plate fracture was also increased with increasing Mg content in Al alloys.     

Characteristics of dissimilar laser-brazed joints of isotropic graphite to WC–Co alloy

The effect of Ti serving as an activator in a eutectic Ag–Cu alloy filler metal in dissimilar laser-brazed joints of isotropic graphite and a WC–Co alloy on the joint strength and the interface structure of the joint is investigated in this study. To evaluate the joint characteristics, the Ti content in the filler metal was increased from 0 to 2.8 mass%. The laser brazing was carried out by irradiating a laser beam selectively on the WC–Co alloy plate in Ar atmosphere. The threshold content of Ti required to join isotropic graphite to WC–Co alloy was 0.4 mass%. The shear strength at the brazed joint increased rapidly with increasing Ti content up to 1.7 mass%, and a higher Ti content was found to be likely to saturate the shear strength to a constant value of about 14 MPa. The isotropic graphite blocks also fractured at this content. The concentration of Ti observed at the interface between isotropic graphite and the filler metal indicates the formation of an intermetallic layer of TiC.     

Polyurea thin film ultrasonic transducers for nondestructive testing and medical imaging

Ultrasonic transducers using polyurea piezoelectric thin film are studied in this paper. Aromatic polyurea thin films, prepared by vapor deposition polymerization, have useful characteristics for use as an ultrasonic transducer. This paper presents the fabrication and experimental evaluation of ultrasonic transducers formed using polyurea films. First, the vapor deposition polymerization process using two monomers is briefly reviewed, and the temperature conditions for higher piezoelectric constants are explored. Second, in order to test the fundamental characteristics of this material as a high-frequency, ultrasonic transducer, a polyurea film of 2.5 microm thickness was deposited on a silicon substrate. In the pulse/echo experiment results, a resonant frequency of about 100 MHz was observed. Third, we fabricated a concave point focus transducer and a cylindrical line focus transducer. To examine the performances of the focus transducers, two-dimensional images of a coin and V(z) curve measurements for an aluminum surface were demonstrated.     

Structural ion selectivity of thia crown ether compounds with a bulky block subunit and their application as an ion-sensing component for an ion-selective electrode

Several 14-membered thia crown ether ionophores having a bulky block subunit were synthesized, and their chemical structures and ion selectivities were examined in detail when these compounds were used as an ion-sensing component of an ion-selective electrode. The ionophores of both cyclic and noncyclic thia ethers exhibited a high selectivity for silver ion (Ag(+)), in which the sulfur atom in the ionophore molecule plays a role as the effective coordination donor site for the silver ion. The best Ag(+)-selective electrode was prepared with the 14-membered thia crown ether having one sulfur atom, three oxygen atoms, and a bulky pinan subunit. The ion selectivity of this electrode for Ag(+) was over 10(4) times that for other metal cations. In the case where the sulfide in the thia ether ionophore was changed to sulfoxide by oxidation, ion selectivity for mercury ion became higher; therefore, the sulfoxide was found to be an effective coordination site for the mercury ion. The ion selectivity features of noncyclic sulfide, sulfoxide, and sulfone were also examined and compared with the results of the cyclic and noncyclic thia ethers.     

Resistance spot welding of metal/carbon-fibre-reinforced plastics and applying silane coupling treatment

Dissimilar materials joining of SUS304 and carbon-fibre-reinforced plastics consisting of short fibres and thermoplastics was performed. The materials were joined by series resistance spot welding. The electrodes were pressed on the metal plate of the lap joint of metal/carbon-fibre-reinforced plastics. The SUS304 plate was heated by resistance heating, causing the thermoplastic near the interface to melt slightly because of heat conduction. SUS304 could be joined directly to carbon-fibre-reinforced polyamide and modified polypropylene, but not to polyphenylene sulphide. The joining area increased with an increase in the welding current and welding time, so did the tensile shear fracture load. Furthermore, the silane coupling agent treatment of SUS304 was highly effective in increasing the joining strength.