Preparation and characterization of rubber‐toughened poly(trimethylene terephthalate)/organoclay nanocomposite

Rubber‐toughened poly(trimethylene terephthalate) (PTT)–organoclay nanocomposite (RTPTTCN) was prepared by a melt mixing technique. The rubber‐toughened PTT (RTPTT) was made by blending it with ethylene propylene diene terpolymer (EPDM) and with a small amount of maleated EPDM as a compatibilizer. XRD and TEM analysis indicated that the RTPTTCN forms a partially exfoliated nanocomposite. It was observed from SEM analysis that the clay nanoparticles induced a reduction of rubber particle size in the PTT matrix. Tensile and dynamic mechanical analysis indicated that the clay nanoparticles enhance the stiffness of the RTPTT without adversely affecting its toughness. Melt rheological studies revealed that the nanocomposites exhibited strong shear thinning behavior, and a percolated network of the clay particles was formed. It was also observed from DSC that the clay nanoparticles caused an increase in the nonisothermal crystallization temperature of the PTT. POLYM. ENG. SCI., 47:863–870, 2007. © 2007 Society of Plastics Engineers     

Robust DOA estimation and target docking for mobile robots

Direction of arrival (DOA) guided automated target acquisition and docking system is proposed for mobile robots employing the dual-directional antenna system. The dual-directional antenna estimates the DOA of the signal of interest using the ratio of the signal strengths between two adjacent antennas. In practice, DOA estimation poses a significant technical challenge, since the RF signal is easily distorted by the environmental conditions. Therefore, the robot often loses its way in an electromagnetically disturbed environment. To cope with this problem, a robust DOA estimation algorithm is developed based on Kalman filtering. This algorithm allows the robot to reduce the potential error in the estimated DOA, and adjust the robot’s heading to the target transponder without needing to know the positions of current and previous measurements in a global coordinate system. The simulation and experiment results clearly demonstrate that the mobile robot equipped with the developed system is able to dock to a target transponder in an indoor environment partially occupied by obstacles.     

Design and control of JAIST active robotic walker

This paper presents the design and control of a novel assistive robotic walker that we call “JAIST active robotic walker (JARoW)”. JARoW is developed to provide potential users with sufficient ambulatory capability in an efficient, cost-effective way. Specifically, our focus is placed on how to allow easier maneuverability by creating a natural interface between the user and JARoW. For the purpose, we develop a rotating infrared sensor to detect the user’s lower limb movement. The implementation details of the JARoW control algorithms based on the sensor measurements are explained, and the effectiveness of the proposed algorithms is verified through experiments. Our results confirmed that JARoW can autonomously adjust its motion direction and velocity according to the user’s walking behavior without requiring any additional user effort.     

Local collision avoidance of multiple robots using avoidability measure and relative distance

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.     

Compact and power‐saving polysilicon data driver with common‐decoder DA converter (CD‐DAC)

Abstract— A common‐decoder architecture for a data‐driver circuit fabricated by using a polysilicon process has been developed. The architecture achieves a compact circuit and low‐power consumption. In application to an integrated polysilicon data driver for small‐sized displays, this architecture reduces the area of the data driver by removing the vertical bus lines that occupy a large area. It also suppresses the power consumption of the data bus by reducing the number of driven lines in the data bus during word‐to‐word transitions from six to two. By using a conventional 4‐μm design rule, we fabricated an active‐matrix OLED (AMOLED) panel with an integrated six‐bit data‐driver circuit with 384 outputs. The driver circuit had a height of 2.6 mm and a pitch between output lines of 84 μm. The maximum power consumption of the driver was only 5 mW, i.e., 3.8 mW for logic‐data transfer and 1.2 mW for reference‐voltage source. Furthermore, we also fabricated an active‐matrix LCD (AMLCD) panel including driver circuits of the same type as the integrated elements. Six‐bit full‐color images were successfully displayed on both panels.     

Theoretical limits of engine economy with alternative automotive fuels

Calculations have been made of the theoretical limits of engine efficiency for various fuels. Considered were methanol, ethanol, benzene, iso-octane, ethane and methane. The ideal Otto cycle was used for the calculations, since it represents the upper limit for fast-burn adiabatic engines. At the conditions explored, small differences in thermodynamic cycle efficiency of under 2 per cent exist among the various fuels. These differences can be explained by the thermodynamic properties of the fuel/air mixtures themselves.     

New power consolidation-inversion-control system for faraday MHD generator

The authors propose a new power consolidation-inversion-control system for the Faraday MHD generator using the voltage source PWM inverters. The dc output power for each electrodes pair of the MHD generator is at first inverted into three-phase ac power by a voltage source PWM inverter, and then the ac powers are consolidated by transformers. The proposed system does not need such expensive equipment as an ac filter or phase modifier and can independently and simultaneously control the active and reactive powers provided to the electric power system. Numerical simulations of the whole system, including the Faraday MHD generator, the proposed power consolidation-inversion-control system, and the electric power system, show that the proposed system can stably and steadily transmit and control the electric power from the MHD generator to the electric power system. It is also confirmed that the proposed system can independently and simultaneously control the active and reactive powers and can be used as a fast power controller.     

Oxidation of Benzene Catalyzed by 2,2′-Bipyridine and 1,10-Phenantroline Cu(II) Complexes

The use of mononuclear Cu(II) 2,2′-bipyridine and 1,10-phenantroline complexes as catalysts in the oxidation of benzene, using hydrogen peroxide and tert-butyl hydroperoxide as oxidant in CH₃CN/H₂O solution is presented. The reactions were carried out at 25 and at 50 °C. The complexes [Cu(bipy)₃]Cl₂ · 6H₂O (1), [Cu(bipy)₂Cl]Cl · 5H₂O (2), [Cu(bipy)Cl₂] (3), [Cu(phen)₃]Cl₂ · 7H₂O (4), [Cu(phen)₂Cl]Cl · 5H₂O (5), [Cu(phen)Cl₂] (6) were able to oxidize benzene into phenol, hydroquinone and p-benzoquinone. Highest conversion (22%) was obtained using [Cu(Phen)Cl₂] (6) as catalyst.     

Manganese oxides treated with organic compounds as catalysts for water oxidation reaction

Manganese oxides of different crystalline structures: α-MnO₂, δ-MnO₂, α,γ-MnO₂ and Mn₂O₃; were treated with the organic compounds picolinic acid, ethylenediamine and pyridine; and were applied as catalysts in the chemical water oxidation reaction using Ce(IV) ammonium nitrate as sacrificial oxidant. The treatment led to modifications in the oxides properties, such as reduction of the particle size, increase of surface area and partial reduction of Mn⁴⁺ to Mn³⁺ for the Mn(IV) oxides, or of Mn³⁺ to Mn²⁺ for Mn₂O₃, because of favored interactions of the organic molecules with the lattice planes with higher d spacing. Oxygen evolution reaction (OER) tests showed the superior catalytic activity of the treated Mn(IV) oxides, for instance α,γ-MnO₂-en presented TOF five times higher than pure α,γ-MnO₂. The increase in surface area as well as the higher Mn³⁺ content caused by the treatment of the Mn(IV) oxides were correlated with the improvement in the OER catalytic activity.     

Rapid coverage of regions of interest for environmental monitoring

Intelligent Service Robotics - We present a framework for rapidly determining regions of interest (ROIs) from an unknown intensity distribution, particularly in radiation fields. The vast majority...