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.     

Passivation effects of deuterium exposure on boron-doped CVD homoepitaxial diamond

The deuterium (hydrogen) passivation effect on acceptors in boron-doped CVD homoepitaxial diamond was studied by electrical (Hall-effect) and secondary ion mass spectroscopy (SIMS) measurements. Deuterium was incorporated into the samples using microwave (MW) deuterium plasma at 673 K for 2–24 h. We observed the progress of acceptor passivation with p-type conduction, which finally resulted in a highly resistive state.     

Theoretical and Experimental Study of Water Transport in a Hollow Cylinder Applied to the Drying of Round Squid Mantle

Until now, attention has been focused solely in the drying of squid mantle from an experimental point of view, neglecting the transport phenomenon studies of water in squid muscle. This work studies the drying of squid mantle (Loligo brasiliensis), previously salted and smoked by liquid smoking (hickory extract), using a tubular dryer in closed cycle with a silicagel fixed bed in series. The mass transfer phenomenon during drying was studied, based on the Fick's second law, with the effective diffusivity supposed constant, which enabled an analytical solution to the problem. The drying curve calculated with the resulting equation was compared with experimental data. The model was applied to a hollow cylinder geometry (round squid mantle), with its internal surface isolated from the drying environment by a plastic film. The latter was given a tubular form and introduced inside the mantle cavity (impervious wall boundary condition).     

A sensorless brushless dc motor system

This paper describes a brushless dc motor system without position or speed sensor. The brushless motor consists of a permanent magnet synchronous motor and a voltage-source inverter capable of controlling the amplitude and frequency of voltage. The rectangular-shaped stator current with a conducting interval of 120° (electrical) is controlled to be in phase with the trapezoidal back electromotive force. This results in producing maximum torque. Variable speed is achieved by adjusting the average motor voltage similarly to chopper control of dc motors. In this paper, two sensorless position detecting methods, i.e., an “indirect method” suited for the lower-speed range and a “direct method” suited for the higher-speed range are proposed. The combination of the two makes it possible to detect the rotor position over a wide-speed range. Furthermore, a speed-sen-sorless PLL control is proposed in applying the principle of the direct method. Experimental results obtained from a prototype brushless dc motor are shown to confirm the validity of the sensorless drive. The starting procedure of the motor also is discussed because it is impossible to detect the rotor position at a standstill.     

Structure of microporous polypropylene sheets containing CaCO3 filler

The microporous polypropylene sheets were prepared by biaxially stretching polypropylene sheets containing CaCO₃ filler (particle size, 0.08–3.0 μm), when the CaCO₃ filler content was 59% by weight and the stretching ratio was 2.8 × 1.8. The microstructure of the sheets were investigated in relation to the CaCO₃ particle size by a N₂ gas permeation method. (1) Effective porosity increases with decreasing mean particle size of filler. (2) The tortuosity factor of the pore is in the range of 25–40 and becomes relatively smaller with decreasing mean particle size of filler. (3) The equivalent pore size becomes relatively smaller with decreasing mean particle size of filler.     

Electron acceleration by single and double laser beams

The longitudinal electric field of single and double Gaussian laser beams are used to accelerate electrons. The longitudinal field of the single beam is concentrated on the axis and is favourable for acceleration. A set of two beams is considered. Beams run parallel, collinearly, overlap partially and have a phase difference iπ in between. As a result, the transverse components of fields cancel each other while the longitudinal components are double-fold. In both schemes, the electrons are accelerated in lengths of the Rayleigh range, which is common to the plasma-based accelerators.     

The integral experiment on beryllium with D-T neutrons for verification of tritium breeding

A clean benchmark experiment on beryllium was performed with D-T neutrons at the FNS facility of the Japan Atomic Energy Agency. The main objective was to verify the integral data related to the tritium production on lithium isotopes. Tritium production rates, as well as activation reaction rates were measured inside the beryllium assembly that was shaped as a pseudo-cylindrical slab with an area-equivalent diameter of 628 mm and a thickness of 355 mm. Experimental results were analyzed with a three-dimensional Monte Carlo transport code MCNP-4C and FENDL/MC-2.0, JENDL-3.2/3.3 neutron transport libraries. Evaluation of reaction rates was based on the cross section data taken from the JENDL Dosimetry File and ENDF B-VI data libraries. Analysis shows that all calculation combinations (transport and activation cross section libraries) used for evaluation of reaction rates give data that is agreeable with measured values within 10%.     

IRISTER - magneto-optical disk for magnetically inducedSuperResolution

IRISTER (IRIS Thermal Eclipse Reading) is a remarkable technique for achieving superresolution in optical disks. Two applications of IRISTER are Magnetically induced SuperResolution (MSR) and Premastered optical disk by SuperResolution (PSR). Magnetically induced SuperResolution (MSR) has been realized in magneto-optical disks using exchange-coupled magnetic multilayer films. Two new detection methods have been developed. In the front aperture detection (FAD) method, the heated area in the light spot works as an optical mask so that the signal is read out only from the remaining crescent-shaped area in the spot. In the rear aperture detection (RAD) method, the signal is read out only from the heated area. The cutoff spatial frequency for both types of detection is more than two times higher than that in conventional detection. A high C/N of 42 dB is obtained in the MSR disks by both methods for a mark length of 0.3 μm, which is much shorter than the optical limit. Premastered optical disk by SuperResolution (PSR) has been realized in read-only optical disks using phase-change materials. In the front aperture detection (FAD) method for PSR, the prerecorded signal is read out only from the high reflective crescent-shaped area in the light spot, because the reflectance of the heated area is too low. A C/N of 51 dB for a mark length of 0.3 μm has been obtained for the PSR disk     

Different feeding and gustatory responses to ecdysone and 20-hydroxyecdysone by larvae of the silkworm,Bombyx mori

The feeding and gustatory responses to ecdysone and 20-hydroxyecdysone were investigated in the silkworm,Bombyx mori. 20-Hydroxyecdysone reduced feeding response strongly in fourth- and fifth-instar larvae, whereas ecdysone had no effect on feeding response. 20-Hydroxyecdysone stimulated the R receptor, the receptor to feeding deterrents, to a great degree. By contrast, ecdysone was much less effective for stimulating the R receptor. These results indicate that ecdysone and 20-hydroxyecdysone have different effects on feeding response due to different interactions with mouthpart chemoreceptors.     

Properties of aqueous solutions of several salts of α,ω-alkanediol disulfates

Several salts of α,ω-sulfates, MO₃SO(CH₂)_n OSO₃M(n=12, 14, 16, 18, and M=Li, Na, and K) were prepared from the corresponding α,ω-alkane diols. The Krafft points of these α,ω-sulfates with common counterion as estimated by electroconductivity measurements increased with the increase of the hydrocarbon chain length, and the effect of the counterions on the Krafft points of the α,ω-sulfates with the same hydrocarbon chain length was in the order : Li<Na<K. Solutions of the α,ω-sulfates, except disodium dodecanediol disulfate, showed two break points corresponding to the first and second critical micelle concentration in each plot of the electroconductivity as a function of the concentration. The existence of the second break point suggested that another aggregation of rearrangement of the existing aggregates occurs in α,ω-sulfate solutions in addition to the usual micelle formation. The first and second break points of α,ω-sulfates with sodium counterion decreased logarithmically with increasing total number of methylene groups. The relationships were given as follows: log(first break point)=−0.138Nc−0.095; log(second break point)=−0.104Nc−0.251. The effect of the counterions upon the break points of α,ω-sulfates with the same hydrocarbon chain length was in accordance with their positions in the lyotropic series.