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.     

Dye-sensitized solar cell based on nanocrystalline TiO<Subscript>2</Subscript> with 3–10 nm in diameter

Nanocrystalline TiO₂ with 3–10 nm in diameter was prepared with a surfactant-template method. Dye-sensitized solar cells were assembled using the prepared nanocrystalline TiO₂ with large surface area and high crystallinity, which achieved significant higher Jsc when compared to cells fabricated with bigger particles of 25 nm in diameter. In the cells with nanocrystalline TiO₂, the sintering temperature drastically affected the conversion performance of the cells.     

An integrated modeling approach to predict flooding on urban basin.

Correct prediction of flood extents in urban catchments has become a challenging issue. The traditional urban drainage models that consider only the sewerage-network are able to simulate the drainage system correctly until there is no overflow from the network inlet or manhole. When such overflows exist due to insufficient drainage capacity of downstream pipes or channels, it becomes difficult to reproduce the actual flood extents using these traditional one-phase simulation techniques. On the other hand, the traditional 2D models that simulate the surface flooding resulting from rainfall and/or levee break do not consider the sewerage network. As a result, the correct flooding situation is rarely addressed from those available traditional 1D and 2D models. This paper presents an integrated model that simultaneously simulates the sewerage network, river network and 2D mesh network to get correct flood extents. The model has been successfully applied into the Tenpaku basin (Nagoya, Japan), which experienced severe flooding with a maximum flood depth more than 1.5 m on September 11, 2000 when heavy rainfall, 580 mm in 28 hrs (return period > 100 yr), occurred over the catchments. Close agreements between the simulated flood depths and observed data ensure that the present integrated modeling approach is able to reproduce the urban flooding situation accurately, which rarely can be obtained through the traditional 1D and 2D modeling approaches.     

Partial scan design and test sequence generation based on reduced scan shift method

This paper presents a partial scan algorithm, calledPARES (PartialscanAlgorithm based onREduced Scan shift), for designing partial scan circuits. PARES is based on the reduced scan shift that has been previously proposed for generating short test sequences for full scan circuits. In the reduced scan shift method, one determines proch FFs must be controlled and observed for each test vector. According to the results of similar analysis, PARES selects these FFs that must be controlled or observed for a large number of test vectors, as scanned FFs. Short test sequences are generated by reducing scan shift operations using a static test compaction method. To minimize the loss of fault coverage, the order of test vectors is so determined that the unscanned FFs are in the state required by the next test vector. If there are any faults undetected yet by a test sequence derived from the test vectors, then PARES uses a sequential circuit test generator to detect the faults. Experimental results for ISCAS'89 benchmark circuits are given to demonstrate the effectiveness of PARES.     

Infrared sensing properties of positive temperature coefficient thermistors with large temperature coefficients of resistivity

Infrared (IR) detecting elements were prepared using positive temperature coefficient (PTC) thermistors with large temperature coefficients of resistivity (α). Their compositions were denoted as Ba_1−x Sr _x Nb_0.003Ti_0.997O₃ + 1 mol % TiO₂ + 0.07 mol %MnO (x=0, 0.2), and their temperature coefficients of resistivity were 78 and 50% K⁻¹, respectively. Their IR sensing properties were measured under the self-regulating heating conditions, and were compared with those of a detector with small α (18 % K⁻¹). It was shown that large α was effective for controlling the element temperature by self-regulating heating and for improving sensitivity. The responsivity,R _v of the element withx=0.2 was 980 VW⁻¹, and was as large as those of pyroelectric detectors. Expressions which normalize the sensitivity and the thermal time constant were derived. From these expressions, criteria for improving some IR sensing properties were obtained.     

Requirement of major histocompatibility complex-compatible microenvironment for spleen colony formation (CFU-S on day 12 but not on day 8)

The objectives of this study were 1) to evaluate interleukin-8 concentrations in cervical secretions in predicting preterm delivery, microbial invasion of the amniotic cavity and histologic chorioamnionitis in patients with preterm labor and intact membranes and 2) to compare the diagnostic value of interleukin-8 with fetal fibronectin determinations in predicting preterm delivery, microbial invasion of the amniotic cavity and histologic chorioamnionitis in patients with preterm labor and intact membranes. Interleukin-8 and fetal fibronectin were assayed in cervical secretions in 106 patients with singleton pregnancies and intact membranes admitted for preterm labor. Amniotic fluid obtained by amniocentesis was cultured and placentas (No = 43) analyzed for the presence of chorioamnionitis. The prevalence of pregnancies delivered preterm was 46.2% (49/106) and 15.09% (16/106) of amniotic fluid cultures were positive. Interleukin-8 levels in cervical secretions were significantly increased in patients who delivered preterm (p < or = 0.0001), in presence of positive amniotic fluid culture (p = 0.0016) and histological chorioamnionitis (p = 0.008) than in patients with negative findings. Receiver-operator characteristics curve analysis showed that an interleukin-8 value > 450 pg/ml is comparable to that of a fetal fibronectin value > 50 ng/ml in predicting preterm delivery (p = 0.247). Among patients who delivered preterm interleukin-8 concentrations > 860 pg/ml predicted a positive amniotic fluid culture with a sensitivity of 81.2% and a specificity 66.6%. Further, in patients who delivered preterm and had a negative amniotic fluid culture, IL-8 concentrations > 480 pg/ml predicted histological chorioamnionitis with a sensitivity 78.5% and specificity 61.5%. A positive fetal fibronectin > 50 ng/ml was not predictve of either a positive amniotic fluid culture or the presence of histological chorioamnionitis. In conclusion, increased concentrations of interleukin-8 and fetal fibronectin are associated with impending delivery and their diagnostic value seems comparable. However, interleukin-8 concentrations identify patients at risk of a positive amniotic fluid culture and the presence of histological chorioamnionitis. Measurement of interleukin-8 in cervical secretion is a non-invasive method to identify patients at risk for both preterm delivery and intrauterine infection.     

The cause of the uneven carbonization process in wet coal charging in coke oven chamber

In the case of the wet coal charging process in coke oven chamber, it is known that the coking process is uneven and a local carbonization delay occurs. The reason was investigated through a laboratory-scale experiment and a quantitative estimation. A partial carbonization test in a test coke oven replicated the uneven plastic layer and local carbonization delay. It was revealed that most of the gas generated in the uncarbonized coal layer results from the evaporation of condensed water and that steam can break through the plastic layer in a test coke oven. Moreover, the order estimation implied that steam that generates in the uncarbonized coal layer and breaks through the plastic layer has sufficient heat capacity to cool the heating wall and delay the carbonization. It was also shown that the steam pressure peak measured in a commercial coke oven is much lower than the estimated steam pressure in this study assuming steam not breaking through the plastic layer. The above-mentioned results and quantitative investigation strongly support the ‘steam breaking through the plastic layer’ theory proposed by Dr. Rohde that an uneven carbonization process is caused by vaporized coal moisture breaking through the plastic layer at definite, unforeseeable points, which results in cooling of the wall by the steam flow.