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.     

Active sites of Cu-ZSM-5 for the decomposition of acrylonitrile

The catalytic decomposition of acrylonitrile (AN) over Cu-ZSM-5 prepared with various Cu loadings was investigated. AN conversion, during which the nitrogen atoms in AN were mainly converted to N₂, increased as Cu loading increased. N₂ selectivities as high as 90–95% were attained. X-ray diffraction measurements (XRD) and temperature-programmed reduction by H₂ (H₂-TPR) showed the existence of bulk CuO in Cu-ZSM-5 with a Cu loading of 6.4 wt% and the existence of highly dispersed CuO in Cu-ZSM-5 with a Cu loading of 3.3 wt%. Electron spin resonance measurements revealed that Cu-ZSM-5 contains three forms of isolated Cu²⁺ ions (square-planar, square-pyramidal, and distorted square-pyramidal). The H₂-TPR results suggested that in Cu-ZSM-5 with a Cu loading of 2.9 wt% and below, Cu⁺ existed even after oxidizing pretreatment. The activity of AN decomposition over Cu/SiO₂ suggested that CuO could form N₂, but, independent of the CuO dispersion, nitrogen oxides (NO_x) were formed above 350 °C. Cu⁺ and the square-pyramidal and distorted square-pyramidal forms of Cu²⁺ showed low activity for AN decomposition. Temperature-programmed desorption of NH₃ suggested that N₂ formation from NH₃ proceeded on Cu²⁺, resulting in the formation of Cu⁺. The Cu⁺ ions were oxidized to Cu²⁺ at around 300 °C. Thus, high N₂ selectivity over Cu-ZSM-5 with a wide range of temperature was probably attained by the reaction over the square-planar Cu²⁺, which can be reversibly reduced and oxidized.     

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.     

A Novel UWB Pulse Shape Modulation System

In this paper novel modified Hermite polynomial functions for use in impulse radio (ultra-wideband) communications are proposed. With these functions pulse shapes which are orthogonal and have nearly constant pulse width regardless of the pulse order are generated. These properties hold under the effects of differentiation. An M-ary communication system is constructed using these pulse shapes. A Matlab model for generating the pulses is designed and the effect of timing jitter on the performance of the system is investigated by computer simulation.     

Sinterability and properties of Ti(N1−x,O x ) y -(V,Ta)C-Ni sintered alloys having a golden colour

The effect of oxygen and carbide addition on the sinterability of TiN _y (0.42<y<1)-Ni alloys, in which part of the nitrogen is replaced by oxygen was investigated. It was found that sinterability increased as the oxygen and carbide content increased, but the strength of the resultant sintered alloys was significantly reduced due to the presence of Ni₃Ti and Ti₂O₃ phases when the oxygen content exceeded 50 mol %. The sintered alloy with the highest hardness was found whenx=0.7,y=0.78 and the (V,Ta)C content was 18% by weight and this alloy was characterized by having a low density, good corrosion resistance and the colour of gold.     

A Study of Shadowing on Indoor Visible-Light Wireless Communication Utilizing Plural White LED Lightings

White LED is considered as a strong candidate for the future lighting technology. We have proposed an optical wireless communication system that employs white LEDs for indoor wireless networks. In this system, LED is used not only as a lighting device, but also as a communication device. The transmitter has large optical power and large emission characteristics to function as lighting device. And the system has specific wireless channel impulse response differing from infrared wireless communication. In this paper, we discuss about shadowing effect on the system utilizing plural LED lightings including the performance of ISI based on the impulse response. We consider the downlink transmission based on TDMA and evaluate the shadowing effect caused by pedestrians with computer simulation. When the shadowing often occurs at 800 Mb/s, the performance of outage call duration rate and blocking rate are improved by using 3 LED lightings compared with 1 or 2 LED lightings. And, we show that the system with the optimal number of the LED lighting is robust against shadowing and can accommodate more calls. Toshihiko Komine was born in Shizuoka, Japan, on November 17, 1978. He received the B.E. and M.E. degrees in Information and Computer Science from Keio University, Yokohama, Japan, in 2001 and 2003 respectively. He is currently studying for the Ph.D. degree at Department of Information and Computer Science, Keio University. His current research interests are optical wireless communications and LED communications. Shinichiro Haruyama is a professor at Department of Information and Computer Science, Faculty of Science and Technology, Keio University, Yokohama, Japan. He received an M.S. in engineering science from University of California at Berkeley in 1983 and a Ph.D. in computer science from the University of Texas at Austin in 1990. He worked for Bell Laboratories of AT{&}T and Lucent Technologies, U.S.A from 1991 to 1996, and for Sony Computer Science Laboratories, Inc. from 1998 to 2002. His research interests include reconfigurable system, system design automation, wireless communication, and visible light communication. Masao Nakagawa was born in Tokyo, Japan in 1946. He received the B.E., M.E. and Ph.D. degrees in electrical engineering from Keio University, Yokohama, Japan, in 1969, 1971 and 1974 respectively. Since 1973, he has been with the Department of Electrical Engineering, Keio University, where he is now a Professor. His research interests are in CDMA, consumer Communications, Mobile communications, ITS (Intelligent Transport Systems), Wireless Home Networks, and Visible light Communication. He received 1989 IEEE Consumer Electronics Society Paper Award, 1999-Fall Best Paper Award in IEEE VTC, IEICE Achievement Award in 2000, IEICE Fellow Award in 2001. He was the executive committee chairman on International Symposium on Spread Spectrum Techniques and Applications in 1992 and the technical program committee chairman of ISITA (International Symposium on Spread Spectrum Techniques and Applications) in 1994. He is an editor of Wireless Personal Communications and was a guest editor of the special issues on “CDMA Networks I, II, III and IV” published in IEEE JSAC in 1994 (I and II) and 1996 (III and IV). He chairs the Wireless Home Link sub-committee in MMAC (Multimedia Mobile Access Communication Promotion Committee).     

Granular Reasoning Using Zooming In & Out: Part 2. Aristotle's Categorical Syllogism

The concept of granular computing is applied to Aristotle's categorical syllogism. Such kind of reasoning is called granular reasoning in this paper. For the purpose, two operations called zooming in & out are introduced to reconstruct granules of possible worlds.     

Skew simulation of a paper transferred by rubber rollers in printers

A skew of a paper transferred by rubber rollers in printers is simulated by FEM software. Effects of an imbalance of preload, an imbalance distribution of coefficient of friction and a front tension on the paper skew are investigated and how to determine the skew direction are shown. A simulation model is composed of a feed roller, a preload roller and a paper. The feed roller is rotated forcibly by a certain degree at every calculation step and a deformation, displacement and strain of the paper and rollers are calculated. A series of calculation results is shown as a motion simulation. The results show that the paper skews to the smaller preload side, to the smaller coefficient of friction side, or to the opposite side of the front tension. Further, effects of a skew prevention guide plate is simulated.     

Heavy arsenic doping of silicon grown by atmospheric pressure selective epitaxial chemical vapor deposition

Selective epitaxial Si with a high arsenic concentration of 2.2×10¹⁹ atoms/cm³ was deposited at a high growth rate of 3.3 nm/min under atmospheric pressure. It was confirmed that this method had excellent selectivity and produced films having good crystalline quality, abrupt dopant profiles at the interfaces, and smooth surfaces. The growth mechanism is discussed in terms of the relationship between the effects of arsenic surface segregation and etching by hydrogen chloride.     

Continuous hydrogen evolution from cyclohexanes over platinum catalysts supported on activated carbon fibers

The continuous production of hydrogen from cyclohexanes is achieved effectively using Pt/ACF (ACF = activated carbon fiber) catalysts in a fixed-bed flow reactor. The Pt catalysts are more effective than a Pd/ACF catalyst for the reaction. Besides cyclohexane, methylcyclohexane, 1,4-dimethylcyclohexane, and p-menthane can also be employed as hydrogen source in the reaction system.