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.     

Symbol rate and modulation level-controlled adaptivemodulation/TDMA/TDD system for high-bit-rate wireless data transmission

This paper proposes a time-division multiple-access/time-division duplex (TDMA/TDD)-based symbol rate and modulation level-controlled adaptive modulation system for high-bit-rate data transmission. The proposed system controls both the symbol rate and modulation level for the next transmission time slot according to the estimated carrier power to noise spectral density ratio (C/N₀) and delay spread for the time slot to achieve higher bit rate and higher transmission quality as well as higher delay-spread immunity. It is demonstrated by computer simulation and laboratory experiments that the proposed system can achieve a higher average bit rate with higher transmission quality in comparison with the fixed-rate quaternary phase-shift keying (QPSK) system and modulation level-controlled adaptive modulation system in both flat Rayleigh and frequency-selective fading environments. The simulated and experimental results also show that the proposed adaptive modulation techniques can be applied to 1-2-Mb/s indoor and outdoor microcellular systems with its delay spread of up to 250 ns and its terminal mobility of up to pedestrian speed without employing any special antifrequency-selective fading techniques, such as the adaptive equalizer and space diversity     

Analysis of polarization plane rotation characteristic in 2D photonic crystal waveguide with chiral medium by condensed node spatial network

Using the photonic band gap in photonic crystals, the fundamental waveguide structures for the light wavelength range have been developed. Based on the fine structure of these many functional devices have been proposed by analytical or numerical simulation methods and the experiments of trial manufacture. In this paper, the treatment of chiral dielectric in the Condensed Node Spatial Network for the vector potential is explained, and we show the polarization plane rotation property in air‐hole and pillar type photonic crystal waveguide structures with the chiral medium substrate. Then, we show the fundamental advantage of the air‐hole type photonic crystal waveguide structure in application to a mode converter. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 152(1): 7–14, 2005; Published online in Wiley InterScience ( www.interscience. wiley.com ). DOI 10.1002/eej.20098     

Principle and operation of a new type motor consisting of piezoelectric device and strain wave gearing

The authors have developed a new type of motor consisting of a piezoelectric device and strain wave gearing, and is called a piezoelectric motor. This is a first step in realizing a low-speed, small-size and lightweight motor. The principle of the motor is that the traveling wave is produced by piezoelectric devices and displacement conversion devices without mechanical resonance, and the torque to rotate the motor is generated by a mechanism of strain wave gearing (circular spline and flexspline) without using friction. The motor is operated at variable frequency and its rotational position (angle) is controlled in open-loop because it is basically a synchronous motor. In this paper, the structure and principle of the proposed motor are explained and the driving method and the mechanical characteristics of an experimental motor also are described. The results are as follows:

• 1 The realizability of the proposed piezoelectric motor is verified experimentally. The experimental motor operates at 2920 steps per revolution, and its speed range is 0 to 960 pps [or 0 to 20 (rpms)].
• 2 The torque characteristics are clarified qualitatively.
• 3 The generated torque of the experimental motor is small (less than 0.03 Nm) and therefore the improvement of the torque is an important subject hereafter.
• 4 It is possible to construct the motor with nonmetallic material. This fact is considered to facilitate obtaining a means to lighten the weight of the motor in the future.

     

Delay time compensation based on coefficient of restitution for collision hybrid motion simulator

A hybrid motion simulator embeds a hardware experiment in a numerical simulation loop. However, it is often subjected to the inherent problem of an energy increase in the collision of two pieces of hardware in a loop because of the delay time. This paper proposes a delay time compensation method based on contact dynamics model for a collision hybrid motion simulator under delay time and establishes a compensation method for coupled translational and rotational motion. The model developed in this paper describes linear uniform motion of a floating object during the period of the delay time until the force and torque are observed and non-linear motion according to environmental stiffness after the initial delay time period in contact. By using the above model, compensation parameters are designed based on desired coefficient of restitution with iterative calculation. The proposed method achieves accurate delay time compensation and simultaneously realizes a variable desired coefficient of restitution over a wide range of frequencies. Furthermore, the compensation method for multi-dimensional motion is established under the assumption that the friction effect is very small. The efficiency of the proposed method is verified through collision experiments for the coupled motion in two dimensions.     

Observation of single-walled carbon nanotubes by photoemission microscopy

Single-walled carbon nanotube networks grown on SiO₂ pillars were studied by means of scanning photoemission microscopy. The individual nanotubes or nanotube bundles growing from the pillar tops were observed in C 1s images. Band bending near catalytic Fe/nanotube contacts in an end-bonded configuration was studied by measuring C 1s spectra along the tube axes. Within our experimental resolution, no band bending was observed. This implies that the depletion width is less than the spatial resolution of the scanning photoemission microscope (90 nm) or that the amount of the band bending is less than 0.1 eV.     

Solving multicolumn equilibrium stage operations by total linearization

An efficient, reliable and easily programmed method for solving systems of equilibrium stage separation devices is described. The method is an extension of an algorithm developed by Ishii and Otto⁽⁹⁾ for single columns. It solves all equations simultaneously, takes advantage of the basic tridiagonal matrix form form of the linearized steady state equations and can handle configurations which include distillation columns, absorbers and reboiled absorbers. The solution for a thermally coupled distillation system is presented.     

Uniformly Porous Composites with 3-D Network Structure (UPC-3D) for High-Temperature Filter Applications

Uniformly porous composites with 3-D network structure (UPC-3D) have been recently developed via a pyrolytic reactive sintering process, which takes advantage of the evolved CO₂ gas from a decomposing carbonate source (e.g., dolomite, CaMg(CO₃)₂) and does not require any additional pore-forming agent nor long-time burning-out process. Through liquid formation via LiF doping, strong necks are formed between constituent particles before completion of the pyrolysis of carbonate, resulting in the formation of a strong 3-D network structure. The pore size distribution is very narrow (with typical pore size: ∼1 μm), and the porosity was controllable (∼30–60%) by changing the sintering temperature. This article presents the development details of UPC-3D, and reports the recent findings in CaZrO₃/MgAl₂O₄ system, which will be one of the more promising systems for practical applications.     

Measurement of self-diffusion coefficients in Li ionic conductors by using the short-lived radiotracer of 8Li

For the effective use of short-lived radioactive beams, soon to be available at the Tokai Radioactive Ion Accelerator Complex, the authors have developed a radiotracer method for diffusion studies in solids. The experimental test was performed by the measurement of the diffusion coefficients of Li in a sample of the compound βLiAl using an α-emitting radiotracer of ⁸Li (T_1/2=0.84 s). It was found that the time-dependent yields of the α particles from the diffusing ⁸Li that was initially implanted in the sample could be used as a measure of the diffusivity of the tracer in a nondestructive way. The method was applied to measure the self-diffusion coefficients of Li in βLiGa, and for investigating how the Li diffusion in the Li ionic conductors is affected by the concentration of atomic defects (i.e., the existence of the atomic vacancies of Li and the defects in Ga sites that are replaced by Li).