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.     

Computation of mutual entropy in quantum markov chains

There are several damping phenomena in quantum optics. Such phenomena have been usually explained by open systems. In statistical physics, open system dynamics have been used to study the irreversibility and the approach to equilibrium. In this paper, the dynamical change of the mutual entropy for an open system, frequently studied in the quantum optics literature, is rigorously computed through a model of quantum Markov chain. In particular, the concrete formula of Stinespring expression for such a model is obtained and applied to the derivation of the mutual entropy, and some computational results are presented.     

Floating-island TFT leakage caused by process step reduction

The leakage mechanism for a top-gate thin-film transistor (TFT) produced using the fewest process steps in the industry is analyzed in order to achieve a high-contrast liquid crystal display (LCD). Using a T-shaped TFT structure, the OFF and ON channel lengths are defined independently, so that the leakage can be reduced with no ON current decrease     

Effect of Milling on Slip Casting of Partially Stabilized Zirconia

Specimens of partially stabilized zirconia were slip cast from aqueous suspensions and sintered at 1500°C for 3 h. The relative density of the cast specimens and the firing shrinkage of the sintered specimens depend on the milling time for the suspension. Vickers hardness and K_IC values of 11.46±s0.07 GN/m² and 6.10 ±0.04 MN.m^3/2, respectively, were obtained for all sintered specimens. The dispersion of the suspension is important in increasing the relative density of the cast specimens.     

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.     

STRUCTURE FORMATION OF COATED FILMS WITH DISPERSED PIGMENTS DURING DRYING

In the drying of coated films with dispersed pigments, such as floppy disks, the structure of the film is formed during the drying process and depends on the drying condition. It is important to understand the structure formation during drying for the design of the dryer and die better quality of the product. We measured die drying characteristics of the film and determined the structure of dried film experimentally. A qualitative model for the structure formation during drying of the coated film is suggested.     

Preparation of γ-alumina thin membrane by sol-gel processing and its characterization by gas permeation

-alumina porous membranes without pinholes or cracks were prepared by the sol-gel process. The boehmite sol obtained from hydrolysation of aluminium isopropoxide was applied to the inner surface of a porous supporting tube by a dipping procedure. The effects of sol concentration and the repetition number of dipping-drying-firing procedure on the membrane performance were investigated by scanning electron microscopy, X-ray diffraction and the Brunauer-Emmett-Teller method in connection with the micro-structure of the membrane. Gas permeation measurements were also conducted. The gas permeation through the thin membranes is well explained by Knudsen's flow, indicating the pores are controlled finely and homogeneously.     

Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

FORMATION AND FLOW OF GAS BUBBLES IN A PRESSURIZED BUBBLE COLUMN WITH A SINGLE ORIFICE OR NOZZLE GAS DISTRIBUTOR

The characteristics of gas bubbles in a 5 cm diameter bubble column equipped with a single orifice of 1,3 or 5 mm diameter were investigated under system pressure of 0.1-15 MPa. The formation of gas bubbles was strongly affected by the system pressure. Under high pressures a dispersed gas jet was formed at gas velocities where spherical gas bubbles would have been formed at atmospheric pressure. The critical gas velocity between the bubbling regime and the jetting regime was correlated with the liquid phase Weber number and the gas phase Reynolds number based on the gas velocity at the orifice. Bubble size and gas holdup in the main part of the bubble column were also affected by the bubble formation pattern at the distributor