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.     

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.     

Volumetric Change and Surface Properties of Temperature-Sensitive Polyvinylalcohol (PVA) Hydrogel

Polyvinylalcohol (PVA) polymer gel is a temperature sensitive polymeric gel, with a critical transition temperature (with H₂O) of 310 K. At higher than 310 K, this temperature sensitive polymer gel shrinks because of discharging water, whereas at lower temperatures, the gel swelled because of absorbing water. The reversibility of the gel's volume change was confirmed by temperature swing. The adsorption behavior of an organic compound onto the PVA polymer gel in water was tested at various temperatures. The amount of adsorbed organic compound increased remarkably at temperatures higher than about 310 K. Then, it was confirmed that the organic compound in PVA polymer gel could be reversibly adsorbed and desorbed by a temperature change between 293 and 323 K. The mechanism of adsorption of the organic compound onto the PVA polymer gel could be explained by hydration and dehydration of polymer gel.     

Relation between encoder and syndrome former variables and symbol reliability estimation using a syndrome trellis

We derive a linear correspondence between the variables of an encoder and those of a corresponding syndrome former. Using the derived correspondence, we show that the log-likelihood ratio of an information bit conditioned on a received sequence can be equally calculated using the syndrome trellis. It is shown that the proposed method also applies to recursive systematic convolutional codes which are typical constituent codes for turbo codes. Moreover, we show that soft-in syndrome decoding considering a priori probabilities of information bits is possible in the same way as for Viterbi decoding based on the code trellis. Hence, the proposed method can be applied to iterative decoding such as turbo decoding. We also show that the proposed method is effective for high-rate codes by making use of trellis modification.     

Breakdown characteristics of oil and paper insulation for a very fast transient voltage

This paper describes the dielectric breakdown characteristics of oil and oil‐impregnated paper for very fast transient (VFT) voltages. Blumlein circuits generate VFT voltages of 60 and 300 ns in a pulse width that simulates disconnecting switching surges in gas‐insulated switch gears. We measured the breakdown voltages of needle‐to‐plane, plane‐to‐plane oil gaps and several pieces of paper between plane electrodes for VFT and lightning impulse voltages. The measured data were formulated in V‐t characteristics and Weibull probability distributions. The inclination n of V‐t characteristics of insulating paper is 150, which is less than n = 13.7 of the plane‐to‐plane oil gap in the VFT time range. The shape parameters of Weibull distribution obtained in this study show that the scattering of breakdown voltages of paper is much less than that of oil. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 141(4): 16–24, 2002; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10043     

1-GHz-spaced 16-channel arrayed-waveguide grating for a wavelength reference standard in DWDM network systems

We fabricated a 1-GHz-spaced 16-channel arrayed-waveguide grating (AWG) by using a new AWG configuration where the path of each arrayed waveguide winds backward and forward across a 4-in diameter wafer without crossing any other waveguides. The ultra-narrow (< 1 GHz) and stable transmission bands of this AWG can be used to construct a wavelength reference standard covering the S, C, and L bands in the dense wavelength-division-multiplexing network systems whose frequency deviation is /spl plusmn/160 MHz.     

Low-loss athermal silica-based lattice-form interleave filter with silicone-filled grooves

We describe a low-loss athermal silica-based interleave filter with a lattice-form structure. We athermalize the filter by using a silicone-filled groove formed in each delay line and we employ a low-loss design to reduce the accumulated groove excess loss in the multiple delay lines. By using these designs, we obtained a very low groove excess loss of 0.4 dB and achieved satisfactory temperature insensitivity and optical characteristics with this filter.     

Extremely low-loss 1.5%-/spl Delta/ 32-channel athermal arrayed-waveguide grating multi/demultiplexer

A silica-based 1.5%-/spl Delta/ 100 GHz-spacing 32-channel athermal arrayed-waveguide grating (AWG) with compact size and extremely low insertion loss is described. By reducing the fibre coupling loss and the excess loss in a silicone-filled groove, an insertion loss of 1.3 dB was achieved with this athermal AWG.     

Preparation of gold nanoparticles (GNP) aqueous suspensions by a new method involving Tiron

A new method is proposed to produce gold nanoparticles (GNP) by in situ reduction of a gold salt dissolved in water. The reducing agent used is Tiron instead of the citrate anion most often mentioned in literature. The influence of various parameters has been investigated, such as the content of Tiron with respect to that of the precursor of gold HAuCl₄, or the initial pH of the solution after mixing of reactants. It is shown that Tiron also exerts a positive influence as a dispersant, which impedes agglomeration of gold nanoparticles. The typical average size of GNP synthesized in the present work is close to 7 nm.