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1.
Wesley P. Chan Hiroto Mizohana Xiangyu Chen Yasuto Shiigi Yoshiyuki Yamanoue Masaki Nagatsuka Masayuki Inaba 《野外机器人技术杂志》2019,36(1):17-33
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. 相似文献
2.
Water-soluble chitin was successfully crosslinked to varying extents with glutaraldehyde in homogeneous aqueous solutions to improve the properties as an adsorbent for metal cations, and the effects of crosslinking were discussed. Complete insolubilization was achieved with the fivefold excess aldehyde, but, in terms of adsorptivity of Cu2+, the chitin crosslinked at an aldehyde/amino group ratio of 1.0 was found to exhibit remarkable capacity and was much superior to others. The desorption of Cu2+ from the adsorption complex was also attained effectively at pH 2.0. These results indicated that the loose crosslinking was quite simple and efficient to produce high capacity adsorbents for practical use. Thermal behavior of the crosslinked chitin was examined by TMA and TGA; a softening phenomenon was observed at 145°C. 相似文献
3.
4.
Keita Ikeue Shingo Ando Tomohiro Mitsuyama Yusuke Ohta Keishi Arayama Akiko Tsutsumi Masato Machida 《Topics in Catalysis》2008,47(3-4):175-180
Lanthanide-based oxysulfides and sulfide, LnTaO3.5S0.5, Ln10OS14 (Ln = La, Pr, Nd, Sm) and La4In5S13, were successively synthesized by sulfurization in a flowing H2S. The sulfurization decreased the band-gap energies from >4 eV to <3eV, because of the formation of occupied S3p orbitals
on the top of valence band. In accordance with the small band gap, the H2 evolution from a 0.01 M Na2S and 0.01 M Na2SO3 solution system was observed under irradiation of light up to >500 nm. The rate of H2 evolution under light irradiation of >500 nm increased in the order of Ni/LaTaO3.5S0.5 < Ru/La10OS14 < Pt/La4In5S13. 相似文献
5.
Iida M. Kuroda N. Otsuka H. Hirose M. Yamasaki Y. Ohta K. Shimakawa K. Nakabayashi T. Yamauchi H. Sano T. Gyohten T. Maruta M. Yamazaki A. Morishita F. Dosaka K. Takeuchi M. Arimoto K. 《Solid-State Circuits, IEEE Journal of》2005,40(11):2296-2304
A 16 Mb embedded DRAM macro in a fully CMOS logic compatible 90 nm process with a low noise core architecture and a high-accuracy post-fabrication tuning scheme has been developed. Based on the proposed techniques, 61% improvement of the sensing accuracy is realized. Even with the smallest 5 fF/cell capacitance, a 322 MHz random-cycle access while 32 ms data retention time which contributes to save the data retention power down to 60 /spl mu/W are achieved. 相似文献
6.
Automated camerawork for capturing desktop presentations 总被引:1,自引:0,他引:1
Ozeki M. Nakamura Y. Ohta Y. 《Vision, Image and Signal Processing, IEE Proceedings -》2005,152(4):437-447
A novel automated camera control method for capturing desktop presentations is introduced. Typical features and the camerawork of shots that appear frequently in TV programs are discussed. To realise those features in this automated video capturing system, the purpose of camerawork is classified from two points of view: target and aspect-of-target. Then, the correspondence between the classification and typical shots and camerawork is considered. A virtual-frame control algorithm based on this idea is proposed, and its implementation in a video production system. Results are shown that verify this method through two kinds of experiments, virtual video capturing using CG animations and real video capturing of real presentations. 相似文献
7.
8.
In this article, we consider a flexible beam with a rigid body, of which the bending vibration and the torsional vibration are decoupled. Therefore we need two control motors to suppress the vibrations. Each set of dynamic equations is treated in the form of an appropriate Hilbert space. A stabilizing feedback control law of each rotation motor will be established on the basis of modal analysis. A set of experiments has been carried out, and the results demonstrate the effectiveness of the dynamic model and the proposed control law. © 1994 John Wiley & Sons, Inc. 相似文献
9.
Yoshiyuki Uno Akira Okada Kensuke Uemura Purwadi Raharjo Toshihiko Furukawa Kosaku Karato 《Precision Engineering》2005,29(4):171-455
A new finishing process for metal molds by large-area electron beam (EB) irradiation is proposed in this study. In the large-area EB irradiation equipment used here, an EB with high-energy density is irradiated without focusing the beam, and so the EB with a maximum diameter of 60 mm can be used for melting or evaporating metal surface instantly. Experimental results show that the surface roughness decreases from 6 μmRz to less than 1 μmRz in just a few minutes under proper machining conditions. The corrosion resistance of metal mold surface also could be greatly improved by large-area EB irradiation. Furthermore, the surface roughness of tilting surface close to 90° could be well improved. Therefore, large-area EB irradiation method has a possibility to become a high-efficiency finishing process for metal molds. 相似文献
10.
Hiroshi Ohta Tomoyuki Hirota Abdur Rahim 《The International Journal of Advanced Manufacturing Technology》2007,33(1-2):36-41
This paper analyzes a multi-product production / inventory system where demands for each item arrive according to a Poisson
process and the production time for each product has an Erlang distribution. The paper proposes an optimality condition that
specifies whether each product should be produced make-to-stock or make-to-order. In the event a product should be produced
make-to-stock, an approach for computing the optimal base-stock level is proposed. Numerical examples are given for illustrative
purpose. 相似文献