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.     

Chaos control and noise suppression in external-cavitysemiconductor lasers

Feedback-induced chaos and intensity noise enhancement in a laser diode with external optical feedback are studied by computer simulations. The enhancement of relative intensity noise (RIN) that is often observed in experiments is considered as a result of the feedback-induced deterministic chaos and the intensity noise suppression is treated from the viewpoint of chaos control. Especially, the conventional noise suppressing technique known as a high-frequency injection modulation is turned into a problem of stabilizing chaos through parameter modulations. We developed an analytical method which allows to optimize the modulation frequency from the linear stability analysis of the dynamical model that describes the laser diode with external feedback. The robustness of the modulation with respect to the modulation frequency and depth is verified and the results suggest the feasibility of applying our method to actual noise suppression. The RIN in the low-frequency region (up to 100 MHz) is shown to be reduced to the solitary laser level when the feedback-induced chaos is effectively controlled with the optimized modulation frequency     

High-temperature strength and thermal stability of a unidirectionally solidified Al2O3/YAG eutectic composite

A unidirectional solidification method was investigated to manufacture Al2O3/YAG eutectic composites with high-temperature resistance that would make them usable at very high temperatures. We were successful in manufacturing a single-crystal Al2O3/single-crystal YAG eutectic composite with a dimension of 40 mm in diameter and 70 mm in length containing no colonies or pores. This composite also displayed excellent high-temperature strength characteristics. The flexural strength was in the range 350400 MPa from room temperature up to 2073 K (just below its melting point of about 2100 K) with no apparent temperature dependence. During tensile tests above 1923 K, the eutectic composite showed evidence of plastic deformation occurring by dislocation motion, and a yield phenomenon similar to many metals was observed. In addition, the microstructure of the composite was extremely stable: after 1000 h of heat treatment at 1973 K in an air atmosphere there was no growth. The above superior high-temperature characteristics are caused by such factors as the eutectic composite having a single-crystal Al2O3/single-crystal YAG structure, the formation of a compatible interface with no amorphous phase and thermal stability, and the combined effect of a YAG phase with superior high-temperature characteristics. © 1998 Chapman & Hall     

Real-time optical image subtraction and edge enhancement using ferroelectric liquid-crystal devices based on speckle modulation

We carried out real-time optical image subtraction and edge enhancement based on a speckle modulation technique by using ferroelectric liquid-crystal polarization switches and a ferroelectric liquid-crystal spatial light modulator. A ferroelectric liquid-crystal spatial light modulator is employed as a real-time and multiple-exposure optical device, and successful results are obtained from three-exposure images modulated by speckles. Thus, image subtraction and edge enhancement are realized in real time. The whole operation is performed within several milliseconds with modest operating conditions. Because the spatial light modulator has a high resolution of greater than 100 line pairs/mm and can store fine speckle patterns, the image qualities we obtained are quite satisfactory.     

Wind-flow measurement over the Subaru Telescope

Wind flows over the 8.2-m Subaru Telescope at Mauna Kea in Hawaii were analyzed with a correlation method. Three or four wind flows were detected from our measurements. Spatial and temporal resolution of the wind-flow analysis across the 8.2 m pupil were investigated experimentally. A three-dimensional spatiotemporal-frequency analysis was also applied to the wind-flow data.     

Dynamics of Broad-Area Semiconductor Lasers With Short Optical Feedback

The dynamics of filamentations in broad-area semiconductor lasers with short optical feedback were numerically studied. Regular pulse packages similar to those observed in narrow-stripe edge-emitting semiconductor lasers were found as the feedback reflectivity is increased. However, the regular pulse packages consisted of a periodic envelope of the external cavity frequency and fine pulse trains of periodic filaments, which is different from the regular pulse packages observed in narrow-stripe edge-emitting semiconductor lasers. From the analysis for spatio-temporal near-field patterns, we found periodic undulations of the spatial and temporal filament sizes as the external mirror reflectivity was changed. We also investigated filtered optical feedback, where a part of the emitted beam is fed back into the laser cavity. The time-averaged near-field pattern was found to have a strong dependence on the feedback level in the case of spatial filtered optical feedback.     

Suppression of heat-induced HSF activation by CDDP in human glioblastoma cells

To confirm whether or not the alar cartilage of the unilateral cleft lip nose is primarily hypoplastic as compared with the noncleft side, 35 unilateral cleft lip nasal patients who had no previous nasal surgery underwent direct measurement of the lateral crus of alar cartilage on both sides during their nasal tip plasties. Both lower lateral cartilages were dissected freely, and the thickness was measured at the intercrural, middle, and distal portions. The width was measured at the widest portion, and the length was measured from the intercrural point to the distal end. Two-mm-punch biopsies were obtained from each cartilage for histologic study. The lateral crus of the cleft side was no smaller than that of the noncleft side. Histologically, no difference was ascertained. In conclusion, we think the lateral crus of the alar cartilage of the cleft side is not hypoplastic. Therefore, external factors such as soft-tissue defect or external abnormal vector force are more attributable than intrinsic factors to the development of cleft lip nasal deformity.     

Element by element a posteriori error estimation and improvement of stress solutions for two-dimensional elastic problems

A quantitative method of a posteriori error estimation based on finite element solutions is developed. The proposed method can estimate the error of solutions obtained by the finite element method for two-dimensional elastic problems with 4-node elements. Since the error is estimated element by element, the proposed method does not require a large memory or long computing time. Not only rectangular elements but also arbitrarily shaped 4-node elements can be used in this method for estimating the error in the finite element computation with high accuracy. The finite element solutions are improved by adding the estimated errors onto the original solutions. The proposed method can be utilized for any type of linear problem if an isoparametric finite element method is used.     

Roles of TraI protein with activities of cleaving and rejoining the single-stranded DNA in both initiation and termination of conjugal DNA transfer

BACKGROUND: The plasmid R100 encodes the TraI protein, which is required for conjugal DNA transfer. TraI has the activity of site- and strand-specific nicking of the supercoiled plasmid DNA. The molecular mechanism of this specific nicking, which is supposed to be the initiation reaction of DNA transfer, is not understood. RESULTS: We have demonstrated that TraI has the ability to cleave the single-stranded DNA at the same site as the nicking site (nic) in a region, which we here refer to as sbi. The product contained the TraI protein which was covalently linked to the newly generated 5' end of the nicking reaction. Both the cleaving and nicking reactions took place under almost the same conditions and required the presence of the sbi region. DNase I-footprinting analysis revealed that the TraI bound to the single-stranded DNA of the sbi region. TraI did not cleave the double-stranded DNA fragment, but it did cleave the double-stranded DNA with a single-stranded DNA portion in the sbi region. KMnO4 mapping analysis revealed that TraI can melt the sbi region in the supercoiled DNA to generate a single-stranded portion. We have also demonstrated that TraI was able to rejoin the cleaved products. The rejoining reaction required the 5' end of one cleaved product with the TraI covalently attached and the 3' end of the other product containing the sbi region. CONCLUSIONS: Our results demonstrate that the nicking reaction-the initiation reaction of DNA transfer-is actually the cleaving reaction of the single-stranded DNA. TraI, which has both cleaving and rejoining activities, is thought to be involved in the termination of DNA transfer, to give a copy of the conjugative plasmid by joining the 5' end, which is generated by the initiation reaction, with the 3' end, which will be generated upon cleavage of the sbi region appearing after one round of the rolling circle replication of the plasmid.     

When a sense of justice hinders social efficiency: Pareto axiom revisited

This study addressed people's judgments about desirability of various reward allocation under different task-rules aggregating individual inputs to a group outcome. The rules used in the study were additive, conjunctive, and disjunctive (Steiner, 1972), and subjects evaluated twelve cases of reward allocation reflecting different distributive principles, such as equality and equity. It was found that no one principle was favored under all three aggregation rules. Generally, a distributive principle was favored that was most beneficial for the member whose input 'determined' group success. Specifically, equality was endorsed most often under the conjunctive rule, and equity under the disjunctive rule. It was also found that the Pareto axiom was frequently violated. In pairwise comparison, more than 60% of the subjects endorsed an allocation scheme, that was, subjectively fairer but objectively inferior in terms of Pareto optimality, revealing their commitment to a specific distributive principle. The results suggest that the universal economic assumption of Pareto optimality for social policy-making be seriously questioned.