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.     

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.     

Preparation and evaluation of slow-release pan-coated indomethacin granules

Granules containing indomethacin crystals are coated with Eudragit solutions of different RL/RS ratios using a pan coating technique. The process is reproducible with regard to drug content, inexpensive and the formed granules were directly compressed into tablets. In vitro release of indomethacin from coated granules, tablets and capsules was studied as a function of different ratios of Eudragit RL/RS in the coating solution. The release of the drug was significantly reduced by the coating process in comparison with a formulation made from uncoated granules, prepared using 10 per cent gelatin solution as a binder. Release data were found to follow a diffusion-controlled model.     

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.     

Synthesis and characterization of radiation grafted copolymer for removal of nonionic organic contaminants

Nonionic organic contaminants such as phenol, benzene, and toluene from contaminated wastewater on laboratory scale can be effectively sorbed by cellulosic wood pulp sheet incorporated with three polar functional groups. The synthesis was carried out by graft copolymerization reaction of N,N‐dimethylaminoethylmethacrylate with methacrylic acid onto wood pulp. The preparation conditions at which the grafting process proceeds homogeneously are determined. Characterization and some selected properties of the original and grafted wood pulp were evaluated using FTIR and scanning electron microscope, also, the removal of phenol, benzene, and toluene on laboratory scale was investigated by using gas chromatography. It was found that phenol shows the highest removal percent than that of benzene and toluene. The efficiency of removal of the nonionic contaminants is found to be 97%, which shows a great promise for its applicability in the removal of organic contaminates from wastewater. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 100: 3589–3595, 2006     

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.     

Ensemble-based noise detection: noise ranking and visual performance evaluation

Noise filtering is most frequently used in data preprocessing to improve the accuracy of induced classifiers. The focus of this work is different: we aim at detecting noisy instances for improved data understanding, data cleaning and outlier identification. The paper is composed of three parts. The first part presents an ensemble-based noise ranking methodology for explicit noise and outlier identification, named Noise- Rank, which was successfully applied to a real-life medical problem as proven in domain expert evaluation. The second part is concerned with quantitative performance evaluation of noise detection algorithms on data with randomly injected noise. A methodology for visual performance evaluation of noise detection algorithms in the precision-recall space, named Viper, is presented and compared to standard evaluation practice. The third part presents the implementation of the NoiseRank and Viper methodologies in a web-based platform for composition and execution of data mining workflows. This implementation allows public accessibility of the developed approaches, repeatability and sharing of the presented experiments as well as the inclusion of web services enabling to incorporate new noise detection algorithms into the proposed noise detection and performance evaluation workflows.