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.     

Radiation therapy for stage I-II non-small cell lung cancer in patients aged 75 years and older

Vaccination with peptides that induce a specific immune response is a potential prophylactic or therapeutic strategy against viral infections and tumors. Because of the extensive polymorphism of the HLA loci, synthetic peptide vaccines must consist of a cocktail of peptides that bind specifically to different HLA molecules. Such cocktails should be optimized for the target population as each population has its specific HLA gene frequencies. To achieve maximum population coverage with a minimum number of peptides, information is needed on the ranking of the most frequent HLA phenotypes. We introduce the minimal phenotype panel, which is the smallest combination of HLA antigens selected so that the proportion of individuals in a population that express at least one of the antigens in the panel exceeds a desired minimum value. We developed a method for assembling minimal phenotype panels based on known HLA class I gene frequencies. We give an example based on a set of 2446 well-defined HLA-typed, random, healthy, unrelated, Dutch Caucasoid individuals. In addition, we discuss the possibility of assembling minimal phenotype panels based on two-locus haplotypes, which enables the assembly of phenotype panels from the antigens of both loci.     

370 W output power GaN-FET amplifier for W-CDMA cellular base stations

A single-ended amplifier using small packaged GaN-FETs exhibits a record 2.14 GHz W-CDMA output power. The amplifier, composed of paralleled 48 mm gate periphery FET die, delivers a peak saturated output power of 371 W with a linear gain of 11.2 dB at a drain voltage of 45 V under 2.14 GHz 3GPP W-CDMA signal input. The output power density (output power/package size) of 1.1 W/mm/sup 2/ is twice as high as that of the existing over 300 W GaAs-FET amplifiers. A low 5 MHz offset ACLR of -36 dBc with a drain efficiency of 24% is also obtained at 8 dB power back off from the saturated output power.     

Stabilization of inter-area and/or oscillatory modes in large-scale power system by voltage impedance power system (VIPS) apparatus based on decentralized control scheme

New technologies such as power electronics have made it possible to change continuously the impedance of a power system not only to control power flow but also to enhance stability. A power system incorporating a variable impedance apparatus such as a variable series capacitor (VSrC) and high-speed phase shifter (HSPS) is called VIPS (Variable Impedance Power System) by the authors. This paper proposes a novel control method of VIPS apparatus such as VSrC and HSPS installed at an interconnecting point for stabilizing inter-area unstable and/or oscillatory modes. The proposed design method of the control system is a kind of hierarchical decentralized control method of a large-scale power system based on a Lyapunov function. Under the proposed control scheme, each subsystem can be stabilized independently by local controllers such as AVR, speed governor and PSS, and then the whole interconnected system can be stabilized by VIPS apparatus taking into account interactions between subsystems. The effectiveness and robustness of the VIPS apparatus control are shown by numerical examples with model systems including a large-scale power system.     

Another language for describing motions of mechatronics systems: a nonlinear position-dependent circuit theory

Dynamics and control of nonlinear mechanical systems and advanced mechatronic systems can be investigated more vividly and efficiently by using corresponding nonlinear position-dependent circuits that describe Lagrange's equations of motions and interactions with objects or/and task environments. Such expressions of Lagrange's equations via nonlinear circuits are indebted to lumped-parameter discretization of mechanical systems as a set of rigid bodies through equations of motion due to Newton's second law. This observation is quite analogous to validity of electric circuits that can be derived as lumped parameter versions of Maxwell's equations of electromagnetic waves. Couplings of nonlinear mechanical circuits with electrical circuits through actuator dynamics are also discussed. In such electromechanical circuits the passivity should be a generalization of impedance concept in order to cope with general nonlinear position-dependent circuits and play a crucial role in their related motion control problems. In particular, it is shown that the passivity as an input-output property gives rise to a necessary and sufficient characterization of H/sub /spl infin//-tuning for disturbance attenuation of robotic systems, which can give another system theoretic interpretation of the energy conservation law.     

Macroscopic analysis of design processes based on a scheme for coding designers' cognitive actions

We have devised a new scheme for coding designers' cognitive actions from video/audio design protocols. Designers' actions are coded into four cognitive levels; physical, perceptual, functional and conceptual. Relations between actions belonging to different levels, such as dependencies and triggering relations, are also coded. The present scheme has two benefits. First, we found that design actions are definable in a systematic way using the vocabulary of the scheme, and thus a designer's cognitive behaviours in each of local design stages is represented as a structure composed of defined primitive actions. This is expected to lay the foundation for microscopic analyses of how particular types of actions contribute to the formation of key design ideas. Second, this scheme is suitable for macroscopic analyses of how designers cognitively interact with their own sketches. We examined, for a practising architect, the ways in which drawing, inspection of drawings, perception, and functional thoughts correlated with one another in his design process. The findings suggest that design sketches serve not only as external memory or as a provider of visual cues for association of non-visual information, but also as a physical setting in which design thoughts are constructed on the fly.     

Effective lightning protection schemes for distribution line

The causes of lightning outage are subdivided into direct lightning strokes and induced lightning strokes, which are identified by the characteristics of the lightning overvoltage. In the past, lightning protection devices were directed mainly toward the latter, and attention has been focused on the installation of lightning protection devices, ground wires, and reinforcement of insulators. However, lightning outages continue to occur. Thus it is extremely important to clarify the fault characteristics of lightning surges and to study the effectiveness of various lightning protection devices by considering both direct lightning stroke and induced lightning stroke in order to prevent lightning outage in the future. In this research, the electromagnetic transients program (EMTP) has been applied to the direct lightning stroke, and the induced lightning outage analysis program for multiple conductor systems has been applied to the induced lightning stroke to study the effectiveness of lightning protection devices provided by combination of various lightning protection devices. The most effective lightning protection schemes are analyzed and evaluated based on verification tests on the full scale models as well as economic considerations.     

ON THE IMPACT FATIGUE CRACK GROWTH BEHAVIOUR OF METALLIC MATERIALS

The impact fatigue crack growth characteristics of a low carbon steel and an aluminium alloy were studied. An impact fatigue testing machine of the Hopkinson bar type was used in these experiments to conduct a series of crack growth tests under simple impact stresses. The following characteristics of impact fatigue crack growth behaviour were revealed: (1) crack growth rate is higher in impact fatigue than in non-impact fatigue; (2) crack opening ratio in impact fatigue takes a higher value than in non-impact fatigue; (3) crack tip plastic zone size is smaller in impact fatigue than in non-impact fatigue.     

Improving Methodologies for Transboundary Impact Assessment in Transboundary Watercourses: Navigation Channel Improvement Project of the Lancang-Mekong River from China-Myanmar Boundary Marker 243 to Ban Houei Sai of Laos

This paper analyzes the factors underpinning transboundary Environmental Impact Assessment (EIA) methodologies through an examination of the Navigation Channel Improvement Project of the Lancang-Mekong River from China-Myanmar Boundary Marker 243 to Ban Houei Sai of Laos. A comparison of the project's expected and reported transboundary impacts shows that the EIA failed to predict a number of adverse impacts, including social and economic impacts. The restricted scale and scope of the transboundary impact assessment (TIA) is probably due to certain fundamental restrictions on how the EIA was conducted. The case study highlights the importance of public involvement (including advance notification) and adequate regulatory frameworks or guidelines in the EIA and TIA processes.