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.     

Biodegradation of indole at high concentration by persolvent fermentation with Pseudomonas sp. ST-200

The value of flexible videoendoscopy as a biofeedback tool in conservative swallowing rehabilitation of patients suffering from aspiration after head and neck surgery was examined. For this purpose, the outcomes of conventional swallowing therapy and of swallowing therapy with support of videoendoscopic biofeedback were compared. In the first 40 days of swallowing therapy, videoendoscopic biofeedback significantly increased the chance of therapeutic success, shortening the period of functional rehabilitation in comparison to conventional swallowing therapy. Limitations of this visual biofeedback procedure are poor cognitive skills of the patient, rejection of the procedure by the patient and local factors that make the positioning of the endoscope difficult.     

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.     

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.     

Development of 170 GHz/500 kW gyrotron

A development of 170GHz/500kW level gyrotron was carried out as R&D work of ITER. The oscillation mode is TE_31,8. In a short pulse experiment, the maximum power of 750kW was achieved at 85kV/40A. The efficiency was 22%. In the depressed collector operation, 500kW/36%/50ms was obtained. The maximum efficiency of 40% was obtained at P_RF=470kW whereas the power decrease by the electron trapping was observed. Pulse extension was done up to 10s at P_RF=170kW with the depressed collector operation. The power was limited by the temperature increase of the output window.     

A video DSP with a macroblock-level-pipeline and a SIMD typevector-pipeline architecture for MPEG2 CODEC

A video DSP with macroblock-level-pipeline and a SIMD type vector-pipeline architecture (VDSP2) has been developed, using 0.5 μm triple-layer-metal CMOS technology. This 17.00 mm×15.00 mm chip consists of 2.5 M transistors, and operates at 100 MHz. The real-time encoder and decoder specified in the MPEG2 main profile at the main level can be realized with two VDSP2's and a motion estimation (ME) unit, and one VDSP2 respectively, at an 80 MHz clock rate, with a total power dissipation of 4.2 W at 3.3 V     

66/77-kV C-GIS using composite insulation in SF6 gas

A second-generation model of cubicletype gas-insulated switchgear (C-GIS) with composite insulation incorporating SF₆ gas has been developed. The design does not require a gas process in field assembly; it has high reliability and its installation is more rapid; and a further reduction in size is achieved. The design principles are described in detail.     

DNA-inorganic hybrid material as selective absorbent for harmful compounds

Double-stranded DNA is one of functional polymers, but the large amounts of DNA sources, such as salmon milt and shellfish gonads, have been discarded as industrial wastes. Therefore, conversion of this discarded DNA to be a useful material would be beneficial to utilize the unique property of DNA. These materials including DNA have been prepared by mixing with the organic polymers, such as alginic acid, collagen, and chitosan. However, since these materials have consisted from entirely organic components, these do not have the mechanical strength for a material. So, we prepared the organic-inorganic hybrid materials by mixing DNA with silane coupling reagents bis(trimethoxysilylpropyl)amine or bis[(3-trimethoxysilyl)propyl]ethylenediamine. These hybrid materials with the flexibility were water-insoluble and resistant to hydrolysis by nuclease. In addition, the mechanical strength of this hybrid material was approximately twice as high as that of DNA without mixing with silane coupling reagents. Furthermore, the double-stranded DNA in the hybrid materials has been maintained in a B-form structure in aqueous solution. Thus, we demonstrated the utilization of DNA as a functional material. As a result, this material could selectively accumulate harmful DNA-intercalating compounds with the planar structure, such as dibenzo-p-dioxin, dibenzofuran, and ethidium bromide. Organic-inorganic hybrid material including double-stranded DNA has potential to serve as a useful biomaterial for medical, engineering, and environmental applications.