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1.
The World robot summit disaster robotics category – achievements of the 2018 preliminary competition
Satoshi Tadokoro Tetsuya Kimura Masayuki Okugawa Katsuji Oogane Hiroki Igarashi Yoshikazu Ohtsubo 《Advanced Robotics》2019,33(17):854-875
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. 相似文献
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A film of polyamic acid is formed by vapor deposition polymerization of pyromellitic dianhydride (PMDA) and 4,4′-diaminodiphenyl ether (ODA). We have taken ESR spectrum during the polymerization process and compared it with the ESR spectrum of films obtained from solution polymerization. In the intermediate polymers during vapor deposition polymerization, the amide bond (? CONH? ) is coplanar with the benzene ring and two protons in the PMDA molecule. This intermediate polymer has one unpaired electron that interacts with the two nitrogen nuclei equally. On the other hand, in the polymer obtained by solution polymerization, the amide bond and the benzene ring of PMDA are not coplanar. In this polymer, too, some of the molecules have an unpaired electron that seems to have almost no coupling with NH groups. These results imply that the polymer formation via vapor deposition proceeds through different intermediates and different molecular configurations from that via the solution process. 相似文献
4.
Yasuo Suzuki Ryoetsu Yoshino Hisashi Saitoh Kazunori Fukushi Yoshikazu Sonehara 《Journal of Alloys and Compounds》1992,180(1-2):383-389
The mean molal activity coefficients of aqueous scandium chloride, nitrate, bromide and perchlorate solutions were determined at 25.0° for dilute to saturated concentrations, together with the activities of water. In the dilute solutions of scandium halides, the activity coefficients were obtained from electromotive force measurements on galvanic cells, and the osmotic coefficients of all four solutions above 0.1 mol kg−1 were determined from the isopiestic measurements. Least-squares equations were fitted to these coefficients, which were then used to calculate the mean molal activity coefficients and water activities. The relationships between these results and the corresponding activity data for other rare earth salts, and to the cation hydration and ionic interactions, are discussed. The results on scandium perchlorate solutions suggested that the inner-sphere hydration number of tervalent scandium ion may be seven. 相似文献
5.
C. Lin G. F. Zeis M. Kojima J. H. Magill H. Satake 《Journal of Materials Science》1992,27(21):5849-5856
Commercially available propylene-ethylene (P/E) block copolymers have been processed by the rolltrusion technique. Properties such as tensile modulus, tensile strength and sample clarity are significantly enhanced compared to the original commercial material. The latter is found to be comprised of ethylene globules distributed uniformly or heterogenously throughout the P/E copolymer, depending upon the manufacturing process. In the rolltruded copolymer, the mechanical and morphological properties depend upon the processing temperature and deformation ratio experienced by the workpiece. The chemical composition of the P/E copolymers also plays a significant part in the improvements in properties induced via rolltrusion that may be carried out below or above the melting temperature of the ethylene component of the copolymers. Differential scanning calorimetry thermograms are very useful in assessing transitional behaviour in this respect and may be used to distinguish between different copolymers (processed and original samples). Correlations among some properties and processing conditions are presented and discussed in relation to polymer composition-processing conditions-morphology-property relationships. 相似文献
6.
T Shirasaka K Nakano T Takechi H Satake J Uchida A Fujioka H Saito H Okabe K Oyama S Takeda N Unemi M Fukushima 《Canadian Metallurgical Quarterly》1996,56(11):2602-2606
The purpose of this study was to establish a nude rat orthotopic (organ-specific) human colorectal cancer model as an in vivo secondary screen for general evaluation of new anticancer agents against colorectal cancer and to evaluate practically the antitumor activity of 1 M tegafur-0.4 M 5-chloro-2,4-dihydroxypyridine-1 M potassium oxonate (S-1), a new p.o. fluoropyrimidine, in comparison to 1 M tegafur-4 M uracil [(UFT) effective on colorectal tumor in clinical]. After implantation of KM12C, a human colorectal cancer cell line, into the subserosal layer of the colon as a single-cell suspension, extensive local tumor growth and invasion to both the mucosal and the serosal sides were observed in all rats. Metastatic foci were also formed in both lymph nodes and lungs following local tumor growth in all of them. Using this method, an equitoxic dose of S-1 (15 mg/kg/day) and UFT (30 mg/kg/day) was administered p.o. for 14 consecutive days from 7 days after tumor cell implantation. S-1 showed a higher tumor growth inhibition than UFT did [S-1, 57% (significantly different from the tumor weight of the untreated group at P < 0.05) and UFT, 18% (P > 0.05)]. When both drugs were administered to nude rats bearing KM12C injected into the cecal wall for 28 consecutive days at equitoxic doses, the mean survival in the S-1 group was 16 days longer than that in the untreated group (P < 0.01) but that in the UFT group was only 8 days longer (P > 0.05). After the administration of an equitoxic dose of both drugs, S-1 gave the higher levels than UFT in various pharmacokinetic parameters as follows: area under the curve 0-24 h of 5-fluorouracil in plasma (3.5-fold), area under the curve 0-24 h of 5-fluorouracil incorporated into RNA in the tumor (1.3-fold), and thymidylate synthase inhibition rate (percentage) in the tumor (about 20%). Collectively, these findings suggested that this orthotopic human colorectal tumor model in nude rats is useful to evaluate the clinical therapeutic efficacy of drugs or therapies for colorectal cancer, and that S-1 had a higher therapeutic effect on human colorectal tumor than UFT did. 相似文献
7.
Using the photonic band gap in photonic crystals, the fundamental waveguide structures for the light wavelength range have been developed. Based on the fine structure of these many functional devices have been proposed by analytical or numerical simulation methods and the experiments of trial manufacture. In this paper, the treatment of chiral dielectric in the Condensed Node Spatial Network for the vector potential is explained, and we show the polarization plane rotation property in air‐hole and pillar type photonic crystal waveguide structures with the chiral medium substrate. Then, we show the fundamental advantage of the air‐hole type photonic crystal waveguide structure in application to a mode converter. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 152(1): 7–14, 2005; Published online in Wiley InterScience ( www.interscience. wiley.com ). DOI 10.1002/eej.20098 相似文献
8.
Kazuko Satake Ai Katayama Hideki Ohkoshi Takeshi Nakahara Takashi Takeuchi 《Sensors and actuators. B, Chemical》1994,20(2-3):111-117
Oxide semiconductors have been examined to develop NOx sensors for exhaust monitoring. Titania doped with trivalent elements, such as Al3+, Sc3+, Ga3+ or In3+, has a good sensitivity and selectivity to NO between 450 and 550 °C, and shows rapid response. A sensor probe for monitoring exhaust NOx has been fabricated. Many kinds of interference gases, such as C3H6, CO and SO2, have been found to have only a slight influence on the sensor response to NO. The influence of O2 and H2O is also negligible, except for the cases of 0% H2O and fuel-rich conditions. In accordance with these results, the sensor probe operates satisfactority in the exhaust gas of various combustion conditions without interference from the various kinds of gas species in the exhaust gases. 相似文献
9.
Anyun Zhang Yuezhou Wei Mikio Kumagai Yoshikazu Koma 《Journal of Alloys and Compounds》2005,390(1-2):275-281
To separate the long-lived minor actinides (MA(III) = Am(III), Cm(III)) and some specific fission products (FP) such as Pd(II), Mo(VI), Cs(I) and Sr(II) from high-level liquid waste (HLLW), we have been studying a new partitioning process by extraction chromatography using several novel silica-based extraction resins. In this work, we examined the separation behavior of the elements contained in a simulated MA-effluent by the CMPO/SiO2P packed column. In addition, as an attempt to further isolate Am(III) and Cm(III) from the heavy RE(III) such as Eu(III), Gd(III) and Dy(III) contained in the MA-effluent, we investigated the possibility of separation by using a silica-based cationic exchange resin. Furthermore, to isolate Sr(II) from the HLLW, adsorption and separation performances of Sr(II) and some other FP elements were studied by using a novel silica-based crown ether extraction resin, DtBuCH18C6/SiO2P. The experimental results demonstrated that the elements in the simulated MA-effluent can be successfully separated to (1) Pd, (2) MA-hRE and (3) Zr–Mo, by CMPO/SiO2P packed column using water and a dilute DTPA solution as eluents. Am(III) and Cm(III) are expected to be effectively separated from light RE(III) and Y(III) by the SiSCR cationic resin. However, more effective separation between Am(II), Cm(III) and heavy RE(III) such as Eu(III), Gd(III) and Dy(III) needs further approach. DtBuCH18C6/SiO2P showed a highly selective adsorption for Sr(III) so that the Sr(II) could be completely separated from other FPs except a portion of Ba(II). 相似文献
10.
A new radially local neoclassical transport code is developed based on the radially global two-weight δf Monte Carlo code, FORTEC-3D (Satake et al., 2008). In the collisional two-weight δf method, the variance of weight increases in time due to the so-called weight spreading, which leads to an increasing numerical noise in long time simulations. A new improved control-variate scheme was proposed by Kleiber et al. (2011) to reduce the variance. We investigate the effectiveness and validity of the new control-variate scheme for a practical collisional transport problem in a plasma described by the drift kinetic equation. It is demonstrated that the new scheme reduces the variance of weight by approximately 75% in an axisymmetric magnetic field configuration. The burst-like behavior of a transport observable caused by a large numerical noise can be avoided. As a result, the time evolution of a transport observable can be successfully smoothed. 相似文献