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.     

A highly transparent and thermally stable copolymer of 1‐adamantyl methacrylate and styrene

Thermal and optical properties of copolymers of 1‐adamantyl methacrylate (AdMA) and styrene (St) prepared by free radical polymerization in the bulk are investigated. The copolymer forms an azeotrope when the composition is AdMA/St = 55/45 mol%. The glass transition temperature and decomposition temperature of the azeotropic copolymer are 170 and ca 340 °C, respectively. The refractive index increases nonlinearly with St content from 1.522 to 1.591. The light scattering loss at 633 nm is 28.1 dB km^?1, which is less than half of that of polystyrene. The total optical loss including molecular vibrational absorption, which is evaluated using a copolymer‐based optical fiber, is 292–645 dB km^?1 at 500–700 nm. These values correspond to transmittances of 86–93% for a 1 m optical path length. © 2014 Society of Chemical Industry     

Measurement of Thermal Diffusivity at Low Temperatures Using an Optical Reflectivity Technique

An experimental arrangement has been developed for measuring the transient temperature responses and the thermal diffusivities of foil materials in the range of 10 to 300K by using the optical reflectivity technique. The cryogenic system with optical windows is designed to provide temperatures from 10 to 300 K. The front surface of a foil specimen is heated by a pulsed Nd:YAG laser. In situ measurement of the reflectivity of a continuous-wave He–Ne laser at the rear surface is conducted on the microsecond time scale. Using the temperature dependence of reflectivity, the transient temperature response is deduced. The thermal diffusivity is obtained by fitting Parker's formulae to the experimental data on temperature rise. Stainless-steel foils are chosen as samples and are studied in the region from 10 to 300 K. The accuracy is examined by comparing the present results with the theoretical temperature responses and thermal diffusivity data from the literature. Good agreement is observed.     

Stability analysis of continuous-time periodic systems via theharmonic analysis

Asymptotic stability of finite-dimensional linear continuous-time periodic (FDLCP) systems is studied by harmonic analysis. It is first shown that stability can be examined with what we call the harmonic Lyapunov equation. Another necessary and sufficient stability criterion is developed via this generalized Lyapunov equation, which reduces the stability test into that of an approximate FDLCP model whose transition matrix can be determined explicitly. By extending the Gerschgorin theorem to linear operators on the linear space l₂, yet another disc-group criterion is derived, which is only sufficient. Stability of the lossy Mathieu equation is analyzed as a numerical example to illustrate the results     

A general framework for debugging

The state of the art of debugging is examined. A debugged process model that serves as the basis of a general debugging framework is described. The relationship of the model to traditional debugging processes and support tools is discussed. A minimal set of requirements for a general debugging framework is described in terms of both the theory behind debugging methodologies and the support tools. An execution monitor, Eden, that serves as a debugging tool within this general framework is described     

Structural and electronic properties of CuInSe2

Structural investigation on monocrystalline CuInSe₂ samples has been made. From the single crystal results, the space group of CuInSe₂ was confirmed to be Iˉ42d and the crystal solidification direction was investigated. Compositional uniformity of the ingots was established by EPMA and it was found that the indium concentration was greater than that for copper. Systematic annealing experiments were carried out in vacuum at different temperatures (as low as 160° C) and for different times. Large variation in resistivity was observed after the annealing treatment. P-type samples were found to convert to n-type after the heat-treatments.     

Fast microwave detection system for coherent synchrotron radiation study at KEK: Accelerator test facility

A fast room temperature microwave detection system based on the Schottky Barrier-diode detector was created at the KEK ATF (Accelerator Test Facility). It was tested using Coherent Synchrotron Radiation (CSR) generated by the 1.28 GeV electron beam in the damping ring. The speed performance of the detection system was checked by observing the CSR from a multi-bunch (2.8 ns bunch separation time) beam. The theoretical estimations of CSR power yield from an edge of bending magnet as well as new injection tuning method are presented. A very high sensitivity of CSR power yield to the longitudinal electron distribution in a bunch is discussed.     

Active sites of Cu-ZSM-5 for the decomposition of acrylonitrile

The catalytic decomposition of acrylonitrile (AN) over Cu-ZSM-5 prepared with various Cu loadings was investigated. AN conversion, during which the nitrogen atoms in AN were mainly converted to N₂, increased as Cu loading increased. N₂ selectivities as high as 90–95% were attained. X-ray diffraction measurements (XRD) and temperature-programmed reduction by H₂ (H₂-TPR) showed the existence of bulk CuO in Cu-ZSM-5 with a Cu loading of 6.4 wt% and the existence of highly dispersed CuO in Cu-ZSM-5 with a Cu loading of 3.3 wt%. Electron spin resonance measurements revealed that Cu-ZSM-5 contains three forms of isolated Cu²⁺ ions (square-planar, square-pyramidal, and distorted square-pyramidal). The H₂-TPR results suggested that in Cu-ZSM-5 with a Cu loading of 2.9 wt% and below, Cu⁺ existed even after oxidizing pretreatment. The activity of AN decomposition over Cu/SiO₂ suggested that CuO could form N₂, but, independent of the CuO dispersion, nitrogen oxides (NO_x) were formed above 350 °C. Cu⁺ and the square-pyramidal and distorted square-pyramidal forms of Cu²⁺ showed low activity for AN decomposition. Temperature-programmed desorption of NH₃ suggested that N₂ formation from NH₃ proceeded on Cu²⁺, resulting in the formation of Cu⁺. The Cu⁺ ions were oxidized to Cu²⁺ at around 300 °C. Thus, high N₂ selectivity over Cu-ZSM-5 with a wide range of temperature was probably attained by the reaction over the square-planar Cu²⁺, which can be reversibly reduced and oxidized.     

A compact full MMIC module for Ku-band phase-lockedoscillators

A compact Ku-band phase-locked oscillator module has been developed in a full MMIC (monolithic microwave integrated circuit) configuration. The module includes an MMIC voltage-controlled oscillator, an analog frequency divider, and interstage amplifiers. The constituent monolithic chips are integrated in a very small single-package module and operate at the target frequencies without any external trimming or matching network. The oscillator is tuned more than 1 GHz with a constant output amplitude. The frequency-divided output is also obtained over the whole tuning range. Spurious output is not found at any frequency up to 22 GHz. In spite of the very low-Q factor of GaAs monolithic circuitry, the oscillator phase noise exhibited is less than -80 dBc/Hz, due to the high-gain, high-speed phase lock