Study on stiffness visualization and safety control based on will-consensus building for tele-palpation robot system

This paper proposes a method for visualizing the stiffness of a soft object in a palpation-support information system by the teleoperation of a robot hand. It is important that a palpation system display a body’s shape and stiffness. In our method, the stiffness of the contact area between the soft object and the robot finger is estimated by a recursive least-squares method with forgetting factor that uses an impedance dynamics model. With the estimated stiffness and direction of contact force, we calculate the scalar parameter for visualization of stiffness. Moreover, we propose a safety control method for the palpation system, which is part of a tele-control method based on will-consensus building. The system configuration, estimated algorithm, and experimental results are presented.     

Critical mass in the emergence of collective intelligence: a parallelized simulation of swarms in noisy environments

We extend an abstract agent-based swarming model based on the evolution of neural network controllers, to explore further the emergence of swarming. Our model is grounded in the ecological situation, in which agents can access some information from the environment about the resource location, but through a noisy channel. Swarming critically improves the efficiency of group foraging, by allowing agents to reach resource areas much more easily by correcting individual mistakes in group dynamics. As high levels of noise may make the emergence of collective behavior depend on a critical mass of agents, it is crucial to reach sufficient computing power to allow for the evolution of the whole set of dynamics in simulation. Since simulating neural controllers and information exchanges between agents are computationally intensive, to scale up simulations to model critical masses of individuals, the implementation requires careful optimization. We apply techniques from astrophysics known as treecodes to compute the signal propagation, and efficiently parallelize for multi-core architectures. Our results open up future research on signal-based emergent collective behavior as a valid collective strategy for uninformed search over a domain space.     

Sources and leaching of manganese and iron in the Saigon River Basin, Vietnam

High concentrations of manganese and iron in the Saigon River are major problems for the water supply in Ho Chi Minh City (HCMC), Viet Nam. To identify their sources and leaching processes, we surveyed water quality along the Saigon River and ran batch leaching tests using soil and sediment samples. Two important leaching processes were identified: acidic leaching from acid sulfate soil (ASS) in the middle reaches of the river, and Mn dissolution and Fe reduction from sediments in the downstream reaches. Low pH caused the concurrent release of Fe and Mn from the ASS. In contrast, anoxia caused the release of Fe but not Mn from the sediments, whereas low pH facilitated Mn dissolution. Sediments are a more important source of Mn because of their higher Mn contents (10 times) and release rates (14 times) than those from ASS.     

Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots

On March 11, 2011, a massive earthquake (magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis due to the loss of all power that resulted from the meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions, and, in one building, the nuclear reactions became out of control. It was too dangerous for humans to enter the buildings to inspect the damage because radioactive materials were also being released. In response to this crisis, it was decided that mobile rescue robots would be used to carry out surveillance missions. The mobile rescue robots needed could not be delivered to the Tokyo Electric Power Company (TEPCO) until various technical issues were resolved. Those issues involved hardware reliability, communication functions, and the ability of the robots' electronic components to withstand radiation. Additional sensors and functionality that would enable the robots to respond effectively to the crisis were also needed. Available robots were therefore retrofitted for the disaster reponse missions. First, the radiation tolerance of the electronic componenets was checked by means of gamma ray irradiation tests, which were conducted using the facilities of the Japan Atomic Energy Agency (JAEA). The commercial electronic devices used in the original robot systems operated long enough (more than 100 h at a 10% safety margin) in the assumed environment (100 mGy/h). Next, the usability of wireless communication in the target environment was assessed. Such tests were not possible in the target environment itself, so they were performed at the Hamaoka Daiichi Nuclear Power Plants, which are similar to the target environment. As previously predicted, the test results indicated that robust wireless communication would not be possible in the reactor buildings. It was therefore determined that a wired communication device would need to be installed. After TEPCO's official urgent mission proposal was received, the team mounted additional devices to facilitate the installation of a water gauge in the basement of the reactor buildings to determine flooding levels. While these preparations were taking place, prospective robot operators from TEPCO trained in a laboratory environment. Finally, one of the robots was delivered to the Fukushima Daiichi Nuclear Power Plants on June 20, 2011, where it performed a number of important missions inside the buildings. In this paper, the requirements for the exploration mission in the Fukushima Daiichi Nuclear Power Plants are presented, the implementation is discussed, and the results of the mission are reported.     

Impedancemetric gas sensor based on Pt and WO3 co-loaded TiO2 and ZrO2 as total NOx sensing materials

Pt-loaded metal oxides [WO₃/ZrO₂, MO_x/TiO₂ (MO_x = WO₃, MoO₃, V₂O₅), WO₃ and TiO₂] equipped with interdigital Au electrodes have been tested as a NO_x (NO and NO₂) gas sensor at 500 °C. The impedance value at 4 Hz was used as a sensing signal. Among the samples tested, Pt-WO₃/TiO₂ showed the highest sensor response magnitude to NO. The sensor was found to respond consistently and rapidly to change in concentration of NO and NO₂ in the oxygen rich and moist gas mixture at 500 °C. The 90% response and 90% recovery times were as short as less than 5–10 s. The impedance at 4 Hz of the present device was found to vary almost linearly with the logarithm of NO_x (NO or NO₂) concentration from 10 to 570 ppm. Pt-WO₃/TiO₂ showed responses to NO and NO₂ of the same algebraic sign and nearly the same magnitude, while Pt/WO₃ and WO₃/TiO₂ showed higher response to NO than NO₂. The impedance at 4 Hz in the presence of NO for Pt-WO₃/TiO₂ was almost equal at any O₂ concentration examined (1–99%), while in the case of Pt/WO₃ and WO₃/TiO₂ the impedance increased with the oxygen concentration. The features of Pt-WO₃/TiO₂ are favorable as a NO_x sensor that can monitor and control the NO_x concentration in automotive exhaust. The effect of WO₃ loading of Pt-WO₃/ZrO₂-based sensor is studied to discuss the role of surface W-OH sites on the NO_x sensing.     

A full‐color eyewear display using planar waveguides with reflection volume holograms

Abstract— A full‐color eyewear display with over 85% see‐through transmittance with a 16° horizontal field of view was developed. Very low color crosstalk, less than 0.008 Δu′v′ uniformity, and 120% NTSC color gamut were achieved. Waveguides with two in‐ and out‐coupling reflection volume hologram elements enabled a simple configuration that has an optical engine beside the user's temples. The reflection volume hologram elements used on the waveguides realized a small thickness of 1.4 mm for each waveguide, and an out‐coupling reflection volume hologram used as an optical combiner contributed a high see‐through transmittance of 85% due to its wavelength selectivity. However, there are technical challenges in achieving a reasonable screen size and quality color images with optics that utilize holographic waveguides because holograms have large chromatic dispersions compared to conventional optical elements such as lenses and mirrors. Approaches to overcome these issues are described.     

On-chip Diamond MEMS Magnetic Sensing through Multifunctionalized Magnetostrictive Thin Film

Electrically integrable, high-sensitivity, and high-reliability magnetic sensors are not yet realized at high temperatures (500 °C). In this study, an integrated on-chip single-crystal diamond (SCD) micro-electromechanical system (MEMS) magnetic transducer is demonstrated by coupling SCD with a large magnetostrictive FeGa film. The FeGa film is multifunctionalized to actuate the resonator, self-sense the external magnetic field, and electrically readout the resonance signal. The on-chip SCD MEMS transducer shows a high sensitivity of 3.2 Hz mT⁻¹ from room temperature to 500 °C and a low noise level of 9.45 nT Hz^−1/2 up to 300 °C. The minimum fluctuation of the resonance frequency is 1.9 × 10⁻⁶ at room temperature and 2.3 × 10⁻⁶ at 300 °C. An SCD MEMS resonator array with parallel electric readout is subsequently achieved, thus providing a basis for the development of magnetic image sensors. The present study facilitates the development of highly integrated on-chip MEMS resonator transducers with high performance and high thermal stability.     

Market prediction using machine learning based on social media specific features

Artificial Life and Robotics - In recent years, unspecified messages posted on social media have significantly affected the price fluctuations of online-traded products, such as stocks and virtual...     

Bounded Rationality,Group Formation and the Emergence of Trust: An Agent-Based Economic Model

Computational Economics - It is possible to model trust as an investment game, where a player in order to receive a reward or a better outcome, accepts a certain risk of defection by another...