Robotic Office Room to support office work by human behavior understanding function with networked machines

This paper proposes a novel human-robot symbiosis system named a Robotic Office Room (ROR). The understanding, recording and retrieving of telephone call behavior are successfully demonstrated as a typical example of an office work-supporting function of ROR. A unique object model is proposed, which accumulates information concerning motion of the object. This model enables the system to understand human behavior, not by monitoring the motion of the human, but by monitoring the motion of the object-typically, a telephone or pen. Since the model requires the system to pay spatial and temporal attention only to the target object and related motions, it saves computing power. Repertoires of understandable behavior can easily be expanded by simply adding new object models. The ROR is equipped with networked machines. The concept of "ubiquitous link" consisting of unique image channels and remote control channels is proposed. The image channel and the remote control channel utilize TV images and either ultrasonic waves or infrared rays, respectively. Such cooperative support of humans by networked machines is realized that when a human starts to talk on the phone, the ROR not only starts to record the image of the human's behavior, utilizing a VCR, but also turns down the volume on an audio set. The experiment proved the feasibility of the ROR as an integrated robotic system to support human office work.     

Ultrasonic imaging of internal vibration of soft tissue under forced vibration

An imaging system that can display both the amplitude and phase maps of internal vibration in soft tissues for forced low-frequency vibration is described. In this method, low-frequency sinusoidal vibration of frequency under several hundred hertz is applied from the surface of the sample and the resulting movement in it is measured from the Doppler frequency shift of the simultaneously transmitted probe ultrasonic waves. Basic experiments are carried out by using 3.0-MHz ultrasonic waves. The two-dimensional maps of the amplitude and phase of internal vibration are shown, and the velocities of vibration are measured for some samples as well as in vivo.     

Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

Crystallization of potassium titanate from the amorphous phase

By using amorphous potassium titanates as the starting materials, a sintered body of K₂Ti₄O₉ or K₂Ti₆O₁₃ with porous and fibrous textures was prepared. K₂Ti₂O₅ and a new phase, K₆Ti₄O₁₁ were synthesized by the thermal reaction of KNO₃ with TiO₂ at 1000° C for 10 to 20 h. On leaching in water to expel excess of potassium ions, both phases became amorphous. After mixing and moulding these amorphous materials in the desired proportion, a sintered body containing fibrous crystals of K₂Ti₄O₉ was readily fabricated by heating at 1000° C for 12 h. When 5 wt % B₂O₃ was added to the amorphous phases, single phase K₂Ti₆O₁₃, with a fibrous texture grew well on heating at 1000° C for 12 h. Addition of PVA polymer to the amorphous phases was responsible for controlling the porosity of the sintered body, e.g. about 52% theoretical density at 20 wt% PVA polymer. The optimum conditions for preparing the amorphous phases were systematically examined and the effect of the chemical reaction environments, such as different crucible materials on the calcination of KNO₃ and TiO₂ were also discussed.     

Preparation of micaceous iron oxide by the oxidation of iron with pressurized oxygen in concentrated sodium hydroxide solution at elevated temperatures

Iron powders were oxidized in NaOH solutions of 5–25 mol kg^–1 at 403–563 K and 5 MPa of oxygen partial pressure. Various types and morphologies of iron compounds such as fine particles of Fe₃O₄, micaceous -Fe₂O₃, and coagulated particles of -NaFeO₂ were formed depending on the experimental conditions. The observed critical concentrations of NaOH above which -NaFeO₂ was formed was in good agreement with those thermodynamically calculated for the hydrolysis equilibrium of -NaFeO₂.     

An experimental study of the thermodynamic properties of 1,1-difluoroethane

Experimental vapor pressures andP--T data of an important alternative refrigerant, 1, 1-difluoroethane (HFC-152a), have been measured by means of a constant-volume method coupled with expansion procedures. SixtyP--T data were measured along eight isochores in a range of temperaturesT from 330 to 440 K, at pressuresP from 1.6 to 9.3 MPa, and at densities from 51 to 811 kg·m^–3. Forty-six vapor pressures were also measured at temperatures from 320 K to the critical temperature. The uncertainties of the temperature and pressure measurements are within ±7mK and ±2kPa, respectively, while the uncertainty of the density values is within ±0.1%. The purity of the sample used is 99.9 wt%. On the basis of the measurements along each isochore, five saturation points were determined and the critical pressure was determined by correlating the vapor-pressure measurements. The second and third virial coefficients for temperatures from 360 to 440 K have also been determined.     

Synthesis of metal nitrides and carbide powders by a spark discharge method in liquid media

Metal nitrides and carbides powders were synthesized by the spark discharge method in liquid ammonia at 100 °C and 11 kV of the spark discharge voltage and in n-heptane at 25 °C and 7.5 kV using the pellets of aluminum, titanium, iron and chromium as the starting material. The main products were AlN, TiN_0.51, -Fe, -Cr₂N in liquid ammonia, and Al₄C₃, TiC, -Fe, Fe₂C and Cr₇C₃ in n-heptane. The agglomerated particle size decreased with increasing melting point of the metal used as the starting material.     

IR reflection spectra of the silicate surface layer of yellowed rice plant leaf

We have investigated the IR reflectional properties of the three-hold cytrogical surface layer (kutchikura layer on silicate layer n(SiO₂) on silicate cellulose layer C₆H₁₀Si_xO_y) and that of chlorophyll, a(C₅₅H₇₂M_gN₄O₅) etc., present in bladder's cells by using our experimental method. From analysis of three set of anisotropical reflection spectra assigned as due to CO, SiO and NC surface oscillators contained in the cytrogical cells and measured at 2500 2200 cm^?1, 1200 700 cm^?1 and at 700 200 cm^?1 regions, we have confirmed some important results. One is their quantized directional distributions that of the numbers of fine step spectrum and that of the reflection integrals of these spectra. Here, that of the NC oscillators were found to distribute in pentagonal directions relating to the molecular structure of chlorophyll. Second, we confirmed the pecularity of eight fine step-series measured in these sensitive spectra comparing with that of bamboo's seven series. Third, from analysis of the stepnized variation of the “reflection integrals”, we estimated the origin of this effect as which is presumably due to statistical, transfer of the 2p₄ valence electrons etc. in the oxygen atoms from C=O, Si=O double bonding side upto the shallower quantized states, E(N,J) which were formed softly around the and surface oscillators. And these surface oscillators were confirmed as to make photo-chemical reaction process by receiving energy higher than ～24 m eV especially under the illumination of sunshine etc.