Navigation behavior based on self-organized spatial representation in hierarchical recurrent neural network

ABSTRACT

A cognitive map is an internal model of the external world and contains the spatial representation of the surrounding environment. The existence of the cognitive map was first identified in rats; rats can navigate to their desired destination using cognitive maps while dealing with environmental uncertainty. We performed a mobile robot navigation experiment where obstacles were randomly placed using hierarchical recurrent neural network (HRNN) with multiple timescales. The HRNN was trained to navigate the mobile robot to the destination indicated by a snapshot image. After the training, the HRNN was able to successfully avoid the obstacles and navigate to the destination from any location in the environment. Analysis of the internal states of the HRNN showed that the module with fast timescale handles obstacle avoidance and the one with slow timescale has spatial representation corresponding to the spatial position of the destination. Moreover, in the experiment wherein the novel path appeared, the trained HRNN performed shortcut behavior. The shortcut behavior shows that the HRNN performed navigation using the self-organized spatial representation in the slow recurrent neural network. This indicates that training of goal-oriented navigation, i.e. the navigation motivated by a snapshot image of the destination results in the self-organization of cognitive map-like representation.     

The structure solution of the F-type i-ZnMgHf from the X-ray diffraction

ABSTRACT

We report a successful growth of the ZnMgHf F-type icosahedral quasicrystal in the form of faceted single grains. By varying the heat treatment parameters we were able to obtain single crystals with a quality suitable for a single crystal X-ray diffraction which was conducted in a synchrotron facility. Ab initio structure solution by a charge flipping algorithm manifests the existence of two types of Bergman clusters. Clusters are differentiated by the preferential occupation of the high-symmetry positions by hafnium in a rhombic triacontahedron, being the outer shell of the atomic cluster.

This paper is part of a Thematic Issue on The Crystallographic Aspects of Metallic Alloys.     

Non-invasive and rapid analysis for observation of internal structure of press-coated tablet using X-ray computed tomography

Background: Since the internal structure of a tablet can be measured without destruction of the sample by X‐ray computed tomography (CT), it could be applied to quality control of tablets during the manufacturing process. Aim: A novel, fast, noninvasive tablet observation method was developed to evaluate the internal structure of commercial press-coated tablets by using X-ray CT. Method: Thirty-two CT image slices of four kinds of commercial press-coated tablets (tablets A, B, C, and D) were measured 300 m interval between edges of the tablet by using an X-ray CT. The thinnest layer thickness of the tablets and distance between centers of gravity (DCG) of tables were calculated. Results: The order of the TLT of the tablets was tablet B > tablet C > tablet D > tablet A. The result indicated that the order of DCG was tablet A > tablet D > tablet C > tablet B. Noninvasive observation of the internal structure of commercial, press-coated tablets by X-ray CT has been demonstrated to be useful in quality control of production. Conclusion: The internal structure of press-coated tablets could be observed without pretreatment, without destruction, and very rapidly by X‐ray CT.     

Effects of phosphorus content on generation and growth of cracks in nickel–phosphorus platings owing to thermal cycling

We observed crack generation and structural changes in electroless nickel–phosphorus (Ni–P) plating layers formed on copper-metalized silicon nitride substrates both during thermal cycling from ? 40 to 250 °C and during storage (not cycling) at 250 °C in order to investigate the effect of the phosphorus contents on crack generation and growth in the Ni–P platings. The used platings contained phosphorus at three different contents: 2.1 wt% [Ni–P(low)], 6.5 wt% [Ni–P(med)], and 10.9 wt% [Ni–P(high)]. The generation time and the amount of cracks were strongly dependent on their phosphorus contents. More cracks appeared after thermal cycling than after storage at 250 °C. In Ni–P(low), cracks were generated after 200 thermal cycles, whereas no cracks were observed even after 250 h of storage at 250 °C. In Ni–P(med) and Ni–P(high), both during thermal cycling and storage at 250 °C, cracks formed during or after crystallization of the amorphous layers. These results suggest that the primary factors affecting the generation of cracks in electroless Ni–P platings are crystallization of the Ni–P platings and repeated changes in thermal stress.     

Multi-scale parallel finite element analyses of LDH sheet formability tests based on crystallographic homogenization method

A multi-scale parallel finite element (FE) procedure based on the crystallographic homogenization method was applied to the LDH sheet formability test analysis. For the multi-scale structure, two scales are considered. One is a microscopic polycrystal structure and the other is a macroscopic elastic plastic continuum. The analysis code can predict the formability of sheet metal in macro-scale, simultaneously the crystal texture and hardening evolutions in the micro-scale (Nakamachi E et al. Int J Plasticity 2007;23:450-8). Since huge computation time is required for the nonlinear dynamic multi-scale FE analysis, parallel computing technique based on domain partitioning of FE model for macro-continuum is introduced into the multi-scale code using the message passing interface (MPI) library and PC cluster (Kuramae H et al. In: Proceedings of the eighth international conference on computational plasticity, Part 1, 2005. p. 622-5). The explicit time stepping solution scheme in the nonlinear multi-scale FE dynamic problem is well-suited for parallel computing on distributed memory environment such as PC cluster because solving simultaneous equation is not required. We measured crystal morphologies of four automotive sheet metals, aluminum alloy sheet metals A6022-T43 and A5182-O, an asymmetrically rolled aluminum alloy sheet metal A6022-ASR, and mild steel HC220YD, by using the scanning electron microscope (SEM) with electron back scattered diffraction (EBSD) analyses, and defined a three-dimensional representative volume element (RVE) of micro polycrystal structure, which satisfy the periodicity condition of crystal orientation distribution. We evaluate not only macroscopic formability of the automotive sheet metals by the multi-scale LDH test analysis, but also microcrystalline texture evolution during plastic deformation. Furthermore, a relationship between the macroscopic formability and the microcrystal texture evolution was discussed through looking at multi-scale FE results. It is concluded that the mild steel HC220YD was the highest formability than the aluminum alloy sheet metals because of remaining and generating the γ-fiber texture, such as {1 1 1}〈1 1 0〉-{1 1 1}〈1 1 2〉 orientations, during plastic deformation.     

Droplet-based biochemical assay by magnetic wire manipulation between multiple droplets

Reaction performance of a droplet-based biochemical assay technique that uses magnetic wires as sample carriers is evaluated. Wires 2.0 mm in length, 0.05 mm in width, and 0.02 mm in thickness are fabricated by chemical etching, introduced into a droplet immersed in oil, and manipulated by the magnetic force of a moving magnet. Alkaline-phosphatase as an enzyme is immobilized on the wire surfaces by applying Au and self-assembled monolayer coatings, and the method’s on-chip reaction performance is evaluated. The enzymatic reaction is found to increase linearly as the number of wires and the reaction time increase. Relatively high performance reproducibility for enzymatic reactions is obtained; on average, the reaction absorbance, standard deviation, and coefficient of variance are found to be respectively 1.14, 0.103, and 9.1 %. The conductivity change in a fused droplet is used to evaluate the absolute volume of liquid transferred with the extracted wires and a value of 0.33 μl is obtained.     

Behavior of a mechanically anchored waterproofing membrane system under wind suction and uniform Pressure

A pressure and wind tunnel test was conducted to obtain the basic data for wind resistance design of a mechanically anchored waterproofing membrane system. The test specimen was a flat roof with the following dimensions: 2.4 m in width, 3 m in length and 0.29 m in height. The waterproofing material was polyvinyl chloride sheet reinforced with polyester fiber (PVC sheets). In the pressure test, because the applied pressure was equivalent to the pressure on the entire surface area of the roof, the billowing heights of the PVC sheet around the fastener had almost the same maximum values; therefore, the axial force at the fastener was also similar to the pressure induced by a compressor, and no lateral forces were measured. On the other hand, in the wind tunnel test, the strain of the PVC sheet around the fastener at windward side was larger than that of the leeward side. The lateral force was 70% of the axial force at a mean wind speed of 38.6 m/s. Therefore, it was clear that the characteristics of the mechanically anchored waterproofing membrane system in the pressure test and the wind tunnel test were different.     

Theory of electrostatics and electrokinetics of soft particles

We investigate theoretically the electrostatics and electrokinetics of a soft particle, i.e. a hard particle covered with an ion-penetrable surface layer of polyelectrolytes. The electric properties of soft particles in an electrolyte solution, which differ from those of hard particles, are essentially determined by the Donnan potential in the surface layer. In particular, the Donnan potential plays an essential role in the electrostatics and electrokinetics of soft particles. Furthermore, the concept of zeta potential, which is important in the electrokinetics of hard particles, loses its physical meaning in the electrokinetics of soft particles. In this review, we discuss the potential distribution around a soft particle, the electrostatic interaction between two soft particles, and the motion of a soft particle in an electric field.     

玻璃纤维/大麻纤维增强聚丙烯混杂复合材料的力学性能和断裂特征(英文)

目前在土木工程,建筑,汽车等领域里使用的复合材料中,玻璃纤维是用量最大的增强材料。由于保护地球环境的呼声日趋高涨,天然纤维被期待着代替源于石油而且再利用困难的玻璃纤维,成为绿色复合材料的必要材料之一。本文通过注射成型工艺制作了玻璃短纤维,大麻短纤维以及混杂型纤维增强复合材料,并在拉伸实验中应用两种不同频率的声发射技术检测了拉伸断裂特性。实验发现,随着大麻纤维的加入和混杂复合材料绿色度的增加,复合材料的拉伸弹性模量随之线性增大,而拉伸强度基本保持不变。当大麻纤维的含量超过20wt%的时候,拉伸强度开始降低。在不同频率的声发射实验中,混杂型复合材料的声发射事件的产生都比单一纤维增强型复合材料要来的晚,也就是说,纤维的混杂有助于推迟微裂纹的产生。