Analysis of Humanoid Appearances in Human–Robot Interaction

Identifying the extent to which the appearance of a humanoid robot affects human behavior toward it is important. We compared participant impressions of and behaviors toward two real humanoid robots in simple human-robot interactions. These two robots, which have different appearances but are controlled to perform the same recorded utterances and motions, are adjusted by a motion-capturing system. We conducted an experiment with 48 human participants who individually interacted with the two robots and also with a human for reference. The results revealed that different appearances did not affect participant verbal behaviors, but they did affect such nonverbal behaviors as distance and delay of response. These differences are explained by two factors: impressions and attributions.     

Compact electrostatic levitator for diffraction measurements with a two axis diffractometer and a laboratory x-ray source

A compact electrostatic levitator was developed for the structural analysis of high-temperature liquids by x-ray diffraction methods. The size of the levitator was 200 mm in diameter and 200 mm in height and can be set up on a two axis diffractometer with a laboratory x-ray source, which is very convenient in performing structural measurements of high-temperature liquids. In particular, since the laboratory x-ray source allows a great amount of user time, preliminary or challenging experiments can be performed with trial and error, which prepares and complements synchrotron x-ray experiments. The present small apparatus also provides the advantage of portability and facility of setting. To demonstrate the capability of this electrostatic levitator, the static structure factors of alumina and silicon samples in their liquid phases were successfully measured.     

重复控制系统中非周期扰动的抑制

为了改善重复控制系统中的扰动抑制性能,提出一种基于曲率模型的扰动估计新方法.该方法的主要特点是扰动的估计值直接与重复控制规则结合也不影响重复控制系统的稳定性.仿真结果显示该方法可以有效地抑制扰动.     

Fractional power approximation and its generation

For an analog simulating system, an approximating system is proposed. Its mathematical form is expressed by an algebraic equation:

$\text{? (x) ≈ α + β χ + γχ}{}^{\mathrm{k}}$

with four parameters given by real numbers. Their values can be determined so as to satisfy a best fit in a Chebyshev sense. Then, the accuracy is of the same order with that obtained by any kind of ordinary power series up to terms o f the third order. It is noticeable that a given function can be accurately approximated by this equation without destroying its uniform continuity.As its electronic system, it is possible to utilize forward current-voltage characteristics o f p-n diodes near their origins. Different functions can be produced by adjusting an amount o f ordinary resistances connected to diodes in series.     

Role of disorder-order transformation in consolidation of ceramics

The ordering of stacking-disordered silicon carbide prepared from the elements by high energy ball milling was investigated during sintering. A sharp increase in density in the temperature region 1700–1800°C was associated with a decrease in the disorder. Samples which had low disorder density showed a more continuous sintering behavior with temperature. Highly dense (up to 99% relative density) SiC can be obtained at 1900°C under a pressure of 70 MPa with no hold time. Similar results were observed for structurally disordered carbon with 10 at% of boron. The sintering behavior exhibited an abrupt density increase in the narrow temperature region of 1450–1600°C and was associated with disorder-order transformation.     

Multi-objective genetic algorithm for solving N-version program design problem

N-version programming (NVP) is a programming approach for constructing fault tolerant software systems. Generally, an optimization model utilized in NVP selects the optimal set of versions for each module to maximize the system reliability and to constrain the total cost to remain within a given budget. In such a model, while the number of versions included in the obtained solution is generally reduced, the budget restriction may be so rigid that it may fail to find the optimal solution. In order to ameliorate this problem, this paper proposes a novel bi-objective optimization model that maximizes the system reliability and minimizes the system total cost for designing N-version software systems. When solving multi-objective optimization problem, it is crucial to find Pareto solutions. It is, however, not easy to obtain them. In this paper, we propose a novel bi-objective optimization model that obtains many Pareto solutions efficiently.We formulate the optimal design problem of NVP as a bi-objective 0–1 nonlinear integer programming problem. In order to overcome this problem, we propose a Multi-objective genetic algorithm (MOGA), which is a powerful, though time-consuming, method to solve multi-objective optimization problems. When implementing genetic algorithm (GA), the use of an appropriate genetic representation scheme is one of the most important issues to obtain good performance. We employ random-key representation in our MOGA to find many Pareto solutions spaced as evenly as possible along the Pareto frontier. To pursue improve further performance, we introduce elitism, the Pareto-insertion and the Pareto-deletion operations based on distance between Pareto solutions in the selection process.The proposed MOGA obtains many Pareto solutions along the Pareto frontier evenly. The user of the MOGA can select the best compromise solution among the candidates by controlling the balance between the system reliability and the total cost.     

Intracellular recovery of gold by microbial reduction of AuCl4 ions using the anaerobic bacterium Shewanella algae

Microbial reduction and intracellular precipitation of gold was achieved at 25 °C and pH 7 by using the mesophilic anaerobic bacterium Shewanella algae with H₂ as the electron donor. The reductive precipitation of gold by S. algae was a fast process: 0.1–1 mol/m³ AuCl₄⁻ ions were completely reduced to insoluble gold within 30 min. The biogenic precipitates were crystalline gold nanoparticles of 10–20 nm present in the periplasmic space. The reducing power of S. algae at 3.2 × 10¹⁵ cells/m³ and 25 °C was comparable to that of aqueous citric acid solution (chemical reductant) at 20 mol/m³ and 50 °C. The intracellular recovery of gold is potentially attractive as an environmentally friendly alternative to conventional methods.     

Doped Helium Crystals Growth and Study

No Heading The new technique for embedding microimpurities into solid helium has been developed. A He crystal was grown in a vertical cylindrical cell placed in the bath of pumped LHe cryostat. The He solid was continuously moved downward by exhaust of helium from the cell bottom and was simultaneously restored from its upper edge by sedimentation of a jet of gas helium mixed with impurity. A guest particle density of 3· 10¹⁹ per cc and stable during an hour doped crystal growth with the rate of 1 mm per 20 s were achieved. The solid Deuterium clusters isolated in solid Helium have been investigated at T = 1.3K and P = 3 MPa by CARS technique. The strong effect of Raman scattering sensitivity to the molecular environment nuclear spin has been found in CARS - the ratio of probabilities for the scattering by para (J=1) and ortho (J=0) deuterium being equal to 1 in a gas is as high as 10,000 in nearly pure o-D₂, whereas it is 50 in common Raman scattering. This effect has been shown to give rise starting from cluster size corresponding to the phonon band onset.PACS numbers: 33.20 Fb; 33.70 Jg: 67.80 Mg     

Effect of gravity on InGaSb crystal growth

The effect of gravity on dissolution of GaSb in InSb melt and growth of InGaSb was experimentally investigated. Experiments were carried out in a GaSb(seed)/InSb/GaSb(feed) sandwich system under an imposed temperature gradient. In the experiments, the GaSb feed crystal dissolved into the InSb melt to supply the required GaSb component for the growth of In_0.1Ga_0.9Sb crystal. Two parameters were considered: (1) the inclination angle (θ) of the sample for gravity as 0° and 53°, and (2) the sample diameter (D) as 9 mm and 5mm. When θ was 0°, the interface was almost flat, indicating that convection was axisymmetric and stable. Whereas the interface was distorted towards gravitational direction when θ was 53°, indicating that solutal convection was dominant. The decrease of growth temperature and sample diameter reduced the distortion of interface and the dissolution amount of GaSb feed. The homogeneous crystals were grown at the initial growth stage by supplying the GaSb component during growth.     

Applications of Thermoelectric Power Measurement to Deterioration Diagnosis of Nuclear Material and Its Principle

In order to non-destructively evaluate changes in toughness of cast duplex stainless steel, which is frequently used in main coolant pipes of PWR type nuclear power plants, due to thermal aging, we tried to apply thermoelectric power (TEP) measurement. because TEP is sensitive to microstructural material changes, and to clarify the mechanism behind TEP changes due to thermal aging. As a result, TEP of cast duplex stainless steel increased with aging time, and good correlations were found between TEP and toughness. Concerning the mechanism, TEP of high and low Cr content alloys was higher than that of intermediate Cr content alloys. Because high and low Cr areas are created in the ferrite phase due to thermal aging. TEP of the entire material increased. Furthermore, when each Cr fluctuating area acted in parallel, the increase in TEP became larger. According to the Mott-Jones theory, TEP is largely related to the electron density of states at the Fermi level. The electron density of states of Fe–Cr–Ni alloys in the valence band was measured with X-ray photoelectron spectroscopy (XPS). As a result, there was a high correlation between the TEP calculated from the XPS spectrum and the measured TEP. Therefore, we showed experimentally that the electron density of states changed due to variations in Cr concentration, which also affect TEP.