MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution

This paper introduces a mobile humanoid robot platform able to execute various services for humans in their everyday environments. For service in more intelligent and varied environments, the control system of a robot must operate efficiently to ensure a coordinated robot system. We enhanced the efficiency of the control system by developing a dual-network control system. The network system consists of two communication protocols: high-speed IEEE 1394, and a highly stable Controller Area Network (CAN). A service framework is also introduced for the coordinated task execution by a humanoid robot. To execute given tasks, various sub-systems of the robot were coordinated effectively by this system. Performance assessments of the presented framework and the proposed control system are experimentally conducted. MAHRU-M, as a platform for a mobile humanoid robot, recognizes the designated object. The object’s pose is calculated by performing model-based object tracking using a particle filter with back projection-based sampling. A unique approach is used to solve the human-like arm inverse kinematics, allowing the control system to generate smooth trajectories for each joint of the humanoid robot. A mean-shift algorithm using bilateral filtering is also used for real-time and robust object tracking. The results of the experiment show that a robot can execute its services efficiently in human workspaces such as an office or a home.     

First-principles study on the thermal expansion of Ni-X binary alloys based on the quasi-harmonic Debye model

In this study, we use the quasi-harmonic Debye model to predict the coefficient of thermal expansion of Ni- X binary alloys. The method bridges between the macroscopic elastic behavior and thermodynamic properties of materials without an expensive calculation of the volume dependence of the phonon density of states. Furthermore, the Grüneisen parameter is derived from the volume dependence of the Debye temperature, which is calculated from the first-principles elastic stiffness constants. The experimental coefficient of thermal expansion (CTE) of pure nickel is well reproduced, especially in the low temperature region. Among the few alloying elements tested, Al is predicted to slightly decrease the CTE whereas Mo and W are more effective in reducing the CTE. For the cases of Ni-X binary alloy systems, where the variation in the CTE is relatively small, the method used here appears to perform better than certain other formulations that rely entirely on the energy vs. volume relationship.     

Standstill Parameter Identification of Vector-Controlled Induction Motors Using the Frequency Characteristics of Rotor Bars

We propose a current injection-based estimator to identify accurately standstill induction motor (IM) parameters necessary for vector control. A mathematical model that faithfully represents the general deep bar effect is introduced. Then, two exciting signals with a different frequency are sequentially injected to track the parameters based on the frequency function of the rotor bar. The proposed methodology employs closed-loop control of an injected current due to little knowledge of the unknown motor, rather than the open-loop voltage injection approaches commonly used in sensorless control schemes. Subsequently, this control scheme proactively prevents electrical accidents resulting from inadequate open-loop voltage injection. Our developed specialized offline commissioning test compensates for the phase delay resulting from the drive, which significantly affects estimation precision. The effectiveness of the identification technique is validated by means of experiments performed on three different IMs.     

35-nm Zigzag T-Gate $hbox{In}_{0.52}hbox{Al}_{0.48} hbox{As/In}_{0.53}hbox{Ga}_{0.47}hbox{As}$ Metamorphic GaAs HEMTs With an Ultrahigh $f_{max}$ of 520 GHz

Metamorphic GaAs high electron mobility transistors (mHEMTs) with the highest-f _max reported to date are presented here. The 35-nm zigzag T-gate In_0.52Al_0.48As/In_0.53Ga_0.47As metamorphic GaAs HEMTs show f _maxof 520 GHz, f _T of 440 GHz, and maximum transconductance (g _m) of 1100 mS/mm at a drain current of 333 mA/mm. The combinations of f _max and f _T are the highest data yet reported for mHEMTs. These devices are promising candidates for aggressively scaled sub-35-nm T-gate mHEMTs.     

Flavonoids: Nutraceuticals for Rheumatic Diseases via Targeting of Inflammasome Activation

Inflammation, an innate immune response that prevents cellular damage caused by pathogens, consists of two successive mechanisms, namely priming and triggering. While priming is an inflammation-preparation step, triggering is an inflammation-activation step, and the central feature of triggering is the activation of inflammasomes and intracellular inflammatory protein complexes. Flavonoids are natural phenolic compounds predominantly present in plants, fruits, and vegetables and are known to possess strong anti-inflammatory activities. The anti-inflammatory activity of flavonoids has long been demonstrated, with the main focus on the priming mechanisms, while increasing numbers of recent studies have redirected the research focus on the triggering step, and studies have reported that flavonoids inhibit inflammatory responses and diseases by targeting inflammasome activation. Rheumatic diseases are systemic inflammatory and autoimmune diseases that primarily affect joints and connective tissues, and they are associated with numerous deleterious effects. Here, we discuss the emerging literature on the ameliorative role of flavonoids targeting inflammasome activation in inflammatory rheumatic diseases.     

Effect of Kombucha on gut-microbiota in mouse having non-alcoholic fatty liver disease

Food Science and Biotechnology - Non-alcoholic fatty liver disease (NAFLD) is one of the most common liver disorders. Possible links have been recently found between the gut-microbiota and the host...     

Thermal properties of Y(BH4)3 synthesized via two different methods

Y(BH₄)₃ is one of the candidates for solid-state hydrogen storage, which contains 9.06 wt% of hydrogen. In this study, the thermal properties of Y(BH₄)₃ synthesized via two different methods are extensively examined. One method relies on the solid–solid metathesis reaction between LiBH₄ and YCl₃, and the other method is the gas–solid reaction between B₂H₆ and YH₃. The two samples are studied by differential scanning calorimetry, thermogravimetry, and X-ray diffraction. They exhibit distinctly different polymorphic phase transformation and melting. It turns out that the side product LiCl in the metathesis reaction, which has been regarded as being inert, shifts the melting point and promotes the formation of YB₄ during decomposition. Differential scanning calorimetry and in situ X-ray diffraction data indicate that the addition of LiBH₄ to Y(BH₄)₃ induces co-melting as is found in the cases of LiBH₄–Ca(BH₄)₂ or LiBH₄–Mg(BH₄)₂. Melt infiltration of Y(BH₄)₃ into mesoporous carbon cage confirms such melting behavior.     

Editorial of Special Issue “Regulatory Roles of Inflammasomes in Human Diseases”

Inflammation is an innate immunity protecting the body from pathogens and cellular damages and comprises two steps; 1) priming (preparatory step) and triggering (activation step). The key feature of the triggering step is the activation of inflammasomes that are intracellular protein complexes consisting of pattern recognition receptors and inflammatory molecules. Inflammasomes are activated in response to various ligands, leading to the caspase-1-mediated maturation and secretion of pro-inflammatory cytokines, IL-1β and IL-18 and the gasdermin D-mediated pyroptosis, an inflammatory form of cell death. Previous studies have demonstrated that inflammasome activation is a key determinant of inflammatory responses and many human diseases; therefore, inflammasomes have been attracted much attention as critical drug targets to prevent and treat various human diseases.     

SER Analysis of QAM with Space Diversity in Rayleigh Fading Channels

This paper derives the symbol error probability for quadrature amplitude modulation(QAM) with L-fold space diversity in Rayleigh fading channels. Two combining techniques, maximal ratio combining(MRC) and selection combining(SC), are considered. The formula for MRC space diversity is obtained by averaging the symbol error probability of M-ary QAM in an additive white Gaussian noise(AWGN) channel over a chi-square distribution with 2L degrees of freedom. The obtained formula overcomes the limitations of the earlier work, which has been limited only to deriving the symbol error rate(SER) of QAM with two branch MRC space diversity. The formula for SC space diversity is obtained by averaging the symbol error probability of M-ary QAM in an AWGN channel over the distribution of the maximum signal-to-noise ratio among all of the diversity channels for SC space diversity. No analysis for QAM with SC space diversity has been reported yet. Analytical results show that the probability of error decreases with the order of diversity. We can also see that the incremental diversity gain per additional branch decreases as the number of branches becomes larger. On the other hand, the performance of 16 QAM with MRC becomes much better than that of SC as the number of branches becomes larger. By giving the order of diversity, L, and the number of signal points, M, we have been able to obtain the SER performance of QAM with general space diversity. These results can be used to determine the order of diversity to achieve the desired SER in land mobile communication system employing QAM modulation.     

Optimum shape design of rotating shaft by ESO method

Evolutionary structural optimization (ESO) method is based on a simple idea that the optimal structure can be produced by gradually removing the ineffectively used material from the design domain. ESO seems to have some attractive features in engineering aspects: simple and fast. In this paper, ESO is applied to optimize shaft shape for the rotating machinery by introducing variable size of finite elements in optimization procedure. The goal of this optimization is to reduce total shaft weight and resonance magnification factor (Q factor), and to yield the critical speeds as far from the operating speed as possible. The constraints include restrictions on critical speed, unbalance response and bending stresses. Sensitivity analysis of the system parameters is also investigated. The results show that new ESO method can be efficiently used to optimize the shape of rotor shaft system with frequency and dynamic constraints.