Stick-slip motion control based on cutter location data for an orthogonal-type robot

In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool’s movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.     

iOS application for quadrotor remote control

With the progress of electronics technology, the development of civilian UAV (unmanned aerial vehicle) applications becomes possible. In addition, smartphones have rapidly gained popularity and become very important due to the simple operability and mobility. Hence, there is a need to have an easy and flexible way to control a UAV using such technology. In this study, a remote controller using an iOS device is developed for a quadrotor to enable remote control with easy operations. Four basic programs for obtaining compass information, controlling a gimbal, autopilot function for return, and video preview function are developed and implemented for an iOS device. The basic functionalities of the programs are evaluated and confirmed through experiments using a quadrotor and an iOS device.     

Translational lemmas for DLOGTIME-uniform circuits,alternating TMs,and PRAMs

We present translational lemmas for the three standard models of parallel computation, and apply them to obtain tight hierarchy results. It is shown that, for arbitrarily small rational constant , (i) there is a language which can be accepted by a -uniform circuit family of depth and size but not by any -uniform circuit family of depth and size , (ii) there is a language which can be accepted by a -time -space ATM with l worktapes but not by any -time -space ATM with the same l worktapes if the number of tape symbols is fixed, and (iii) there is a language which can be accepted by a -time PRAM with processors but not by any -time PRAM with processors. Here, c > 0, d ≥ 1, r ₁ > 1, and r ₂ ≥ 1 are arbitrary rational constants, and l ≥ 2 is an arbitrary integer. Preliminary versions of different parts of this paper appeared in Proc. MCU 2004 (LNCS 3354) and Proc. FCT 2005 (LNCS 3623).     

Simultaneous rate-synchrony codes in populations of spiking neurons

Firing rates and synchronous firing are often simultaneously relevant signals, and they independently or cooperatively represent external sensory inputs, cognitive events, and environmental situations such as body position. However, how rates and synchrony comodulate and which aspects of inputs are effectively encoded, particularly in the presence of dynamical inputs, are unanswered questions. We examine theoretically how mixed information in dynamic mean input and noise input is represented by dynamic population firing rates and synchrony. In a subthreshold regime, amplitudes of spatially uncorrelated noise are encoded up to a fairly high input frequency, but this requires both rate and synchrony output channels. In a suprathreshold regime, means and common noise amplitudes can be simultaneously and separately encoded by rates and synchrony, respectively, but the input frequency for which this is possible has a lower limit.     

Learning commutative deterministic finite state automata in polynomial time

We consider the problem of learning the commutative subclass of regular languages in the on-line model of predicting {0,1∼-valued functions from examples and reinforcements due to Littlestone [7,4]. We show that the entire class of commutative deterministic finite state automata (CDFAs) of an arbitrary alphabet sizek is predictable inO(s ^k) time with the worst case number of mistakes bounded above byO(s ^kk logs), wheres is the number of states in the target DFA. As a corollary, this result implies that the class of CDFAs is also PAC-learnable from random labeled examples in timeO(s ^k) with sample complexity, using a different class of representations. The mistake bound of our algorithm is within a polynomial, for a fixed alphabet size, of the lower boundO(s+k) we obtain by calculating the VC-dimension of the class. Our result also implies the predictability of the class of finite sets of commutative DFAs representing the finite unions of the languages accepted by the respective DFAs. Part of this work was supported by the Office of Naval Research under contract number N00014-87-K-0401 while the author was at the Department of Computer and Information Science, University of Pennsylvania, and N0014-86-K-0454 while at the Department of Computer and Information Sciences, U.C. Santa Cruz. The author’s email address is abe@IBL.CL.nec.co.jp     

Phase diagram for the helical texture in 3He-A

The stability region of the helical textures in³He-A in thev _s-H phase diagram is theoretically determined. Herev _sis the superflow velocity andH (v _s) is the external magnetic field. The pitch of the helixk ^–1 that minimizes the Gibbs free energy and the corresponding inclination angles ofl andd are determined numerically as functions ofv _sandH. The NMR frequencies (two longitudinal and four transverse frequencies) associated with the helical texture are obtained.Work supported by the National Science Foundation under Grant No. DMR 76-21032.     

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.     

Efficient distribution-free population learning of simple concepts

We consider a variant of the ‘population learning model’ proposed by Kearns and Seung [8], in which the learner is required to be ‘distribution-free’ as well as computationally efficient. A population learner receives as input hypotheses from a large population of agents and produces as output its final hypothesis. Each agent is assumed to independently obtain labeled sample for the target concept and output a hypothesis. A polynomial time population learner is said to PAC-learn a concept class, if its hypothesis is probably approximately correct whenever the population size exceeds a certain bound which is polynomial, even if the sample size for each agent is fixed at some constant. We exhibit some general population learning strategies, and some simple concept classes that can be learned by them. These strategies include the ‘supremum hypothesis finder’, the ‘minimum superset finder’ (a special case of the ‘supremum hypothesis finder’), and various voting schemes. When coupled with appropriate agent algorithms, these strategies can learn a variety of simple concept classes, such as the ‘high–low game’, conjunctions, axis-parallel rectangles and others. We give upper bounds on the required population size for each of these cases, and show that these systems can be used to obtain a speed up from the ordinary PAC-learning model [11], with appropriate choices of sample and population sizes. With the population learner restricted to be a voting scheme, what we have is effectively a model of ‘population prediction’, in which the learner is to predict the value of the target concept at an arbitrarily drawn point, as a threshold function of the predictions made by its agents on the same point. We show that the population learning model is strictly more powerful than the population prediction model. Finally, we consider a variant of this model with classification noise, and exhibit a population learner for the class of conjunctions in this model. This revised version was published online in June 2006 with corrections to the Cover Date.     

Theranostic Agent Combining Fullerene Nanocrystals and Gold Nanoparticles for Photoacoustic Imaging and Photothermal Therapy

Developing photoactivatable theranostic platforms with integrated functionalities of biocompatibility, targeting, imaging contrast, and therapy is a promising approach for cancer diagnosis and therapy. Here, we report a theranostic agent based on a hybrid nanoparticle comprising fullerene nanocrystals and gold nanoparticles (FGNPs) for photoacoustic imaging and photothermal therapy. Compared to gold nanoparticles and fullerene crystals, FGNPs exhibited stronger photoacoustic signals and photothermal heating characteristics by irradiating light with an optimal wavelength. Our studies demonstrated that FGNPs could kill cancer cells due to their photothermal heating characteristics in vitro. Moreover, FGNPs that are accumulated in tumor tissue via the enhanced permeation and retention effect can visualize tumor tissue due to their photoacoustic signal in tumor xenograft model mice. The theranostic agent with FGNPs shows promise for cancer therapy.     

New CO2 laser lines in the 11-μm wavelength region:new hot bands

Nineteen new laser lines in the 11-μm wavelength region have been observed in CW oscillation from a CO₂ laser with a high-Q, high-resolution cavity at a higher than usual current density. The frequency of each line has been measured using heterodyne frequency measurement techniques. Analysis of the frequencies shows that 15 lines are rotation-vibration transitions of the 01¹2-[11¹1,03¹1]_I band (the first sequence hot band) of the CO₂ molecule and four lines belong to the rotation-vibration transitions of the 02²1-[12 ²0, 04²0]_I band of CO₂