Robust comprehension of natural language instructions by a domestic service robot

We present a method through which domestic service robots can comprehend natural language instructions. For each action type, a variety of natural language expressions can be used, for example, the instruction, ‘Go to the kitchen’ can also be expressed as ‘Move to the kitchen.’ We are of the view that natural language instructions are intuitive and, therefore, constitute one of the most user-friendly robot instruction methods. In this paper, we propose a method that enables robots to comprehend instructions spoken by a human user in his/her natural language. The proposed method combines action-type classification, which is based on a support vector machine, and slot extraction, which is based on conditional random fields, both of which are required in order for a robot to execute an action. Further, by considering the co-occurrence relationship between the action type and the slots along with the speech recognition score, the proposed method can avoid degradation of the robot’s comprehension accuracy in noisy environments, where inaccurate speech recognition can be problematic. We conducted experiments using a Japanese instruction data-set collected using a questionnaire-based survey. Experimental results show that the robot’s comprehension accuracy is higher in a noisy environment using our method than when using a baseline method with only a 1-best speech recognition result.     

Chiral selection in supercoiling and wrapping of DNA

This paper gives an account of our recent studies on the mechanisms for chiral selection in super-coiling and wrapping of DNA. We first present a compact model of double-stranded DNA (Model 1), which consists of two elastic chains that mutually intertwine in a right-handed manner to form a double-stranded helix. Numerical analysis of this model suggests an intrinsic propensity of DNA to writhe in the left direction upon bending. Based on this asymmetric elasticity of DNA, we present a further simplified model of DNA (Model 2), which is a single-chained homopolymer with the propensity to writhe in the left direction upon bending. This simplified model is incorporated into a Langevin dynamics study to explore the origin of the uniform left-handed wrapping of DNA around a nucleosome core particle in nature. We finally show that the propensity of DNA to writhe in the left direction upon bending gives rise to the selective left-handed wrapping, provided that the size of the core particle is appropriate. This result suggests the fundamental significance of the asymmetric elasticity of helical biopolymers in their structural dynamics and functions.     

Application results of a prototype ultrasonic liquid film sensor to a 7 MPa steam–water two-phase flow experiment

A prototype ultrasonic liquid film sensor was applied to a high-temperature steam–water two-phase flow experiment. The liquid film sensor was vertically installed in a loop which was connected to HUSTLE, a multi-purpose steam source test facility. The hydraulic diameter of the measurement section was 9.4 mm. The output waveforms of the sensor were acquired with a digital oscilloscope. The fluid temperature and system pressure were kept at 288 °C and 7.2 MPa, respectively, during the experiment. The pulse-echo method was used to calculate the liquid film thickness. The cross-correlation calculation was utilized to determine the time difference between the pulse reflected at the sensor surface and the pulse reflected at the liquid film surface. The time-averaged liquid film thicknesses were less than 0.055 mm in the annular flow condition. The increase of the time-averaged thickness was small with the change of the gas momentum flux. The film thicknesses measured with the sensor were compared with the past experimental results; the former were smaller than one-fourth of the thickness estimated as the mean film thickness. The comparison results suggested that the continuous liquid sublayer thickness was measured with the liquid film sensor.     

Phase Relations and Volume Changes of Hafnia under High Pressure and High Temperature

Using multi-anvil high-pressure devices and synchrotron radiation, X-ray in situ observations of HfO₂ under high pressure and high temperature have been performed to investigate its phase relations and compression behavior. An orthorhombic phase (orthoI) is stable from 4 to 14.5 GPa below 1250°–1400°C and transforms to a tetragonal phase, which is one of the high-temperature forms of HfO₂, above these temperatures. Another orthorhombic phase (orthoII) with a cotunnite-type structure appears above 14.5 GPa. OrthoII is stable up to 1800°C at 21 GPa. OrthoII is quenchable to ambient conditions. The orthoI-to-orthoII transition is accompanied by ∼8 vol% decrease. The bulk moduli of orthoI and orthoII at room temperature are 220 and 312 GPa, respectively. This low compressibility of orthoII indicates that it is a potential candidate for very hard materials.     

Multiple uses of Essential Oil and By-Products from Various Parts of the Yakushima Native Cedar (Cryptomeria Japonica)

This article presents multiple potential uses of the Yakushima native cedar (Cryptomeria japonica), known in Japan as the Yaku-sugi tree. The Yaku-sugi was divided into four parts: leaves, branches with leaves, branches, and stems. We obtained the essential oil, hydrosol, distillation residue, and distillation wastewater from the trees. Essential oil and hydrosol were determined to be volatile organic compounds. All samples were screened for the following bioactivities: antioxidative, antibacterial, and anti-melanogenesis activities. Freeze-dried distillation residue was tested to assess whether it had a deodorizing effect. The main component of the leaf essential oil was found to be monoterpenes. In contrast, the stem essential oil mainly contained sesquiterpenes. In terms of bioactivities, the leaf essential oil showed antibacterial activity and the stem essential oil showed anti-melanogenesis activity. Distillation residue and wastewater showed many activities, including antioxidant, antibacterial, and anti-melanogenesis activities. Moreover, the residue had a deodorizing effect against ammonia.     

Component-based robot system design for grasping tasks

The paper presents a robot system design with highly reusable components for a component-based robot system for manipulation tasks. The robot system is designed based on the analysis of manipulation tasks using a unified modeling language use case diagram. For a service robot with locomotion and manipulation mechanisms, reusability of robot system components is improved by adopting the proposed design. Our structure consists of scenario, task, robot information management server, data analyzer, sensor hardware controller, skill, and motion hardware controller on a component-based robot system. Based on the proposed robot system, we implemented a component-based robot system and subsequently realized a grasping motion by a service robot.     

Thermal decomposition of cellulose/synthetic polymer blends containing grafted products. V. Cellulose/polystyrene blends

Homogeneous grafting of styrene onto cellulose was carried out in a dimethylacetamide/lithium chloride solvent system. The grafted products were added to cellulose/polystyrene (PS) blends as compatibilizers. The thermal decomposition behavior of the blends was investigated by thermogravimetry. The thermal stability of the blends decreased with an increase in grafted product content. The crystallinity of the blends decreased with grafted product content. The microphase‐separated structures of the blends became finer with grafted product content. The glass transition temperatures for cellulose and PS in the blends were lowered with grafted product content. Differences in thermal decomposition behavior of the blends were correlated with compatibility. Thermogravimetry was effective for compatibility estimation in cellulose/PS blends containing grafted products. © 2010 Wiley Periodicals, Inc. J Appl Polym Sci, 2010     

Viscoelastic behavior of poly(butyl methacrylate) densely grafted on silica nanoparticles

A series of poly(butyl methacrylate)s (PBMAs) with various molar masses (33 000–270 000 g mol^?1), which were densely grafted on fumed silica nanoparticles (PBMA–SiO₂), were synthesized by surface‐initiated atom transfer radical polymerization. The dynamic viscoelastic behavior of PBMA–SiO₂ was systematically investigated in the solid and molten states with oscillatory strains, and compared to that of a conventional nanocomposite (PBMA/SiO₂). The storage moduli of PBMA–SiO₂ and PBMA/SiO₂ are equivalent in the solid state, whereas the storage modulus of PBMA–SiO₂ is lower than that of PBMA/SiO₂ in the molten state, especially at high silica loading. This is because the formation of a network structure composed of the silica nanoparticles in PBMA–SiO₂ is strongly suppressed by the polymer brushes on the particles. In contrast, even at low silica loading, the PBMA–SiO₂ system exhibits a gel‐like behavior resulting from a steric repulsion between the composite particles, because all of the tethered polymers behave as bound polymers. Copyright © 2011 Society of Chemical Industry     

Flight Model Performance of 640-GHz Superconductor–Insulator–Superconductor Mixers for JEM/SMILES Mission

Performances of 640-GHz Superconductor–Insulator–Superconductor (SIS) mixers developed for the Superconducting Submillimeter-Wave Limb-Emission Sounder (SMILES) mission are described. SMILES, launched in September 2009, is the first mission to observe atmosphere from space using superconducting mixers. Ground test performances of the SIS mixers show very flat gain and noise characteristics in their observation bands in compliance with the specifications required for SMILES.