Dynamic Compensation Framework to Improve the Autonomy of Industrial Robots

It is challenging to realize the autonomy of industrial robots under external and internal uncertainties. A majority of industrial robots are supposed to be programmed by teaching-playback method, which is not able to handle with uncertain working conditions. Although many studies have been conducted to improve the autonomy of industrial robots by utilizing external sensors with model-based approaches as well as adaptive approaches, it is still difficult to obtain good performance. In this chapter, we present a dynamic compensation framework based on a coarse-to-fine strategy to improve the autonomy of industrial robots while at the same time keeping good accuracy under many uncertainties. The proposed framework for industrial robot is designed along with a general intelligence architecture that is aiming to address the big issues such as smart manufacturing, industrial 4.0

鉄標的を用いたΞ原子X線測定の研究

Tohoku University田村裕和課

Toward Dynamic Manipulation of Flexible Objects by High-Speed Robot System: From Static to Dynamic

This chapter explains dynamic manipulation of flexible objects, where the target objects to be manipulated include rope, ribbon, cloth, pizza dough, and so on. Previously, flexible object manipulation has been performed in a static or quasi-static state. Therefore, the manipulation time becomes long, and the efficiency of the manipulation is not considered to be sufficient. In order to solve these problems, we propose a novel control strategy and motion planning for achieving flexible object manipulation at high speed. The proposed strategy simplifies the flexible object dynamics. Moreover, we implemented a high-speed vision system and high-speed image processing to improve the success rate by manipulating the robot trajectory. By using this strategy, motion planning, and high-speed visual feedback, we demonstrated several tasks, including dynamic manipulation and knotting of a rope, generating a ribbon shape, dynamic folding of cloth, rope insertion, and pizza dough rotation, and we show experimental results obtained by using the high-speed robot system

N-soliton solutions to the DKP equation and Weyl group actions

We study soliton solutions to the DKP equation which is defined by the Hirota bilinear form, {\begin{array}{llll} (-4D_xD_t+D_x^4+3D_y^2) \tau_n\cdot\tau_n=24\tau_{n-1}\tau_{n+1}, (2D_t+D_x^3\mp 3D_xD_y) \tau_{n\pm 1}\cdot\tau_n=0 \end{array} \quad n=1,2,.... where $\tau_0=1$. The $\tau$-functions $\tau_n$ are given by the pfaffians of certain skew-symmetric matrix. We identify one-soliton solution as an element of the Weyl group of D-type, and discuss a general structure of the interaction patterns among the solitons. Soliton solutions are characterized by $4N\times 4N$ skew-symmetric constant matrix which we call the $B$-matrices. We then find that one can have $M$-soliton solutions with $M$ being any number from $N$ to $2N-1$ for some of the $4N\times 4N$ $B$-matrices having only $2N$ nonzero entries in the upper triangular part (the number of solitons obtained from those $B$-matrices was previously expected to be just $N$).Comment: 22 pages, 12 figure

Role of adenohypophyseal mixed cell-follicles in age estimation.

In this study we used paraffin-embedded human pituitary obtained from 248 autopsy cases and identified mixed cell follicles by the immunohistochemical method. We examined the number and size of the mixed cell follicles, and the ratio of each component cell of these follicles, in the anterior pituitary at various age groups. The number of follicles increased with age, and the size of the follicles also tended to enlarge with age. Statistical analysis showed that a high correlation existed between age and the number or the size of the mixed cell-follicles formed by various adenohypophyseal cells. In addition, when the proportions of the different cell types that formed the follicles were examined, sex differences were observed with aging for the GH cells, the PRL cells, and the gonadotroph (GTH) cells, while no changes were observed with aging in both men and women for the ACTH cells and TSH cells. These results indicate that the number, size, and ratio of each component cell of follicles in the anterior pituitary are adequately applicable for the purpose of age estimation in routine forensic medicine.</p

Prevalence, Spinal Alignment, and Mobility of Lumbar Spinal Stenosis with or without Chronic Low Back Pain: A Community-Dwelling Study

Although lumbar spinal stenosis (LSS) occurs almost universally with aging, little is known regarding its actual prevalence and relationships to chronic low back pain (CLBP) in the general population. The presence of CLBP in subjects with LSS may have negative impacts on spinal alignment and mobility. This study evaluated the prevalence of LSS using a self-administered, self-reported history questionnaire in 630 community-dwelling individuals ≥50 years old. Subjects with LSS were further divided into LSS+CLBP and LSS alone groups, and spinal alignment and mobility were compared using a computer-assisted device. Prevalence of LSS was 10.8% in this cohort. Subjects in the LSS+CLBP group (n = 46) showed a significantly more kyphotic lumbar spinal alignment with limited lumbar extension (P < .05), resulting in a stooped trunk compared to subjects in the LSS alone group (n = 22). However, no significant difference in spinal mobility was seen between groups

Integrated monitoring and reviewing systems for the Rokkasho Spent Fuel Receipt and Storage Facility

The Rokkasho Spent Fuel Receipt and Storage (RSFS) Facility at the Rokkasho Reprocessing Plant (RRP) in Japan is expected to begin operations in 1998. Effective safeguarding by International Atomic Energy Agency (IAEA) and Japan Atomic Energy Bureau (JAEB) inspectors requires monitoring the time of transfer, direction of movement, and number of spent fuel assemblies transferred. At peak throughput, up to 1,000 spent fuel assemblies will be accepted by the facility in a 90-day period. In order for the safeguards inspector to efficiently review the resulting large amounts of inspection information, an unattended monitoring system was developed that integrates containment and surveillance (C/S) video with radiation monitors. This allows for an integrated review of the facility`s radiation data, C/S video, and operator declaration data. This paper presents an outline of the integrated unattended monitoring hardware and associated data reviewing software. The hardware consists of a multicamera optical surveillance (MOS) system radiation monitoring gamma-ray and neutron detector (GRAND) electronics, and an intelligent local operating network (ILON). The ILON was used for time synchronization and MOS video triggers. The new software consists of a suite of tools, each one specific to a single data type: radiation data, surveillance video, and operator declarations. Each tool can be used in a stand-alone mode as a separate ion application or configured to communicate and match time-synchronized data with any of the other tools. A data summary and comparison application (Integrated Review System [IRS]) coordinates the use of all of the data-specific review tools under a single-user interface. It therefore automates and simplifies the importation of data and the data-specific analyses