Kinematic Interpretation of the Quartz Fabric of Triclinic Tectonites from Besshi, Central Shikoku, Japan

Three examples showing successive changes in quartz fabric pattern have been selected from triclinic tectonites from Besshi for geometrical and kinematic analyses of rock structure. After geometrical considerations, three sets of schistosity or cleavage surfaces have been discriminated, i.e., the axial-plane-schistosity, the first and the second transversal-schistosities, the latter two consisting of conjugate sets of s-surfaces. Quartz fabric patterns of these tectonites show an unmistakable triclinic character with respect to the situation of principal maximum, and their girdle patterns show a tendency to lie on certain small circles. Types of quartz pattern of these examples have been interpreted successfully in terms of orienting movements along the analysed s-surfaces after a working hypothesis about the rule of quartz orientation proposed in the preceding paper (G. KOJIMA and T. SUZUKI, 1958). It has been revealed that the quartz pattern represents mainly the last phase of orienting movement, that is, the phase of the second transversal-schistosity. Geometrical and kinematic relations between several types of quartz pattern have been discussed. The tectonites in question belong to the category of B⊥B'-tectonites. Geological conditions and kinematic character of deformation of successive phases of development of these s-surfaces have been considered. The result emphasizes the necessity of phase analysis of metamorphism

Orientation of an Epidote with a Unique Crystal Habit in a Quartz-Schist from Besshi

Epidote crystals characterized by the development of the crystallographic plane (102) have been found in a quartz-schist from Besshi, Ehime Pref. The crystallographic axis b of the epidote coincides with fabric axis b of the rock, and the plane (102) is oriented parallel to the fabric plane (ab).今村外治教授退官記念特集

On New Occurrence of Aegirine Augite-Amphibole-Quartz-Schists in the Sambagawa Crystalline Schists of the Besshi-Shirataki District, with Special Reference to the Preferred Orientation of Aegirine Augite and Amphibole

The present authors have collected in the Besshi-Shirataki district, Shikoku, three samples of aegirine augite-bearing quartz-schists, which have not been known from the Sambagawa metamorphic zone proper. Geological setting and petrographical properties of these rocks are described. They have been found in the spotted terrain characterized by the forming of porphyroblastic albite petrographically, and by the presence of recumbent type of folding and syntectonic intrusion of ultramafic rocks tectonically. The quartz-schists consist of aegirine augite, alkalic amphibole (especially of glaucophane-crossite series), garnet, muscovite, quartz, albite, and accessory minerals such as apatite, hematite, pyrite, sphale-rite, and titanite. Petrofabric analyses have been carried out on aegirine augite, amphibole, muscovite, and quartz. Prisms of amphibole are oriented with the plane (100) parallel to the bedding-schistosity plane (ab), and with the crystallographic axis: c parallel to the b-lineation. In the quartz-schist at Shira-taki the axis: c is parallel both to the tectonic axis: b and to a. Grains of aegirine augite are oriented with the plaine (010) parallel to the bedding-schistosity plane (ab), and with the crystallographic axis: c parallel to the tectonic axis : b. Quartz diagrams show the common pattern, which is not distinguishable from that of the other quartz-schists in the district. These petrofabric characteristics suggest that the quartz-schists in question have experienced the same history of deformation and crystallization as the normal quartz-schists in the district, and that the possible effect of metasomatism from serpentinites locally in-truded late- or post-tectonically may be excluded

AI-Driven Synthetic Route Design Incorporated with Retrosynthesis Knowledge

Computer-aided synthesis planning (CASP) aims to assist chemists in performing retrosynthetic analysis for which they utilize their experiments, intuition, and knowledge. Recent breakthroughs in machine learning (ML) techniques, including deep neural networks, have significantly improved data-driven synthetic route designs without human intervention. However, learning chemical knowledge by ML for practical synthesis planning has not yet been adequately achieved and remains a challenging problem. In this study, we developed a data-driven CASP application integrated with various portions of retrosynthesis knowledge called “ReTReK” that introduces the knowledge as adjustable parameters into the evaluation of promising search directions. The experimental results showed that ReTReK successfully searched synthetic routes based on the specified retrosynthesis knowledge, indicating that the synthetic routes searched with the knowledge were preferred to those without the knowledge. The concept of integrating retrosynthesis knowledge as adjustable parameters into a data-driven CASP application is expected to enhance the performance of both existing data-driven CASP applications and those under development

Multi-cue 3D Object Recognition in Knowledge-based Vision-guided Humanoid Robot System

Abstract — A vision based object recognition subsystem on knowledge-based humanoid robot system is presented. Humanoid robot system for real world service application must integrate an object recognition subsystem and a motion planning subsystem in both mobility and manipulation tasks. These requirements involve the vision system capable of self-localization for navigation tasks and object recognition for manipulation tasks, while communicating with the motion planning subsystem. In this paper, we describe a design and implementation of knowledge based visual 3D object recognition system with multi-cue integration using particle filter technique. The particle filter provides very robust object recognition performance and knowledge based approach enables robot to perform both object localization and self localization with movable/fixed information. Since this object recognition subsystem share knowledge with a motion planning subsystem, we are able to generate vision-guided humanoid behaviors without considering visual processing functions. Finally, in order to demonstrate the generality of the system, we demonstrated several vision-based humanoid behavior experiments in a daily life environment. Fig. 1. system Behavior example of knowledge based vision guided humanoid I

Development of a Whole-body Work Imitation Learning System by a Biped and Bi-armed Humanoid

Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On the other hand, imitation of the behavior of robots with floating links, such as humanoid robots, is still a difficult task. In this study, we develop an imitation learning system using a biped robot with a floating link. There are two main problems in developing such a system. The first is a teleoperation device for humanoids, and the second is a control system that can withstand heavy workloads and long-term data collection. For the first point, we use the whole body control device TABLIS. It can control not only the arms but also the legs and can perform bilateral control with the robot. By connecting this TABLIS with the high-power humanoid robot JAXON, we construct a control system for imitation learning. For the second point, we will build a system that can collect long-term data based on posture optimization, and can simultaneously move the robot's limbs. We combine high-cycle posture generation with posture optimization methods, including whole-body joint torque minimization and contact force optimization. We designed an integrated system with the above two features to achieve various tasks through imitation learning. Finally, we demonstrate the effectiveness of this system by experiments of manipulating flexible fabrics such that not only the hands but also the head and waist move simultaneously, manipulating objects using legs characteristic of humanoids, and lifting heavy objects that require large forces.Comment: accepted at IROS202

HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation

Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion patterns and execute seamless transitions by mimicking human motions. First, we present a unified primitive-skeleton motion retargeting to mitigate morphological differences between arbitrary human demonstrators and humanoid robots. An adversarial critic component is integrated with Reinforcement Learning (RL) to guide the control policy to produce behaviors aligned with the data distribution of mixed reference motions. Additionally, we employ a specific Integral Probabilistic Metric (IPM), namely the Wasserstein-1 distance with a novel soft boundary constraint to stabilize the training process and prevent model collapse. Our system is evaluated on a full-sized humanoid JAXON in the simulator. The resulting control policy demonstrates a wide range of locomotion patterns, including standing, push-recovery, squat walking, human-like straight-leg walking, and dynamic running. Notably, even in the absence of transition motions in the demonstration dataset, robots showcase an emerging ability to transit naturally between distinct locomotion patterns as desired speed changes

Formation of a Five-Seven Pair Couple Defect in Double-Walled Carbon Nanotubes under Bending Deformation

金沢大学理工研究域　数物科学系Simulations of double-walled carbon nanotubes under bending deformation using the tight-binding molecular dynamics method were carried out. Five- and seven-membered ring pair defects were formed after emission of several atoms from the tube structure. These defect pair couples have different structures corresponding to the number of emitted atoms and stabilize the resulting nanotubes. Our results imply that the defect pair couples represent one of the potential origins of the experimentally observed plastic deformations that have been shown to occur in double-walled carbon nanotubes. The various defects obtained by the simulations are discussed in relation to other defect types. © 2007 American Institute of Physics

Gravitational waves from a test particle scattered by a neutron star: Axial mode case

Using a metric perturbation method, we study gravitational waves from a test particle scattered by a spherically symmetric relativistic star. We calculate the energy spectrum and the waveform of gravitational waves for axial modes. Since metric perturbations in axial modes do not couple to the matter fluid of the star, emitted waves for a normal neutron star show only one peak in the spectrum, which corresponds to the orbital frequency at the turning point, where the gravitational field is strongest. However, for an ultracompact star (the radius $R \lesssim 3M$), another type of resonant periodic peak appears in the spectrum. This is just because of an excitation by a scattered particle of axial quasinormal modes, which were found by Chandrasekhar and Ferrari. This excitation comes from the existence of the potential minimum inside of a star. We also find for an ultracompact star many small periodic peaks at the frequency region beyond the maximum of the potential, which would be due to a resonance of two waves reflected by two potential barriers (Regge-Wheeler type and one at the center of the star). Such resonant peaks appear neither for a normal neutron star nor for a Schwarzschild black hole. Consequently, even if we analyze the energy spectrum of gravitational waves only for axial modes, it would be possible to distinguish between an ultracompact star and a normal neutron star (or a Schwarzschild black hole).Comment: 21 pages, revtex, 11 figures are attached with eps files Accepted to Phys. Rev.