Development of spherical ultrasonic motor for pipe inspection robot

We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasonic motors. The rotational directions were defined by the phase differences of the applied voltages, and the rotational speeds were changed with the frequencies. Additionally, we developed a very small position sensing system using rotary potentiometers. In the control experiment performed using the sensing system, the SUSM showed the returnability to the default position from several specified points, within an accuracy of 1°

A study for safety design of electrical machines considering human behavior

Manufacturers have to design machinery considering not only the intended use, but also a reasonably foreseeable misuse, which can lead to product-related accidents. However, manufacturers cannot predict everything the users might do for the machinery. In this study, we have focused on one type of misuse: when the users put their hands inside machinery. Safety mechanisms that deter users from putting their hands inside machinery are required to prevent such accidents. Therefore, in this study we have tried to understand what promotes this action. In this initial stage of our research, we experimented with the visibility and accessibility of an object, and evaluated whether there are related instructions that can affect human behavior

Longitudinal Associations of Perceived Mastery and Constraints With Coping and Their Implications for Functional Health for Aging Adults

The present study examined longitudinal associations of distinct dimensions of perceived control (i.e., perceived mastery and constraints) with approach and avoidance coping relating to functional health for aging adults, which had not been well studied previously. Using data from two waves of Midlife in the United States (N = 4,963, whose mean age was 55.4 [SD = 12.5]), a longitudinal path model was analyzed for direct and indirect effects among perceived mastery and constraints, approach and avoidance coping, and functional limitations. Bidirectional associations were observed between perceived mastery and approach coping and between perceived constraints and avoidance coping. Moreover, perceived constraints not only were directly associated with functional limitations but also mediated the longitudinal associations of the other factors of interest with functional limitations. These findings can inform future research on perceived control and coping in the context of promoting functional health

Modularity of Convergence and Strong Convergence in Infinitary Rewriting

Properties of Term Rewriting Systems are called modular iff they are preserved under (and reflected by) disjoint union, i.e. when combining two Term Rewriting Systems with disjoint signatures. Convergence is the property of Infinitary Term Rewriting Systems that all reduction sequences converge to a limit. Strong Convergence requires in addition that redex positions in a reduction sequence move arbitrarily deep. In this paper it is shown that both Convergence and Strong Convergence are modular properties of non-collapsing Infinitary Term Rewriting Systems, provided (for convergence) that the term metrics are granular. This generalises known modularity results beyond metric \infty