Teachingless spray-painting of sculptured surface by an industrial robot

金沢大学工学部The study deals with the automatic spray-painting by a 6-DOF industrial robot equipped with an air spray gun. Since the robot control commands generation for the spray-painting is manually performed by skilled workers using a teaching-playback function of a robot controller, the time, experience and patience are required. The study aims at making robot control commands without any special knowledge on spray-painting, in the case of bumpers of a car as an example of sculptured surfaces. The system can automatically generate a spraying path for the air spray gun on the basis of CAD date of the workpiece, and change the spraying path into robot control commands. From experimental results, the system is found to effective in painting bumpers of a car with an uniform paint thickness

Automation of chamfering by an industrial robot; for the case of hole on free-curved surface

金沢大学工学部The study deals with the automatic chamfering for the case of hole on free-curved surface on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees-of-freedom in order to give an arbitrary position and attitude to the tool. The robot control command converted from the chamfering path is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a workpiece with free-curved surface. © 2002 Elsevier Science Ltd. All rights reserved

Automation of chamfering by an industrial robot; for the case of machined hole on a cylindrical workpiece

金沢大学工学部The study deals with the automatic chamfering for the case of a machined hole on a cylinder on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees of freedom in order to give an arbitrary position and attitude to the tool. The robot control command converted from the chamfering path is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a cylindrical metallic workpiece

Update of HΦ\mathcal{H}\Phi: Newly added functions and methods in versions 2 and 3

$\mathcal{H}\Phi$ [$aitch$-$phi$] is an open-source software package of numerically exact and stochastic calculations for a wide range of quantum many-body systems. In this paper, we present the newly added functions and the implemented methods in vers. 2 and 3. In ver. 2, we implement spectrum calculations by the shifted Krylov method, and low-energy excited state calculations by the locally optimal blocking preconditioned conjugate gradient (LOBPCG) method. In ver. 3, we implement the full diagonalization method using ScaLAPACK and GPGPU computing via MAGMA. We also implement a real-time evolution method and the canonical thermal pure quantum (cTPQ) state method for finite-temperature calculations. The Wannier90 format for specifying the Hamiltonians is also implemented. Using the Wannier90 format, it is possible to perform the calculations for the $ab$ $initio$ low-energy effective Hamiltonians of solids obtained by the open-source software RESPACK. We also update Standard mode \unicode{x2014}simplified input format in $\mathcal{H}\Phi$\unicode{x2014} to use these functions and methods. We explain the basics of the implemented methods and how to use them.Comment: 21 pages, 10 figures, 2 table

Twin Rectal Tonsils Mimicking Carcinoid or Mucosa-Associated Lymphoid Tissue Lymphoma

The rectal tonsil is a rare polypoid lesion exclusively found in the rectum and is considered a reactive proliferation of the lymphoid tissue. Although this lesion is benign, we recommend that it should be differentiated from carcinoid or polypoid type of mucosa-associated lymphoid tissue lymphomas, based on gross findings. In this case report, we describe a case of rectal lesions with a unique appearance in a 41-year-old man. Colonoscopy revealed two 5-mm-sized nodules located opposite from each other on the left and right sides of the lower rectum. Endoscopic mucosal resection was conducted. Histopathologically, both lesions were mainly located in the submucosa and consisted of prominent lymphoid follicles with germinal centers of various sizes. No immunoreactivity of Bcl-2 was seen in the germinal centers. Immunohistochemical staining for kappa and lambda light chains revealed a polyclonal pattern. Therefore, these lesions were diagnosed as rectal tonsils

Kω — Open-source library for the shifted Krylov subspace method of the form (zI−H)x=b

We develop Kω, an open-source linear algebra library for the shifted Krylov subspace methods. The methods solve a set of shifted linear equations (zkI−H)x(k)=b(k=0,1,2,…) for a given matrix H and a vector b, simultaneously. The leading order of the operational cost is the same as that for a single equation. The shift invariance of the Krylov subspace is the mathematical foundation of the shifted Krylov subspace methods. Applications in materials science are presented to demonstrate the advantages of the algorithm over the standard Krylov subspace methods such as the Lanczos method. We introduce benchmark calculations of (i) an excited (optical) spectrum and (ii) intermediate eigenvalues by the contour integral on the complex plane. In combination with the quantum lattice solver HΦ, Kω can realize parallel computation of excitation spectra and intermediate eigenvalues for various quantum lattice models