Consideration of Skill Improvement on Remote Control by Wireless Mobile Robot

This paper considers the quantification of skill progress in order to measure a remote operational skill online. This method is very important to make a support system adapting to operator. This support system is called as Human Adaptive Mechatronics (HAM) System, and HAM was done as Center of excellent(COE) project promoted by Japan Society for the Promotion of Science. Many approaches exist to attain this goal and human skill level depends on many factors such as condition, equipment and environment of operation. Therefore we first pay attention to delay time during the machine operation in order to aim at the acquisition of evaluation quantity on state of skill and we examine relationship between skill level and input/output delay time. For this analysis, we utilize a tele operated robot system to obtain data. We experiment with a simple task in which we operate a wireless mobile robot(WMR) with pinhole camera in order to reach the goal through the two check points. It is necessary that human operates machine by using image information from display monitor in the tele operation system. We analyze the correlation between operation date and WMR position based on these data. Next, we especially investigate a change of operational skill progress on curve path using data measured by simple task and analyze the data because curve control of tele operating robot only based on display is difficult to the operation in straight line path for human. For this purpose, we identified a delay of response with operation data based on ARX (AutoRegressive model with eXogenous input) model by using position and attitude data of the robot and then we analyze relationship and progress of skill level by using these data. A system operated by human can be considered as a closed loop system, and human can be regarded as controller in the system(3; 4). Furthermore, we classify operators into groups by correlation between delay time and total time of operation and area of stability poles and total time. And we analyze data by data of distance, total time and curvature and decide effective and important factors to skill level for each group. As these results, we consider skill parameter of tele-operations

公立小学校における「大正新教育」実践の地域史的研究

内容の要約広島大学(Hiroshima University)博士(教育学)Philosophy in Educationdoctora

Fabrication of Bi2212 Cross Whiskers Junction

An intrinsic Josephson junction has been successfully fabricated without any micro-fabrication technique. Two Bi2212 whiskers were crossed with one another and joined by post-annealing. The inter-whisker electrical transport properties were measured by the four-probe method. The temperature dependence of resistance exhibited metallic behavior above TC. The resistance decreased to zero around 80K, corresponding to the superconducting transition. The current-voltage characteristics at 5K exhibited a small hysteresis and voltage jump, which can be explained by the intrinsic Josephson effect.Comment: 3 page PDF fil

Annealing of an AlN buffer layer in N2-CO for growth of a high-quality AlN film on sapphire

The annealing of an AlN buffer layer in a carbon-saturated N2–CO gas on a sapphire substrate was investigated. The crystal quality of the buffer layer was significantly improved by annealing at 1650–1700 °C. An AlN buffer layer with a thickness of 300 nm was grown by metalorganic vapor phase epitaxy (MOVPE), and was annealed at 1700 °C for 1 h. We fabricated a 2-µm-thick AlN layer on the annealed AlN buffer layer by MOVPE. The full widths at half maximum of the (0002)- and ($10\bar{1}2$)-plane X-ray rocking curves were 16 and 154 arcsec, respectively, and the threading dislocation density was 4.7 × 108 cm−2

Verifiable Functional Encryption using Intel SGX

Most functional encryption schemes implicitly assume that inputs to decryption algorithms, i.e., secret keys and ciphertexts, are generated honestly. However, they may be tampered by malicious adversaries. Thus, verifiable functional encryption (VFE) was proposed by Badrinarayanan et al. in ASIACRYPT 2016 where anyone can publicly check the validity of secret keys and ciphertexts. They employed indistinguishability-based (IND-based) security due to an impossibility result of simulation-based (SIM-based) VFE even though SIM-based security is more desirable. In this paper, we propose a SIM-based VFE scheme. To bypass the impossibility result, we introduce a trusted setup assumption. Although it appears to be a strong assumption, we demonstrate that it is reasonable in a hardware-based construction, e.g., Fisch et al. in ACM CCS 2017. Our construction is based on a verifiable public-key encryption scheme (Nieto et al. in SCN 2012), a signature scheme, and a secure hardware scheme, which we refer to as VFE-HW. Finally, we discuss an our implementation of VFE-HW using Intel Software Guard Extensions (Intel SGX)

2,5-Bis(1,3-dithiol-2-yl­idene)-1,3-dithiol­ane-4-thione

The asymmetric unit of the title compound, C9H4S7, contains two independent mol­ecules, in one of which the central five-membered ring is disordered over two orientations in a 0.924 (3):0.076 (3) ratio. The mol­ecular skeleton is almost planar: the average distance of the atoms from their mean plane is 0.128 (7) Å in the ordered mol­ecule, and 0.088 (5) and 0.123 (2) Å in the major and minor disorder components, respectively. The ordered and disordered mol­ecules form separate columns by stacking along the b axis. Adjacent columns inter­act via short S⋯S [3.33 (2), 3.434 (3), 3.444 (2), 3.503 (2), 3.519 (3) and 3.53 (4) Å] and S⋯H [2.814 (2), 2.87 (7), 2.92 (2), 2.9269 (18), 2.93 (2), 2.94 (2), 2.939 (2), 2.967 (2) and 2.974 (1) Å] contacts

On the ionization energy of CF3SF5 in the valence region measured by angle-resolved photoelectron spectroscopy

Ionization energies for valence electrons of CF3SF5 were measured in the 12-35 eV region by means of angle-resolved photoelectron spectroscopy. The observed ionization energies were basically consistent with previous ones measured by threshold photoelectron and HeI photoelectron spectroscopy, and the ionization levels at 22.60, 26.92 and 27.86 eV were newly observed. Asymmetry parameter derived at hν = 684.7 eV was a constant of β = 1.02 ± 0.04 in the ionization energy lower than 20 eV, suggesting that lone pair electron of F atom is probably released through 2p → εd like electron emission. Characters of the 22 valence bands were elucidated with the help of ab initio calculations and of the nature of valence orbitals for CF4 and SF

d-like Symmetry of the Order Parameter and Intrinsic Josephson Effects in Bi2212 Cross-Whisker Junctions

An intrinsic tunnel junction was made using two Bi-2212 single crystal whiskers. The two whiskers with a cross-angle were overlaid at their c-planes and connected by annealing. The angular dependence of the critical current density along the c-axis is of the d-wave symmetry. However, the angular dependence is much stronger than that of the conventional d-wave. Furthermore, the current vs. voltage characteristics of the cross-whiskers junctions show a multiple-branch structure at any cross-angle, indicating the formation of the intrinsic Josephson junction array.Comment: 4 pages PDF fil