IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink

This paper proposes an integrated development framework that enables co-simulation and operation of a Robot Operating System (ROS)-based self-driving system using MATLAB/Simulink (IDF-Autoware). The management of self-driving systems is becoming more complex as the development of self-driving technology progresses. One approach to the development of self-driving systems is the use of ROS; however, the system used in the automotive industry is typically designed using MATLAB/Simulink, which can simulate and evaluate the models used for self-driving. These models are incompatible with ROS-based systems. To allow the two to be used in tandem, it is necessary to rewrite the C++ code and incorporate them into the ROS-based system, which makes development inefficient. Therefore, the proposed framework allows models created using MATLAB/Simulink to be used in a ROS-based self-driving system, thereby improving development efficiency. Furthermore, our evaluations of the proposed framework demonstrated its practical potential

Photoinduced dynamics during electronic transfer from narrow to wide bandgap layers in one-dimensional heterostructured materials

Electron transfer is a fundamental energy conversion process widely present in synthetic, industrial, and natural systems. Understanding the electron transfer process is important to exploit the uniqueness of the low-dimensional van der Waals (vdW) heterostructures because interlayer electron transfer produces the function of this class of material. Here, we show the occurrence of an electron transfer process in one-dimensional layer-stacking of carbon nanotubes (CNTs) and boron nitride nanotubes (BNNTs). This observation makes use of femtosecond broadband optical spectroscopy, ultrafast time-resolved electron diffraction, and first-principles theoretical calculations. These results reveal that near-ultraviolet photoexcitation induces an electron transfer from the conduction bands of CNT to BNNT layers via electronic decay channels. This physical process subsequently generates radial phonons in the one-dimensional vdW heterostructure material. The gathered insights unveil the fundamentals physics of interfacial interactions in low dimensional vdW heterostructures and their photoinduced dynamics, pushing their limits for photoactive multifunctional applications

Negative-pressure-induced helimagnetism in ferromagnetic cubic perovskites Sr_1-xBa_xCoO₃

Helimagnetic materials are identified as promising for novel spintronic applications. Since helical spin order is manifested as a compromise of competing magnetic exchange interactions, its emergence is limited by unique constraints imposed by the crystalline lattice and the interaction geometries as exemplified by the multiferroic perovskite manganites with large orthorhombic distortion. Here we show that a simple cubic perovskite SrCoO3 with room-temperature ferromagnetism has the potential to host helimagnetic order upon isotropic lattice expansion. Increasing the Ba content x in SrxBa1-xCoO3 continuously expands the cubic lattice, eventually suppressing the ferromagnetic order near x = 0.4 where helimagnetic correlations are observed as incommensurate diffuse magnetic scattering by neutron-diffraction measurements. The emergence of helimagnetism is semiquantitatively reproduced by first-principles calculations, leading to the conjecture that a simple cubic lattice with strong d-p hybridization can exhibit a variety of novel magnetic phases originating from competing exchange interactions

Engagement with Novel Internet Technologies: The Role of Perceived Novelty in the Development of the Deficient Self-Regulation of Internet use and Media Habits

This dissertation attempts to expand our understanding of the deficient self-regulation (DSR) of Internet use and media habit development. Drawing from a social cognitive perspective, DSR is described as lapses in effective self-control that are self-corrected over time. A shortcoming in this area of research is that factors relevant to the technology that may encourage the development of DSR or media habits are rarely, if ever, discussed. A large focus of existing research is instead narrowly placed on individual factors that motivate DSR and media habits. An extension is proposed to theory on DSR in this dissertation by examining the role played by novelty perceptions of technology. In the initial stages of technology use, when perceptions of novelty generally grow, perceived novelty is hypothesized to elicit a state of flow, which in turn diminishes the subfunctions of self-regulation and provokes DSR. The relationship between perceived novelty and flow is moderated by psychosocial problems, boredom proneness, and self-reactive outcome expectation. As perceived novelty of a technology decreases, it is presumed that self-control is restored given that flow no longer inhibits self-regulation. However, DSR and media habits are hypothesized to persist in later technology use if individuals experience psychosocial problems, boredom proneness, or high self-reactive outcome expectations. The manifestation of DSR in later stages of technology use increases the likelihood of forming media habits. The influence of novelty perceptions was evaluated on flow, DSR, and media habits at initial and later stages of technology use. The pretest demonstrated that a novelty frame successfully manipulated novelty perceptions of Second Life, the technology used in this experiment, in anticipated directions. In the main study, perceived novelty resulted in flow, which in turn predicted growth of DSR during initial stages of Second Life use. In the familiar stages of use, DSR led to the development of media habits over time; however, the relationship between novelty perceptions and DSR was not moderated by psychosocial problems, boredom proneness, or self-reactive outcome expectation. The findings of this investigation are discussed aside their implications for research, theory, and practice

The Concept of the Political Imagination and the Defence of Politics : A Study into a Strand of English Political Economy Proposed by Bernard Crick

Politics today is in a critical situation due to economic globalization, which compels governments to implement neoliberal policies that favor market forces. In this situation, politics, which recognizes the value of compromise when diverse interests are present, is not seen to be necessary. The study of politics needs to solve this problematic situation in which politics is being undermined by the forces of the market economy. Studies on the defence of politics have a considerable influence in political economy. They examine neoliberal ideologies closely from a view point of institutional analysis. Based on the arguments of the defence of politics, therefore, this paper tries to analyze the mechanism by which neoliberal ideologies constrain politics. These studies argue that economic globalization should not be a historical given and that it is actually promoted by neoliberal policies. They also points out that neoliberalists make use of fatalism in order to adapt neoliberal policies, escaping from their duties to listen to diverse demands from various interest groups. On the other hand, Japanese studies on the concept of the political imagination try to resolve the situation by emphasizing the power of solidarity against neoliberalism. However, a discussion on the problems of neoliberalism from the point of view of political economy has not yet been carried out sufficiently in Japan. There are two reasons for this: first, it is often assumed that economic globalization is a kind of assumed law of history. Second, it is also considered to be the case that such research can not provide any effective institutional solutions due to a sort of fatalistic view, which believes that nation states will surely lose their powers of control in the era of economic globalization. The aim of this paper is to argue that we should learn from the both studies to solve the recent political predicament evident in nation states

政治的なものの概念と政治の擁護 : バーナード・クリックを起点としたイギリス政治経済学を手がかりに

Politics today is in a critical situation due to economic globalization, which compels governments to implement neoliberal policies that favor market forces. In this situation, politics, which recognizes the value of compromise when diverse interests are present, is not seen to be necessary. The study of politics needs to solve this problematic situation in which politics is being undermined by the forces of the market economy. Studies on the defence of politics have a considerable influence in political economy. They examine neoliberal ideologies closely from a view point of institutional analysis. Based on the arguments of the defence of politics, therefore, this paper tries to analyze the mechanism by which neoliberal ideologies constrain politics. These studies argue that economic globalization should not be a historical given and that it is actually promoted by neoliberal policies. They also points out that neoliberalists make use of fatalism in order to adapt neoliberal policies, escaping from their duties to listen to diverse demands from various interest groups. On the other hand, Japanese studies on the concept of the political imagination try to resolve the situation by emphasizing the power of solidarity against neoliberalism. However, a discussion on the problems of neoliberalism from the point of view of political economy has not yet been carried out sufficiently in Japan. There are two reasons for this: first, it is often assumed that economic globalization is a kind of assumed law of history. Second, it is also considered to be the case that such research can not provide any effective institutional solutions due to a sort of fatalistic view, which believes that nation states will surely lose their powers of control in the era of economic globalization. The aim of this paper is to argue that we should learn from the both studies to solve the recent political predicament evident in nation states

Crystal phase, electrical properties, and solid oxide fuel cell electrolyte application of scandia-stabilized zirconia doped with rare earth elements

ZrO2–10 ​mol% Sc2O3 (10ScSZ) has attracted attention as an electrolyte material for solid oxide fuel cells owing to its high conductivity. However, the phase transition between cubic and rhombohedral occurs in the range 500–600 ​°C, resulting in its rapid decrease in conductivity below 500 ​°C. In this study, we determined the elements that can eliminate phase transition in the range 500–600 ​°C for 10ScSZ to realize high conductivity for all temperature regions. Rare elements were incorporated to 10ScSZ. X-ray diffraction and conductivity measurements were used to confirm the occurrence of phase transition. The results noted that the addition of La, Ce, Pr, Nd, Sm, Eu, Gd, and Tb improved the conductivity of 10ScSZ below 500 ​°C, unlike that with the addition of Dy, Y, Ho, Er, Tm, Yb, Lu, and Sc. Further, although the addition of Ce to 10ScSZ was considered a solution, Nd and Sm were also noted to be effective additives

自己表現能力を育成する音楽科，美術科，外国語科の授業開発 : 即興，創造，コミュニケーションの視点から

The purpose of this study is to clarify the effectiveness of the collaborative study between music, art, and English in fostering the ability of self expression. We intentionally related these three subjects by setting up improvisational, creative, and communicative activities in classes. Two collaborative lesson plans were conducted with the aim of getting closer to the essence of self expression by expressing themselves in different ways. According to the questionnaires, these lessons increased their abilities to express themselves Some of the students tried to grasp their characteristics more deeply through the process of thinking abstractly. However, they had little time to acquire basic skills and the limited ways of expressing themselves, so it was difficult for some of them to express themselves as they wanted to. It seemed that our lessons were effective to the students when they got basic knowledge and skills and these students tried to make full use of their knowledge and skills. In contrast, there were few students who tried to get knowledge and skills actively to the goal of developing this capacity for self expression. In addition, many students did not reach the point of expressing themselves to others in mind. The result shows that students were able to have opportunities to approach the essence of the music and art classes, which is to keep questioning how we should be and how we should live our lives. On the other hand, there are still issues to be solved, which are caused by the restricted learning environment and the instructional planning