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arXiv 2021年

作者： Sakaino, Sho Fujimoto, Kazuki Saigusa, Yuki Tsuji, Toshiaki Faculty of Engineering Information and Systems Department of Intelligent Interaction Technologies University of Tsukuba Japan Electrical and Electronic Systems Saitama University Saitama Japan Graduate School of Science and Technology Degree Programs in Intelligent and Mechanical Interaction Systems University of Tsukuba Japan

The generation of robot motions in the real world is difficult by using conventional controllers alone and requires highly intelligent processing. In this regard, learning-based motion generations are currently being investigated. However, the main issue has been improvements of the adaptability to spatially varying environments, but a variation of the operating speed has not been investigated in detail. In contact-rich tasks, it is especially important to be able to adjust the operating speed because a nonlinear relationship occurs between the operating speed and force (e.g., inertial and frictional forces), and it affects the results of the tasks. Therefore, in this study, we propose a method for generating variable operating speeds while adapting to spatial perturbations in the environment. The proposed method can be adapted to nonlinearities by utilizing a small amount of motion data. We experimentally evaluated the proposed method by erasing a line using an eraser fixed to the tip of the robot as an example of a contact-rich task. Furthermore, the proposed method enables a robot to perform a task faster than a human operator and is capable of operating close to the control bandwidth. Copyright © 2021, The Authors. All rights reserved.

关键词： Motion planning

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An Estimation Method of Fragmentation in Blast Muckpiles using Local and Global Modules of Deep Learning Based on 3D Point Clouds

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International Journal of the Society of Material engineering for Resources 2022年第1期25卷 78-84页

作者： Yoshino, Kohei Sato, Taiga Toriya, Hisatoshi Shishido, Hidehiko Hyongdoo, Jang Kawamura, Youhei Kitahara, Itaru Degree Programs in Systems and Information Engineering University of Tsukuba Ibaraki305-8577 Japan Graduate School of International Resource Sciences Akita University Akita010-8502 Japan Faculty of International Resource Sciences Akita University Akita010-8502 Japan Center for Computational Sciences University of Tsukuba Ibaraki305-8577 Japan Western Australian School of Mines: Minerals Energy and Chemical Engineering Curtin University Australia Division of Sustainable Resources Engineering Faculty of Engineering Hokkaido University Sapporo060-8628 Japan North China Institute of Science and Technology China

This paper proposes a method to estimate the particle (rock) size distribution of a muckpile using Deep Learning based on 3D shape information given by 3D photogrammetry. Optimization of blasting is crucial to increase the productivity of mining operations. However, since the internal structure of the ground (bedrock) is usually unknown, it is diffi cult to set the appropriate parameters, amounts of explosives, blasting location and timing. In order to solve the problem, research has been carried out to design and analyze the blasting procedures by measuring the particle size distribution after the blast. Ordinary works focus on developing accurate measurement methods of particle size distribution for the analysis. We aim to increase the measurement accuracy by combining 3D photogrammetry and Deep Learning for 3D shape data. The 3D muckpile model is generated using Structure from Motion (SfM), which is a reconstruction method that can generate 3D point clouds of the target object from multi-view images. The particle size distribution of muckpiles is estimated by using Deep Learning. The proposed network consists of "Local Module "that learns the local shape of rock and "Global Module "that learns the shape of the entire muckpile. From the experiments, it can be said that the fragmentation of the actual muckpiles can be eff ectively estimated by using the proposed method. ©2022 Soc. Mater. Eng. Resour. Japan.

关键词： Particle size analysis

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3D Point Cloud Reconstruction Based on Stereo Camera and RTK-GPS with High Accuracy under Sequential Correction

3D Point Cloud Reconstruction Based on Stereo Camera and RTK...

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IEEE Global Conference on Consumer Electronics (GCCE)

作者： Shuyi Liu Heming Zhang Shin Kawai Hajime Nobuhara Intelligent and Mechanical Interaction Systems Graduate School of Science and Technology Degree Programs in Systems and Information Engineering University of Tsukuba 1-1-1 Tennoudai Tsukuba Ibaraki Japan

ISBN: (数字)9781728198026

ISBN: (纸本)9781728198033

In the field of three-dimensional (3D) point cloud reconstruction, a commonly used algorithm is called Real-Time-Appearance-Based-Mapping. Although this algorithm performs well in outputting a point cloud with high accuracy in real time, its processing efficiency is expected to decline when Jetson Nano is installed on drones, as additional memory is required to calculate loop closures. To increase the processing speed and accuracy of 3D point cloud reconstruction based on Jetson Nano, we propose a new algorithm for drone flight, that does not rely on overlap. The proposed method combines the point cloud and real-time kinematic Global Positioning System, and its effectiveness is demonstrated by experiments in a real environment.

关键词： Three-dimensional displays Memory management Measurement uncertainty Kinematics Real-time systems Drones Global Positioning System

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Author Correction: Single-cell transcriptomics uncovers EGFR signaling-mediated gastric progenitor cell differentiation in stomach homeostasis

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Nature communications 2023年第1期14卷 6540页

作者： Hitomi Takada Yohei Sasagawa Mika Yoshimura Kaori Tanaka Yoshimi Iwayama Tetsutaro Hayashi Ayako Isomura-Matoba Itoshi Nikaido Akira Kurisaki Laboratory of Stem Cell Technologies Graduate School of Science and Technology Nara Institute of Science and Technology Takayama-cho Ikoma Nara Japan. Laboratory for Bioinformatics Research RIKEN Center for Biosystems Dynamics Research Wako Saitama Japan. Department of Functional Genome Informatics Biological Data Science Medical Research Institute Tokyo Medical and Dental University Bunkyo Tokyo Japan. Laboratory for Bioinformatics Research RIKEN Center for Biosystems Dynamics Research Wako Saitama Japan. itoshi.nikaido@riken.jp. Department of Functional Genome Informatics Biological Data Science Medical Research Institute Tokyo Medical and Dental University Bunkyo Tokyo Japan. itoshi.nikaido@riken.jp. Master's/Doctoral Program in Life Science Innovation (Bioinformatics) Degree Programs in Systems and Information Engineering Graduate School of Science and Technology University of Tsukuba Tsukuba Ibaraki Japan. itoshi.nikaido@riken.jp. Laboratory of Stem Cell Technologies Graduate School of Science and Technology Nara Institute of Science and Technology Takayama-cho Ikoma Nara Japan. akikuri@bs.naist.jp.

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Meeting the information Assurance Crisis in the U.S. Now

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EDPACS 2006年第6期28卷 1-14页

作者： Corey Schou Deborah Frincke Charles Reynolds James Frost The Associate Dean of Information Systems Programs at Idaho State University (ISU) in Pocatello and the director of the Center for Decision Support. Currently he serves as the Chair of the National Colloquium on Information System Security Education. Schou also directs the ISU National Center of Excellence in Information Assurance Education and the ISU Technology Innovation Center. Contact Corey Schou one of the authors of this article and the Chair of the NCISSE by email at Schou@*** for help in finding additional ways to address the issues raised in this article. A member of the University of Idaho College of Engineering faculty. She graduated from the University of California at Davis. Frincke is the co-director and co-founder of the university's Center for Secure and Dependable Software (CSDS). She was the program chair for the 2nd International Workshop on Recent Advances in Intrusion Detection (RAID). A professor of Computer Science at the College of Integrated Science and Technology at James Madison University in Harrisonburg Virginia. He holds a Ph.D. in computer science from the University of Texas at Austin and a BA in philosophy from the University of Houston. Reynolds is the Director of Information System Security Education at James Madison University. Since 1997 Reynolds has led the development of the first remote Internet-based curriculum that leads to an M.S. degree in computer science with a concentration in information security. Thus far 160 students have completed this program. A professor of computer information systems at Idaho State University and the manager of its Simplot Decision Support Center.

T he only difference etween evolution and revolution is the speed at which each occurs.

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HYBRID SATELLITE AND TERRESTRIAL NETWORKS

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 313-327页

作者： CHITRE, DM SHYY, DJ EPHREMIDES, A GUPTA, S COMSAT Laboratories 22300 Comsat Drive Clarksburg MD 20871–9475 USA. Received his B.Sc. from the University of Bombay India an M.A. in mathematics from the University of Cambridge U.K. and a Ph.D. in physics from the University of Maryland. He is currently an Associate Executive Director of the Network Technology Division at COMSAT Laboratories. He has been involved in research and development activities in ISDN VSAT networks data communications and network systems and architectures. Prior to his current positions Dr. Chitre was a Principal Scientist in the Network Technology Division at COMSAT Laboratories. Dr. Chitre joined COMSAT Laboratories in 1980. He has made major contributions to the analysis and architecture of data communication ISDN and BISDN via satellite. Dr. Chitre directs and participates in the international and national standards activities in ISDN BISDN and data communication as they apply to satellite communication. He was Chairman of the Working Group on Protocols and Network Timing Function of the CCIR/CCITT Joint Ad Hoc Group on ISDN/Satellite Matters during 1990–1992. Currently he is the Chairman of the Working Group on New Technologies in the ITU Intersector Coordinating Group (ICG) on Satellite Matters. Dr. Chitre was a programme manager during 1990 and 1991 on a contract from INTELSAT on systems studies on satellite communications systems architectures for ISDN and broadband ISDN systems. Currently he is the technical manager of the DoD Contract on ATM via satellite demonstration and the programme manager for the INTELSAT contract on analysis and top-level specification of INTELSAT ISDN subnetworks and SDH compatible transport network. Received the B.S. degree in electrical engineering from national Chiao-Tung University Hsin-Chu Taiwan in 1983 and the M.S. and Ph.D. degrees in electrical engineering from Georgia Institute of Technology Atlanta GA in 1986 and 1990 respectively. From June 1987 to October 1987 he worked for the Department of Neurology Emory Univers

The role of satellite communications in networks that provide new services, such as frame relay and multimedia, is investigated. Both passive and active (on-board switching/processing) satellite systems are considered. Novel techniques are developed for each system to demonstrate, via detailed analysis and simulation, how the communications bandwidth agility of multipoint/broadcast satellite channels, and the on-board switching/processing, makes it feasible to provide these new services via hybrid satellite and terrestrial networks in a resource-efficient manner.

关键词： HYBRID NETWORKS ON-BOARD PROCESSING FRAME RELAY

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THE CALLING(SM) NETWORK - A GLOBAL WIRELESS COMMUNICATION-SYSTEM

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第1期12卷 45-61页

作者： TUCK, EF PATTERSON, DP STUART, JR LAWRENCE, MH Calling Communications Corporation. 1900 West Garvey Ave South. Suite 200 West Covina CA 91790 USA. Chairman of Calling Communications Corporation. He is also the Managing Director of Kinship Venture Management Inc. the general partner of Kinship Partners 11 and a General Partner of Boundary the general partner of The Boundary Fund. As a venture capitalist he has founded or participated in founding several telecommunications companies including Calling Communications Corporation Magellan Systems Corporation manufactures of Global Positioning System receivers Applied Digital Access manufacturer of DS-3 test access and network performance monitoring equipment Endgate Technology Corporation specialists in satellite phased array antennas and Poynting Systems Corporation. now a division of Reliance Corporation manufacturers of fibre optic transport equipment. He was a founder of Kebby Microwave Corporation where he invented the first solid-state. frequency-modulated commercial microwave link system. The company was acquired by ITT Corporation where he rose to the position of V.P. and Technical Director of ITT North America Telecommunications Inc. Subsequently he was V.P. of Marketing and Engineering at American Telecommunications Inc. (ATC). He was founding Director of American Telecom Inc. a joint venture between ATC and Fujitsu and has served on more than 20 boards of directors including those of three public companies. He has authored articles on microwave engineering and telephone signalling and was a contributor to Reference Data For Radio Engineers. He is a graduate of the University of Missouri at Rolla where he was later awarded an honorary Professional degree and serves on its Academy of Electrical Engineering. Mr Tuck is a Senior Member of the IEEE a Fellow of the Institution of Engineers (Australia) a Professional Member of the AIAA and a registered professional engineer in three states. More than 25 years of experience in the telecommunications industry where he has been responsibl

There is a very large demand for basic telephone service in developing nations, and remote parts of industrialized nations, which cannot be met by conventional wireline and cellular systems. This is the world's largest unserved market. We describe a system which uses recent advances in active phased arrays, fast-packet switching technology, adaptive routeing, and light spacecraft technology, in part based on the work of the Jet Propulsion Laboratory and on recently-declassified work done on the Strategic Defense Initiative, to make it possible to address this market with a global telephone network based on a large low-Earth-orbit constellation of identical satellites. A telephone utility can use such a network to provide the same modern basic and enhanced telephone services offered by telephone utilities in the urban centres of fully-industrialized nations. Economies of scale permit capital and operating costs per subscriber low enough to provide a service to all subscribers, regardless of location, at prices comparable to the same services in urban areas of industrialized nations, while generating operating profits great enough to attract the capital needed for its construction. The bandwidth needed to support the capacity needed to gain these economies of scale requires that the system use K(alpha)-band frequencies. This choice of frequencies places unusual constraints on the network design, and in particular forces the use of a large number of satellites. Global demand for basic and enhanced telephone service is great enough to support at least three networks of the size described herein. The volume of advanced components, and services such as launch services, required to construct and replace these networks is sufficient to propel certain industries to market leadership positions in the early 21st Century.

关键词： LOW EARTH ORBIT SATELLITE COMMUNICATIONS FAST PACKET SWITCHING EARTH FIXED CELLS ADAPTIVE ROUTEING LIGHT SPACECRAFT K(A) BAND PHASED-ARRAY ANTENNAS

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MEASURES OF EFFECTIVENESS AS APPLIED TO MAINTENANCE PRACTICES

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NAVAL ENGINEERS JOURNAL 1992年第4期104卷 101-102页

作者： JACOBS, KS ELFONT, M PROCACCINO, V Mark Elfont Ph.D:. is head of the Engineering Analysis Staff at the Naval Ship Systems Engineering Station (NAVSSES). At NAVSSES Dr. Elfont developed the Ships Machinery Analysis and Reporting Technique (SMART) System that utilizes direct access to the Ships 3-M database to calculate the fleet performance of HM&E systems. The SMART process is an automated approach to performance trending and offers the in-service engineers and life cycle managers cost effective information on the performance of equipments and systems in the actual fleet environment. Prior to coming to NAVSSES Dr. Elfont was at the Naval Air Development Center (NADC) for 18 years with most of his service as program manager for various avionic weapon system developments. Dr. Elfont also spent three years as the business manager of a private telecommunication firm. Vincent Procaccino:is the measures of effectiveness coordinator within the Performance and Business Indicators Section of the Equipment Assessment and Alteration Department Naval Ship System Engineering Station (NAVSSES). Mr. Procaccino is responsible for developing processes and techniques for determining the effectiveness of condition assessment efforts primarily the Assessment of Equipment Condition (AEC) program. NAVSSES is the Navy's in service engineering agent for HM&E equipment and is currently pursuing several programs which are in the process of evaluating condition assessment of HM&E systems. The efforts include continuous on-line monitors and expert system applications. Prior to arriving at NAVSSES in December 1988 Mr. Procaccino received a bachelor of science degree in mechanical engineering from Penn State University in August of 1987. He then worked as a project engineer for a small manufacturing firm until his arrival at NAVSSES.

Recent developments in surface ship maintenance strategies have been advanced on the promise of achieving reduced maintenance costs and improving the availability of shipboard systems. Included in the melange of proposed solutions are the Phased Maintenance Concept, Condition Based Maintenance, Expert System Diagnostics, as well as many other variations of these notions. As programs are initiated to evaluate prototype systems, or in some cases install production units, it is crucial that effective measurement procedures be instituted to determine to what extent the respective program goals and objectives are achieved. This paper explores various data sources that offer potential application to evaluation of advanced maintenance concept effectiveness. Also examined are data analysis and reporting techniques to clearly identify the benefits gained from those activities. The authors feel that it is important that the process of effectiveness evaluation, while remaining an objective process, become a part of the maintenance process itself. Maximum use of existing databases and in-place data collection procedures is advocated.

关键词： Naval Vessels

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COMPARISON OF SHOCK TEST METHODS OF MIL-S-901 DERIVED FROM TESTS ON A CIRCUIT-BREAKER AND SWITCHBOARD

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NAVAL ENGINEERS JOURNAL 1992年第3期104卷 178-190页

作者： BRADLEY, TL DAVES, TM MCCAMPBELL, SL YKEMA, JI Thomas L. Bradley Jr:. is director of program management of SPD Technologies research and development group in Philadelphia Pa. He has twenty years of experience on Navy shipboard electrical power protective systems and electrical switchgear. Mr. Bradley received a B.S. degree in electrical engineering from Villanova University. He is a member of ASNE SNAME and IEEE. Ted M. Daves:is president of Hi-Test Laboratories Inc. Mr. Daves has devoted his professional career to Navy shock survivability testing programs to support shock qualification research on hull mechanical electrical and combat systems for both surface ships and submarines. He has twenty years of experience in lightweight medium weight and heavyweight shock qualification programs and has conducted shock survivability inspections at the component and systems level on almost all types of machinery and equipment that require MIL-S-901 shock qualification. He received his B.S. degree in industrial technology from Western Carolina University in 1970 and is a member of ASNE IES Shock and Vibration Information Center and ADPA. Steven L. McCampbell P.E:. is the engineering supervisor and senior technical officer at Hi-Test Laboratories Inc. where he has worked in direct support of Navy shock and vibration testing programs since 1978. His work includes test program management testing machine design and solution of design problems encountered by machinery and equipment undergoing shock and vibration qualification. He is familiar with instrumentation systems and methods data reduction and data interpretation. He received his B.S. in civil engineering from the University of Virginia in 1985. John I. Ykema P.E:. is vice president and chief technical officer at SPD Technologies Philadelphia Pa. He has served in various capacities within SPD (formerly I-T-E) since 1955. He served for three years (1951–1954) with NavSea (formerly BuShips) engineering electrical power systems for aircraft carriers and cruisers. Mr. Ykema received his M.S. degree

For shipboard equipment to qualify as shock-hardened, it must pass a shock test in accordance with the military shock test specification, MIL-S-901 [1]. The test methods prescribed by MIL-S-901 have gone essentially unchanged since 1963. All equipment is divided into three test categories, depending on weight, and a different shock test machine is specified for each weight category. The heavy weight category is further sub-divided depending on the method of mounting within the ship, namely deck mounted or hull mounted. The authors have observed cases when equipment passing MIL-S-901 shock qualification testing using one method (e.g., the medium weight) failed when tested on another method (e.g., the floating shock platform). Concern about this difference in shock phenomena between the approved equipment performance stimulated the authors to perform the testing and analysis presented in this paper. The thirty year old test methods which have contributed significantly to shock survivability may not always simulate adequately the actual shipboard installation during shock qualification testing, thus leading to a false confidence level that all qualified equipment will perform well in combat. To explore the possible variations in shock phenomena from the different methods, an extensive testing program was conducted whereby a 100 ampere circuit breaker was subjected to shock testing under the four methods outlined in MIL-S-901D, namely, lightweight, medium weight, heavy weight deck, and heavy weight hull. The data gathered during the testing, and the performance of the equipment under test, were both evaluated and analyzed to observe differences in shock phenomena from each of the four different test methods. The shock testing methods, the equipment which was subjected to test, the test procedures, and the results of the investigation are described in this paper. The recommendations suggest improvements to the Navy shock testing methods and procedures.

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CIRCUIT-BREAKER SHOCK TESTING - INDIVIDUAL COMPONENT TESTS AND APPARATUS MOUNTED TESTS

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 172-195页

作者： BURDETTE, AW DAVES, TM YKEMA, JI Arthur W. Burdette:is an electrical engineer with David Taylor Research Center working in the power distribution systems branch where he has been employed since 1986. He received his B.S. degree in mechanical engineering from the University of Maryland in 1988. He was given an award for outstanding work on a mechanical engineering system design project from ASME in May 1988. Mr. Burdette is a member of ASNE IEEE ASME and the Navy League. Ted M. Daves:is president of Hi-Test Laboratories Inc. a position he has held since 1975. Mr. Daves has devoted his professional career to the Navy Shock Survivability Testing Programs to support shock qualification research on hull mechanical and electrical and combat systems for both surface ships and submarines. Mr. Daves has been involved in several full-scale shock testing programs including the USSJohn F. Kennedy(CV-67) USSKidd(DDG-993) USSYorktownCG-48) and USSOmaha(SSN-692). Mr. Daves has considerable hands-on experience in light weight medium weight and heavy weight shock and vibration testing programs. Mr. Daves conducted shock survivability mechanical inspection and evaluation surveys on the RACER heat recovery steam generator system for the DDG-51 the chilled water system for CVN-71 and replacement distillers for DDG-963. Mr. Daves received his B.S. degree in industrial technology from Western Carolina University in 1970. He is a member of ASME IES Shock and Vibration Information Center and ADPA. John I. Ykema:is vice president and chief technical officer at SPD Technologies Philadelphia Penn. He has served in various capacities within SPD (formerly I-T-E) since 1955. He served for three years (1951–1954) with NavSea (formerly Bu-Ships) engineering electrical power systems for aircraft carriers and cruisers. Mr. Ykema received his M.S. degree in electrical power systems engineering from ITT in 1955 after which he joined I-T-E Circuit Breaker Company in Philadelphia Penn. having various assignments on circuit breakers switchgear relays transformers

The integrity of circuit breakers in a shock environment is essential to the survivability of naval combatant ships. A momentary disruption of power due to the opening of circuit breakers can disable essential combat systems equipment for a substantial period of time relative to the required response time of these systems. Even with the ongoing effort to provide shock hardened circuit breakers, the record indicates that shock integrity has been a continuing area of concern during ship shock trials. An historical review is provided of the efforts which have been undertaken to improve the shock resistance characteristics of circuit breakers and of the circuit breaker mounting structures (i.e., in switchboards or panelboards). Circuit breakers have exhibited varying shock resistance characteristics when tested individually versus when tested as an integral member of a switchboard or panelboard, therefore, a comparison is provided of the shock testing specification requirements of circuit breakers tested as components and of the assemblies into which they are commonly mounted. The differences are analyzed to postulate possible causes for the inconsistency of shock qualified circuit breakers when shock tested in their operating environment. An analysis is provided of the similarities and differences of shock impacts on circuit breakers when tested as components and when tested in a switchgear or panelboard assembly. Two series of tests were conducted, one involving circuit breakers in a panelboard and the other involving circuit breakers in a switchboard. The analysis compares the acceleration-time histories, velocity, displacements, and the shock spectrum derived therefrom. Of particular interest is the mounting structure of circuit breakers when shock tested as components and the interaction of the switchboard structure with the circuit breakers under shock impacts. Recommendations are provided for improvements in specifications, for improvements in the design of the a

关键词： Electric Circuit Breakers

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