In this paper, a novel robotic system called modular transformer (M-TRAN) is proposed. M-TRAN distributed, self-reconfigurable composed of homogeneous modules. The can change its configuration by changing each module's position and connection. Each module equipped with an onboard microprocessor, actuators, intermodule communication/power transmission devices connection mechanisms. special design realizes both reliable quick self-reconfiguration versatile motion. For instance, able to...

The design of a machine which is composed homogeneous mechanical units described. We show the both hardware and control software unit. Each unit can connect with other change connection by itself. In spite its simple mechanism, set these realizes various functions. developed "self-assembly," one basic functions this machine. A form given shape whole system themselves. exchange information about local geometric relation communication, cooperate to through diffusion-like process. There no...

A three-dimensional, self-reconfigurable structure is proposed. The a fully distributed system composed of many identical 3-D units. Each unit has functions changing local connection, information processing, and communication among neighborhood Groups units cooperate to change their connection so that the shape whole solid transforms into an arbitrary shape. Also, can repair itself by rejecting faulty units, replacing them with spare This kind self-maintainability essential structure's...

This paper presents a design method and experiments for whole-body locomotion by modular robot. There are two types of robots: repeating self-reconfiguration motion such as walking or crawling. For locomotion, designing control is more difficult than ordinary robots because robotic system can form various configurations, each which has many degrees freedom. study proposes unified framework automatically an efficient controller suitable any module configuration. The utilizes neural...

In this paper we describe the hardware design of a novel self-reconfigurable robotic system. We have classified previous studies on systems into "lattice type" composed spatially symmetric modules and "string like snake robots. The proposed system has both advantages simple operation self-reconfiguration former motion generation ability latter. Its structure reliable allows us to construct large 3D which functions as such legged walking machine. examined its basic mechanical verified...

We have proposed a self-reconfigurable robotic module, which has very simple structure. The system is capable of not only building static structure, but also generating dynamic motion. developed simulator for the motion planning. In this paper, we present details mechanical and electrical designs module its control architecture. Experiments using ten modules demonstrate configuration change, crawling locomotion three types quadruped locomotion.

In this article, we propose a simple docking method using an onboard camera module. It has two key ideas: one is image processing module and LEDs equipped on the modules, other special modular configuration designed for docking, which absorbs positional errors. We also self-reconfiguration sequence to integrate docked robot into periodic structure. The effectiveness of proposed examined by docking/integration experiments 18 modules.

Failed filament eruptions not associated with a coronal mass ejection (CME) have been observed and reported as evidence for solar field confinement on erupting flux ropes. In those events, each eventually returns to its origin the surface. this Letter, new observation of two failed is which indicates that confined can be ejected places far from original channel. The jetlike motions in are thought due asymmetry background magnetic fields respect locations channels. confirmed by an...

Total ankle arthroplasty (TAA) has become the most reliable surgical solution for patients with end-stage arthritis of ankle. Aseptic loosening talar component is common complication. A custom-made artificial talus can be used as in a combined TAA poor bone stock talus. The purpose this study was to investigate functional and clinical outcomes TAA.Ten (two men, eight women; ten ankles) treated using between 2009 2013 were matched age, gender, length follow-up 12 (one man, 11 who underwent...

Methyl formate (MF) is an important intermediate in the production of essential chemicals such as formic acid chemical industry. Although MF currently synthesized via liquid-phase carbonylation methanol, this process has certain problems (e.g., catalyst deactivation). In regard, alternative processes for have been extensively examined, and formation with a high selectivity rate at mild reaction conditions remains critical goal research. Here, we demonstrated synthesis direct electrolysis...

The objective of the present study was to determine changes in blood pressure, pulse rate, and heart rate variability during dental surgery. included 40 patients, 19 74 years age (mean age: 42.7 ± 3.0 years), who underwent tooth extraction at our hospital. Holter electrocardiographic monitoring used power spectrum R-R before low frequency (LF: 0.041 0.140 Hz), high (HF: 0.500 total spectral powers (TF; 0.000 4.000 Hz) were calculated, ratio LF HF percentage relative TF (%HF: HF/TF × 100) as...

Escherichia coli HKY56, which demonstrated resistance to various beta-lactams except carbapenems, was isolated from the throat swab of an inpatient in 1994. Conjugal transfer cephem HKY56 E. CSH2 not successful. Three cefotaxime-resistant clones harboring plasmid pMRE001, pMRE002, or pMRE003, each carried a 3.4-, 5.8-, 6.2-kb EcoRI fragment insert, respectively, were obtained HKY56. Although restriction analysis suggested their different origins, these showed similar profiles beta-lactams....

This paper addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that group the can construct structure. Motion for is kind computationally difficult problem because many combinatorial possibilities configuration and restricted degrees freedom module; only two rotation axes per module. We will show method class multimodule structures. It based on global local scheme selection effective to solve complicated problem.

Inert CH₄ molecules can be activated and incorporated into pyrolysis products with the aid of radicals generated by C₂H₆.

Abstract Dry reforming of methane (DRM) is a promising catalytic process for converting greenhouse gases (CH 4 and CO 2 ) into syngas (CO H ). This study investigates DRM under moderate conditions (550 °C) using supported low‐loading (0.05 wt%) metal (M) catalysts (M = Rh, Ru, Pt, Pd, Ir, Au, Ni). The reaction was carried out 6 h with flow rate 30 mL/min both CH , 0.10 g catalyst. Among these catalysts, 0.05 wt% Rh/Al O 3 exhibited the highest activity. effect catalyst supports revealed that...

A distributed formation control method is proposed for a modular mechanical system. We have developed totally decentralized system composed of many homogeneous units which are designed to change their connective configuration using only local information. The in this paper enables the systems re-organize themselves so that various configurations can be formed robust way. Computer simulations and experiments carried out show its effectiveness.