We developed a round support robot Terapio that cooperates with medical doctors and nurses in hospitals. Terapio has several behavior modes such as autonomous tracking, power-assist locomotion, clinical data management. The selection of behaviors is supervised by medical doctors and nurses considering exact situations they are involved in, and therefore Terapio provides safe round support even in complex environments of hospitals. Moreover, the functions of face expression, audio-visual data recoding and storage for medical equipments are implemented. Terapio totally offers reliable transportation of medical information and equipments with giving feeling of ease during operation.
We propose a new power-assist system using model predictive control (MPC) and predictive functional control (PFC), which can predict a target position before an output converges at the target position and realize a stable power assist with constraints. This system is composed of a combination of an MPC system based on an expansion plant model and a PFC system based on the plant model. MPC is a control method that uses the optimal control input provided by solving an optimal control problem in the evaluation section from the current time to the future time in predictive steps in real time. PFC is a control method that uses the constrained control input provided according to a logical rule without solving a problem in real time.
Platinum recycle process and equipment from used polymer electrolyte fuel cells were developed in aqueous solution. In the invented solution containing hydrogen peroxide and metal ion, Pt is easily dissolved. And, the dissolved Pt is collected by an electroplating process.
A magnetically separable mesoporous graphene-based solid acid catalyst with a total number of acid sites at least 8 times greater than that of a conventional solid acid catalyst that nevertheless has the strong acid strength has been developed. This solid acid was synthesised from a newly developed carbon-γ-Fe2O3 nanoparticle composite.
Cutting fluid excited by ultrasonic vibration can reduce cutting force and cutting heat. The pourpose of this research is improvement of cutting performance for difficult-to-cut materials. I developed the easy-to-install device on xisting facilities.