Toyota

About: Toyota is a company organization based out in Safenwil, Switzerland. It is known for research contribution in the topics: Internal combustion engine & Exhaust gas. The organization has 40032 authors who have published 55003 publications receiving 735317 citations. The organization is also known as: Toyota Motor Corporation & Toyota Jidosha KK.

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

Abstract: Traditional motion planning approaches for multilegged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of complex whole-body behaviors. Currently, coupling theses problems has required either the assumption of a fixed gait sequence and flat terrain condition, or nonconvex optimization with intractable computation time. In this letter, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions, and motion, in a computationally efficient fashion. In contrast to previous works, our approach is not limited to flat terrain nor to a prespecified gait sequence. Instead, we incorporate the friction cone stability margin, approximate the robot's torque limits, and plan the gait using mixed-integer convex constraints. We experimentally validated our approach on the HyQ robot by traversing different challenging terrains, where nonconvexity and flat terrain assumptions might lead to suboptimal or unstable plans. Our method increases the motion robustness while keeping a low computation time.

Genetically Engineered Wine Yeast Produces a High Concentration of l-Lactic Acid of Extremely High Optical Purity

Abstract: For mass production of lactic acid, we newly constructed a transgenic wine yeast strain that included six copies of the bovine L-lactate dehydrogenase gene on the genome. On fermentation in inexpensive cane juice-based medium, L-lactate production of this recombinant reached 122 g/liter and the optical purity was 99.9% or higher.

Organic dicarboxylate negative electrode materials with remarkably small strain for high-voltage bipolar batteries.

Abstract: As advanced negative electrodes for powerful and useful high-voltage bipolar batteries, an intercalated metal-organic framework (iMOF), 2,6-naphthalene dicarboxylate dilithium, is described which has an organic-inorganic layered structure of π-stacked naphthalene and tetrahedral LiO4 units. The material shows a reversible two-electron-transfer Li intercalation at a flat potential of 0.8 V with a small polarization. Detailed crystal structure analysis during Li intercalation shows the layered framework to be maintained and its volume change is only 0.33%. The material possesses two-dimensional pathways for efficient electron and Li(+) transport formed by Li-doped naphthalene packing and tetrahedral LiO3C network. A cell with a high potential operating LiNi(0.5)Mn(1.5)O4 spinel positive and the proposed negative electrodes exhibited favorable cycle performance (96% capacity retention after 100 cycles), high specific energy (300 Wh kg(-1)), and high specific power (5 kW kg(-1)). An 8 V bipolar cell was also constructed by connecting only two cells in series.

Molybdenum-catalyzed transformation of molecular dinitrogen into silylamine: Experimental and DFT study on the remarkable role of ferrocenyldiphosphine ligands

Abstract: A molybdenum−dinitrogen complex bearing two ancillary ferrocenyldiphosphine ligands, trans-[Mo(N2)2(depf)2] (depf = 1,1′-bis(diethylphosphino)ferrocene), catalyzes the conversion of molecular dinitrogen (N2) into silylamine (N(SiMe3)3), which can be readily converted into NH3 by acid treatment. The conversion has been achieved in the presence of Me3SiCl and Na at room temperature with a turnover number (TON) of 226 for the N(SiMe3)3 generation for 200 h. This TON is significantly improved relative to those ever reported by Hidaiʼs group for mononuclear molybdenum complexes having monophosphine coligands [J. Am. Chem. Soc.1989, 111, 1939]. Density functional theory (DFT) calculations have been performed to figure out the mechanism of the catalytic N2 conversion. On the basis of some pieces of experimental information, SiMe3 radical is assumed to serve as an active species in the catalytic cycle. Calculated results also support that SiMe3 radical is capable of working as an active species. The formation of ...

Device for purifying exhaust of internal combustion engine

Abstract: NOx absorbent (18) is disposed in the exhaust gas path in the internal combustion engine and exhaust gas is adapted to flow constantly through said absorbent (18) during the operation of said engine. NOx absorbent (18) absorbs NOx when an air-fuel ratio of exhaust gas flowing into said absorbent (18) is lean and, when an air-fuel ratio of exhaust gas becomes equal to the theoretical air-fuel ratio or rich, it discharges NOx having been absorbed therein. Over almost the entire range of operation of the engine, lean mixed gas is burnt in the combustion chamber (3) and NOx generated at this time is absorbed by said absorbent (18). An air-fuel ratio of exhaust gas flowing into the NOx absorbent (18) is periodically made equal to the theoretical one or rich and NOx having been absorbed by the absorbent (18) is discharged and reduced at the same time.