Waseda University

About: Waseda University is a education organization based out in Tokyo, Japan. It is known for research contribution in the topics: Catalysis & Large Hadron Collider. The organization has 24220 authors who have published 46859 publications receiving 837855 citations. The organization is also known as: Waseda daigaku & Sōdai.

The Realization of Dynamic Walking by the Biped Walking Robot WL-10 RD

Abstract: 本研究は, 外乱の無い平担路において2足歩行ロボットWL-10RDによる動歩行を実現することを目的とする.一般に, 1歩行周期は単脚支持相と立脚切換相という2つの相に分けられる.この両相において動力学的動作が行われているものが動歩行であると考えられる.本論文では動歩行の制御方式として次のような方式を提案する.すなわち, 単脚支持相においては設定歩行パターンを用いたプログラム制御を行い, 立脚切換相においては切換状況に応じて足首部のトルクと機械インピーダンスを可変とするシーケンス制御を行う.実際には, 単脚支持相においては, 3次元動力学解析により, ZMP (Zero Moment Point) が支持脚の足底面内にあるように, 設定歩行パターンを作成する.立脚切換相においては, これをさらに4つの相に分割し, 脚接地時の衝撃を緩和しながら重心が後脚から前脚側に切換わるように, 足首部トルクと機械インピーダンスを適切に定める.このようにしてWL-10RDによる動・完全歩行が実現した.歩行実験の結果, 歩行時間は歩幅40 [cm] で1歩1.5 [sec] が達成された.

Nanoarchitectonics: A new materials horizon for prussian blue and its analogues

Abstract: Although porous materials based on coordination compounds, including metal-organic frameworks (MOFs) and porous coordination polymers (PCPs), have well-defined pore structures and promising propert...

Fermi observations of cassiopeia and cepheus: Diffuse gamma-ray emission in the outer galaxy

Abstract: We present the analysis of the interstellar gamma-ray emission measured by the Fermi Large Area Telescope toward a region in the second Galactic quadrant at 100 deg < l < 145 deg and -15 deg < b < +30 deg. This region encompasses the prominent Gould-Belt clouds of Cassiopeia, Cepheus and the Polaris flare, as well as atomic and molecular complexes at larger distances, like that associated with NGC 7538 in the Perseus arm. The good kinematic separation in velocity between the local, Perseus, and outer arms, and the presence of massive complexes in each of them make this region well suited to probe cosmic rays and the interstellar medium beyond the solar circle. The gamma-ray emissivity spectrum of the gas in the Gould Belt is consistent with expectations based on the locally measured cosmic-ray spectra. The gamma-ray emissivity decreases from the Gould Belt to the Perseus arm, but the measured gradient is flatter than expectations for cosmic-ray sources peaking in the inner Galaxy as suggested by pulsars. The Xco=N(H2)/W(CO) conversion factor is found to increase from (0.87 +- 0.05) 10^20 cm^-2 (K km s^-1)^-1 in the Gould Belt to (1.9 +- 0.2) 10^20 cm^-2 (K km s^-1)^-1 in the Perseus arm. We derive masses for the molecular clouds under study. Dark gas, not properly traced by radio and microwave surveys, is detected in the Gould Belt through a correlated excess of dust and gamma-ray emission: its mass amounts to ~50% of the CO-traced mass.

Combination of searches for invisible Higgs boson decays with the ATLAS experiment

Abstract: Dark matter particles, if sufficiently light, may be produced in decays of the Higgs boson. This Letter presents a statistical combination of searches for H→invisible decays where H is produced according to the standard model via vector boson fusion, Z(ll)H, and W/Z(had)H, all performed with the ATLAS detector using 36.1 fb^{-1} of pp collisions at a center-of-mass energy of sqrt[s]=13 TeV at the LHC. In combination with the results at sqrt[s]=7 and 8 TeV, an exclusion limit on the H→invisible branching ratio of 0.26(0.17_{-0.05}^{+0.07}) at 95% confidence level is observed (expected).

New air fluorescence detectors employed in the Telescope Array experiment

Abstract: Since 2007, the Telescope Array (TA) experiment, based in Utah, USA, has been observing ultra high energy cosmic rays to understand their origins The experiment includes a surface detector (SD) array and three fluorescence detector (FD) stations The FD stations, installed surrounding the SD array, measure the air fluorescence light emitted from extensive air showers (EASs) for precise determination of their energies and species The detectors employed at one of the three FD stations were relocated from the High Resolution Fly's Eye (HiRes) experiment At the other two stations, newly designed detectors were constructed for the TA experiment An FD consists of a primary mirror and a camera equipped with photomultiplier tube pixels To obtain the EAS parameters with high accuracy, understanding the FD optical characteristics is important In this paper, we report the characteristics and installation of the new FDs and the performances of the FD components The results of the monitored mirror reflectance during the observation time are also described in this report