The Experts below are selected from a list of 141 Experts worldwide ranked by ideXlab platform
Koji Shibuya - One of the best experts on this subject based on the ideXlab platform.
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Underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis development of the depth control system
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Tomotaka Inoue, Koji Shibuya, Akinori NaganoAbstract:The goal of this paper is to develop a robot control system using a microcomputer for an underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis. Sperm whales have a Spermaceti organ in their head that is filled with Spermaceti oil. It is said that sperm whales control their buoyancy by melting or coagulating Spermaceti oil. In the previous papers proposed an underwater robot with a buoyancy control device using its theory. The robot was radio controlled and it had no sensor. Therefore, the robot could not detect water depth. Also, it was not able to control its own depth. In addition, the robot could not dive because it had no cooling system. In this paper, we built a depth control circuit using a microcomputer and pressure sensor. The pressure sensor detected the robot's depth, and the microcomputer controlled the robot's position. And, we made a new buoyancy control device using a peltier element. A peltier element was used for heating and cooling systems of the paraffin wax. Then, we experimented with the robot control. As a result, we confirmed that when we ordered a target water depth, the robot dived, floated and maintained the depth itself by detecting its own position. In addition, we confirmed that when a disturbance occurs, the robot returned to the former depth.
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IROS - Underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis development of the depth control system
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Tomotaka Inoue, Koji Shibuya, Akinori NaganoAbstract:The goal of this paper is to develop a robot control system using a microcomputer for an underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis. Sperm whales have a Spermaceti organ in their head that is filled with Spermaceti oil. It is said that sperm whales control their buoyancy by melting or coagulating Spermaceti oil. In the previous papers proposed an underwater robot with a buoyancy control device using its theory. The robot was radio controlled and it had no sensor. Therefore, the robot could not detect water depth. Also, it was not able to control its own depth. In addition, the robot could not dive because it had no cooling system. In this paper, we built a depth control circuit using a microcomputer and pressure sensor. The pressure sensor detected the robot's depth, and the microcomputer controlled the robot's position. And, we made a new buoyancy control device using a peltier element. A peltier element was used for heating and cooling systems of the paraffin wax. Then, we experimented with the robot control. As a result, we confirmed that when we ordered a target water depth, the robot dived, floated and maintained the depth itself by detecting its own position. In addition, we confirmed that when a disturbance occurs, the robot returned to the former depth.
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Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis
2006 IEEE RSJ International Conference on Intelligent Robots and Systems, 2006Co-Authors: Koji Shibuya, Yuichi Kado, Suguru Honda, Taro Iwamoto, Kazuyoshi TsutsumiAbstract:The goal of this paper is to develop an underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis. Sperm whales have a Spermaceti organ in their head that is filled with Spermaceti oil. Spermaceti oil is high quality oil and was used as material for candles, lubricant, and so on. There is a hypothesis about Spermaceti oil that insists that sperm whales melt and congeal their Spermaceti oil and change the volume of the oil to control their own buoyancy. This hypothesis appears suitable for the underwater robot because no materials for the ballast, such as sea water taken in at another place and iron, are discarded in the sea. To choose the best material as a Spermaceti oil substitute, we measured the densities of four materials at both liquid and solid states, and calculated their buoyancy differences between both states. From the results, we concluded that the paraffin wax was the best material because its buoyancy difference is the largest of the four and its melting point is relatively low. Next, we directly measured the buoyancy of the paraffin wax and found that a particular arrangement of nichrome wire, which heats the oil, increases the level of buoyancy. Finally, we developed an underwater robot with a buoyancy control system based on this hypothesis. We measured its buoyancy and succeeded in surfacing of the robot in a small water tank
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IROS - Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis
2006 IEEE RSJ International Conference on Intelligent Robots and Systems, 2006Co-Authors: Koji Shibuya, Yuichi Kado, Suguru Honda, Taro Iwamoto, Kazuyoshi TsutsumiAbstract:The goal of this paper is to develop an underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis. Sperm whales have a Spermaceti organ in their head that is filled with Spermaceti oil. Spermaceti oil is high quality oil and was used as material for candles, lubricant, and so on. There is a hypothesis about Spermaceti oil that insists that sperm whales melt and congeal their Spermaceti oil and change the volume of the oil to control their own buoyancy. This hypothesis appears suitable for the underwater robot because no materials for the ballast, such as sea water taken in at another place and iron, are discarded in the sea. To choose the best material as a Spermaceti oil substitute, we measured the densities of four materials at both liquid and solid states, and calculated their buoyancy differences between both states. From the results, we concluded that the paraffin wax was the best material because its buoyancy difference is the largest of the four and its melting point is relatively low. Next, we directly measured the buoyancy of the paraffin wax and found that a particular arrangement of nichrome wire, which heats the oil, increases the level of buoyancy. Finally, we developed an underwater robot with a buoyancy control system based on this hypothesis. We measured its buoyancy and succeeded in surfacing of the robot in a small water tank.
Helmut H.a. Oelschläger - One of the best experts on this subject based on the ideXlab platform.
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an acoustic valve within the nose of sperm whales physeter macrocephalus
Mammal Review, 2014Co-Authors: Stefan Huggenberger, M. André, Helmut H.a. OelschlägerAbstract:Sperm whales Physeter macrocephalus emit impulsive sound signals in short series of rhythmic clicks (codas) for communication, and in long series of single acoustic events (usual clicks) for echolocation. Both click types are generated pneumatically within the hypertrophied nasal complex, at the monkey lips' at the rostral end of the right nasal passage. Each individual click comprises repetitive pulses decaying in intensity. However, the decay rate is distinctly higher in usual clicks than in coda clicks. The mechanism of decay rate control in the clicks is still unclear, and it is unclear why the right nasal passage crosses the nasal acoustic pathway between two hypertrophied acoustic fat bodies #Spermaceti organ, junk#, so that it resembles a bent acoustic horn'. We present a new concept to explain how the flat right nasal passage can serve as a variable acoustic valve, and how the amount and distribution of its air filling can be controlled by muscle action. This mechanism allows the whale to determine the pulse decay rate and thus switch between the two modes of click production. Coda clicks are generated by reverberations within the Spermaceti organ #partial trapping of sound# and by the release of sound energy in fractions through the air-filled right nasal passage. In contrast, echolocation clicks as single events are released during the partial collapse of the right nasal passage between the Spermaceti organ and the junk. This interpretation of the right nasal passage as an adaptive acoustic valve elucidates why the Spermaceti organ and the junk are separated from each other by an air-filled space of variable volume crossing the sound path of the bent acoustic horn' in the posterior part of the nasal complex.
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An acoustic valve within the nose of sperm whales Physeter macrocephalus
Mammal Review, 2013Co-Authors: Stefan Huggenberger, M. André, Helmut H.a. OelschlägerAbstract:Sperm whales Physeter macrocephalus emit impulsive sound signals in short series of rhythmic clicks (codas) for communication, and in long series of single acoustic events (usual clicks) for echolocation. Both click types are generated pneumatically within the hypertrophied nasal complex, at the monkey lips' at the rostral end of the right nasal passage. Each individual click comprises repetitive pulses decaying in intensity. However, the decay rate is distinctly higher in usual clicks than in coda clicks. The mechanism of decay rate control in the clicks is still unclear, and it is unclear why the right nasal passage crosses the nasal acoustic pathway between two hypertrophied acoustic fat bodies #Spermaceti organ, junk#, so that it resembles a bent acoustic horn'. We present a new concept to explain how the flat right nasal passage can serve as a variable acoustic valve, and how the amount and distribution of its air filling can be controlled by muscle action. This mechanism allows the whale to determine the pulse decay rate and thus switch between the two modes of click production. Coda clicks are generated by reverberations within the Spermaceti organ #partial trapping of sound# and by the release of sound energy in fractions through the air-filled right nasal passage. In contrast, echolocation clicks as single events are released during the partial collapse of the right nasal passage between the Spermaceti organ and the junk. This interpretation of the right nasal passage as an adaptive acoustic valve elucidates why the Spermaceti organ and the junk are separated from each other by an air-filled space of variable volume crossing the sound path of the bent acoustic horn' in the posterior part of the nasal complex.Postprint (published version
Kazuyoshi Tsutsumi - One of the best experts on this subject based on the ideXlab platform.
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Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis
2006 IEEE RSJ International Conference on Intelligent Robots and Systems, 2006Co-Authors: Koji Shibuya, Yuichi Kado, Suguru Honda, Taro Iwamoto, Kazuyoshi TsutsumiAbstract:The goal of this paper is to develop an underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis. Sperm whales have a Spermaceti organ in their head that is filled with Spermaceti oil. Spermaceti oil is high quality oil and was used as material for candles, lubricant, and so on. There is a hypothesis about Spermaceti oil that insists that sperm whales melt and congeal their Spermaceti oil and change the volume of the oil to control their own buoyancy. This hypothesis appears suitable for the underwater robot because no materials for the ballast, such as sea water taken in at another place and iron, are discarded in the sea. To choose the best material as a Spermaceti oil substitute, we measured the densities of four materials at both liquid and solid states, and calculated their buoyancy differences between both states. From the results, we concluded that the paraffin wax was the best material because its buoyancy difference is the largest of the four and its melting point is relatively low. Next, we directly measured the buoyancy of the paraffin wax and found that a particular arrangement of nichrome wire, which heats the oil, increases the level of buoyancy. Finally, we developed an underwater robot with a buoyancy control system based on this hypothesis. We measured its buoyancy and succeeded in surfacing of the robot in a small water tank
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IROS - Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis
2006 IEEE RSJ International Conference on Intelligent Robots and Systems, 2006Co-Authors: Koji Shibuya, Yuichi Kado, Suguru Honda, Taro Iwamoto, Kazuyoshi TsutsumiAbstract:The goal of this paper is to develop an underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis. Sperm whales have a Spermaceti organ in their head that is filled with Spermaceti oil. Spermaceti oil is high quality oil and was used as material for candles, lubricant, and so on. There is a hypothesis about Spermaceti oil that insists that sperm whales melt and congeal their Spermaceti oil and change the volume of the oil to control their own buoyancy. This hypothesis appears suitable for the underwater robot because no materials for the ballast, such as sea water taken in at another place and iron, are discarded in the sea. To choose the best material as a Spermaceti oil substitute, we measured the densities of four materials at both liquid and solid states, and calculated their buoyancy differences between both states. From the results, we concluded that the paraffin wax was the best material because its buoyancy difference is the largest of the four and its melting point is relatively low. Next, we directly measured the buoyancy of the paraffin wax and found that a particular arrangement of nichrome wire, which heats the oil, increases the level of buoyancy. Finally, we developed an underwater robot with a buoyancy control system based on this hypothesis. We measured its buoyancy and succeeded in surfacing of the robot in a small water tank.
Sylvie Colinart - One of the best experts on this subject based on the ideXlab platform.
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Characterisation of wax works of art by gas chromatographic procedures.
Journal of chromatography. A, 2005Co-Authors: Martine Regert, Juliette Langlois, Sylvie ColinartAbstract:To identify the various natural and synthetic substances used by sculptors at the end of the 19th century, several contemporary reference samples were investigated by high temperature gas chromatography (HT GC) and HT GC-MS. Using specific chromatographic conditions and minimising sample preparation, we could separate, detect and identify a wide range of biomolecular markers covering a great variety of molecular weights and volatilities, with a minimum amount of sample, in a single run. Beeswax, Spermaceti, carnauba, candellila and Japan waxes as well as pine resin derivatives, animal fats, paraffin, ozokerite and stearin, used as additives in wax works of art, were chemically investigated. In the case of low volatile compounds, transbutylation was performed. The structure of long-chain esters of Spermaceti was elucidated for the first time by HT GC-MS analysis. Such a method was then carried out on 10 samples collected on a statuette of Junon by Antoine-Louis Barye (Louvre Museum, Paris, France) and on a sculpture by Aimé-Jules Dalou (Musée de la Révolution Française, Vizille, France). The analytical results obtained provide new data on the complex recipes elaborated by sculptors at the end of the 19th century.
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Characterisation of wax works of art by gas chromatographic procedures.
Journal of Chromatography A, 2005Co-Authors: Martine Regert, Juliette Langlois, Sylvie ColinartAbstract:To identify the various natural and synthetic substances used by sculptors at the end of the 19th century, several contemporary reference samples were investigated by high temperature gas chromatography (HT GC) and HT GC-MS. Using specific chromatographic conditions and minimising sample preparation, we could separate, detect and identify a wide range of biomolecular markers covering a great variety of molecular weights and volatilities, with a minimum amount of sample, in a single run. Beeswax, Spermaceti, carnauba, candellila and Japan waxes as well as pine resin derivatives, animal fats, paraffin, ozokerite and stearin, used as additives in wax works of art, were chemically investigated. In the case of low volatile compounds, transbutylation was performed. The structure of long-chain esters of Spermaceti was elucidated for the first time by HT GC-MS analysis. Such a method was then carried out on 10 samples collected on a statuette of Junon by Antoine-Louis Barye (Louvre Museum, Paris, France) and on a sculpture by Aime-Jules Dalou (Musee de la Revolution Francaise, Vizille, France). The analytical results obtained provide new data on the complex recipes elaborated by sculptors at the end of the 19th century.
Akinori Nagano - One of the best experts on this subject based on the ideXlab platform.
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Underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis development of the depth control system
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Tomotaka Inoue, Koji Shibuya, Akinori NaganoAbstract:The goal of this paper is to develop a robot control system using a microcomputer for an underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis. Sperm whales have a Spermaceti organ in their head that is filled with Spermaceti oil. It is said that sperm whales control their buoyancy by melting or coagulating Spermaceti oil. In the previous papers proposed an underwater robot with a buoyancy control device using its theory. The robot was radio controlled and it had no sensor. Therefore, the robot could not detect water depth. Also, it was not able to control its own depth. In addition, the robot could not dive because it had no cooling system. In this paper, we built a depth control circuit using a microcomputer and pressure sensor. The pressure sensor detected the robot's depth, and the microcomputer controlled the robot's position. And, we made a new buoyancy control device using a peltier element. A peltier element was used for heating and cooling systems of the paraffin wax. Then, we experimented with the robot control. As a result, we confirmed that when we ordered a target water depth, the robot dived, floated and maintained the depth itself by detecting its own position. In addition, we confirmed that when a disturbance occurs, the robot returned to the former depth.
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IROS - Underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis development of the depth control system
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Tomotaka Inoue, Koji Shibuya, Akinori NaganoAbstract:The goal of this paper is to develop a robot control system using a microcomputer for an underwater robot with a buoyancy control system based on the Spermaceti oil hypothesis. Sperm whales have a Spermaceti organ in their head that is filled with Spermaceti oil. It is said that sperm whales control their buoyancy by melting or coagulating Spermaceti oil. In the previous papers proposed an underwater robot with a buoyancy control device using its theory. The robot was radio controlled and it had no sensor. Therefore, the robot could not detect water depth. Also, it was not able to control its own depth. In addition, the robot could not dive because it had no cooling system. In this paper, we built a depth control circuit using a microcomputer and pressure sensor. The pressure sensor detected the robot's depth, and the microcomputer controlled the robot's position. And, we made a new buoyancy control device using a peltier element. A peltier element was used for heating and cooling systems of the paraffin wax. Then, we experimented with the robot control. As a result, we confirmed that when we ordered a target water depth, the robot dived, floated and maintained the depth itself by detecting its own position. In addition, we confirmed that when a disturbance occurs, the robot returned to the former depth.
