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Fax +81-75-753-4820The contributions of the paper and its potential applications This paper proposes a robot architecture that enables us to progressively develop robots (especially, vision-guided mobile robots). For realizing intelligent robots works in an open environment by using various sensors, this kind of robot architectures is strongly needed. AbstractThis paper proposes a robot architecture that enables us to progressively develop a robot. The architecture consisting of situated modules has merits of both the traditional function-based and behavior-based architectures in addition to the merit in the development. We have developed a robot based on the architecture. By reporting the development process, this paper discusses advantages of the proposed architecture.

Constant-capacitance deep-level-transient spectroscopy (CCDLTS) characterization of traps (or states) in SiO2/SiC interfaces on the C-face was carried out to clarify the cause of low-channel mobility of SiC MOSFETs. CCDLTS measurements showed that the interface-state density (Dit) near the conduction band of SiO2/SiC interfaces fabricated using N2O oxidation was much higher than that of SiO2/SiC interfaces fabricated using wet oxidation. The high density of interface states near the conduction band is likely to be the main cause of the low mobility of MOSFETs fabricated using N2O oxidation.

Hydrogenation of 7-methylenebicyclo[3.3.1]nonan-3-one (1) over platinum oxide in acetic acid yielded 7α-methylbicyclo[3.3.1]nonan-3α-ol (2) as the sole product. Hydrogenation of (1) in ethyl acetate afforded 7α-methylbicyclo[3.3.1]nonan-3-one (3) as a reduced product and 7-methylbicyclo[3.3.1]non-6-en-3-one (4) as an isomerized product. Hydrogenation of 1 over palladium on carbon gave no reduced product but 4 in 100% conversion. Hydrogenation of 7-methylenebicyclo[3.3.1]nonan-3α-ol (7) and -3β-ol (8) over platinum oxide in acetic acid gave 2 and 7α-methylbicyclo[3.3.1]nonan-3β-ol (5), respectively. From studies based on NMR spectroscopy with use of a shift-reagent, it is concluded that the major conformer of 2 and 5 is of chair-boat form. By the equilibration experiment between 2 and 5 using aluminum isopropoxide in isopropyl alcohol at 110°C, the ΔG° value was found to be −2.2 kcal/mol.

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