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Research on the automated control of robots for wiping curved surfaces includes studies on cleaning contaminated areas and controlling the end-effector posture to apply a constant force along curved surfaces. However, such robots should also clean difficult-to-find contaminants such as dust and dirt. One of previous studies has considered motion generation as a generalized traveling salesman problem. In particular, a point cloud is acquired from an RGBD camera, and a large graph is created to represent the surface based on the point cloud. The system then finds an appropriate end-effector posture for each node and sets up multiple coordinate systems. Consequently, an efficient cleaning motion can be generated; however, path generation using the previous study is a highly time-consuming process. Therefore, in this study, a 3D model is used to generate cleaning actions more efficiently. A point cloud is then generated from the mesh data of the 3D model, based on which the surface is represented as a simple graph that can be solved as a traveling salesman problem, thereby reducing the computational time. The optimal end-effector posture is determined based on the shape of the surface and is set as the coordinate system for each node. Finally, experiments are conducted to compare the cleaning results with the previous study results, thereby verifying that results can be obtained in less than one-tenth the computational time required for the previous study results.

A new method to synthesize multifunctionalized arenes from simple phenols through aryne intermediates is described. Multisubstituted aryne precursors were prepared from phenols by Ir-catalyzed C–H borylation, deborylthiolation, O-triflylation, S-oxidation, and further modification through ortho-deprotonation directed by the sulfoxide moiety. Various multisubstituted arenes were synthesized by transformations of highly functionalized aryne intermediates generated from the o-sulfinylaryl triflates.

The iridium-catalyzed azide-thioalkyne cycloaddition was found to proceed much faster with benzyl azide than with phenyl azide. The high azido-type selectivity was also observed in other combinations of azides with different steric environments. This finding enabled the efficient assembly of three azidophilic molecules to triazido platforms by three sequential triazole-forming reactions.

Efficient consecutive 1,2,3-triazole formations using multiazide platforms are disclosed. On the basis of unique clickability of the 1-adamantyl azido group, a four-step synthesis of tetrakis(triazole)s was achieved from a tetraazide platform molecule. This method was applied to a convergent synthesis of tetrafunctionalized probes in a modular synthetic manner.

An efficient method to synthesize diaryl sulfides with structural diversity is disclosed. Demethylative hydrothiolation of aryne intermediates generated from o-iodoaryl triflates with methylthio-substituted o-silylaryl triflates and further aryne reactions afford diverse diaryl sulfides.

An efficient thioxanthone synthesis from benzoic acid esters is disclosed. Various thioxanthones were prepared by iridium-catalyzed C–H borylation of benzoic acid esters followed by copper-catalyze...

An efficient method to assemble three cycloalkyne-modules onto a platform compound bearing a thiophene S,S-dioxide moiety and two azido groups has been developed. The sequential reactions without catalysis or additives enabled the facile preparation of trifunctional molecules by a simple procedure. One-pot assembly was also achieved using the platform and three cycloalkynes.

Complexation of bicyclo[6.1.0]nonynes with a cationic silver or gold salt results in protection from a click reaction with azides. The cycloalkyne protection using the silver or gold salt enables selective strain-promoted azide-alkyne cycloadditions of diynes keeping the bicyclo[6.1.0]nonyne moiety unreacted.

An efficient preparation method of functionalized phosphines by copper-catalyzed azide-alkyne cycloaddition (CuAAC) through the transient protection of phosphine from the Staudinger reaction is disclosed. Diverse phosphines were prepared from phosphinyl alkynes and azides by the click reaction at the ethynyl group without damaging the phosphinyl group. Double- and triple-click assemblies of azides were accomplished by triazole formations and robust azaylide formation.

A novel cascade reaction consisting of a five-membered ring selective Prins cyclization and a subsequent Friedel–Crafts cyclization is reported. Treatment of homocinnamyl alcohols and aromatic aldehydes with BF3·OEt2 in CH2Cl2 afforded hydrocyclopentafurans. Also hydrocyclopentafurans underwent the same cascade reaction after its furan ring cleavage upon treatment with BF3·OEt2 at room temperature. Various combinations of hydropentafurans and aromatic aldehydes or indole aldehydes permitted divergent synthesis of diquinane-furans stuck in aromatic rings.

This study proposes an efficient method of local space-time grid refinement and examines the numerical stability and the accuracy of electromagnetic field analysis using the space-time finite-integration technique (FIT). The proposed subgrid method locally refines the space-time grid with three-division or four-division and is stable without inducing numerical instability even after one million time-steps. The grid construction is modified at the corner part of subgrid connection to improve the computational accuracy. The staircase-type grid relaxes the time-step restriction due to the CFL condition., Proceedings from the 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2015)