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On March 11, 2011, a massive earthquake (Magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis because of loss of all power resulting in meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions and,… (More)
We report recent results from field experiments conducted with a team of ground and aerial robots toward the collaborative mapping of an earthquake-damaged building. The goal of the experimental exercise is the generation of 3D maps that capture the layout of the environment and provide insight to the degree of damage inside the building. The experiments… (More)
On March 11, 2011, a massive earthquake and tsunami hit eastern Japan, particularly the Tohoku area. Since then, the Fukushima Daiichi Nuclear Power Station has been facing a crisis. To respond to this situation, we began a project to redesign our mobile robots for disaster response missions. A key issue to be addressed was to check the radiation hardness… (More)
A new direct conversion of O,O-acetals to esters via O,P-acetal intermediates was developed. The regioselective cleavage of unsymmetrical cyclic acetals occurred to give the more crowded esters as single isomers.
Highly substituted four- and five-membered heterocycles were prepared starting with O,P- and N,P-acetals by using a one-pot method involving base induced cyclization and a Horner-Wadsworth-Emmons (HWE) olefination reaction. Divergent synthesis of various heterocycles was achieved by using this method and transformations of the alkenyl group in the products… (More)
In urban search and rescue situations, a 3D map obtained using a 3D range sensor mounted on a rescue robot is very useful in determining a rescue crew's strategy. Furthermore, thermal images captured by an infrared camera enable rescue workers to effectively locate victims. The objective of this study is to develop a 3D thermography mapping system using a… (More)
An unusual and novel reaction of α-alkoxyphosphonium salts, generated from O,O-acetals and Ph(3)P, with Grignard reagents under an O(2) atmosphere afforded alcohols in moderate to high yields. It was clarified by isotopic labelling experiments that the reaction proceeded via a novel radical pathway.
A mild and efficient method for formation of methylene acetals from 1,2- and 1,3-diols using methoxymethylphenylsulfide, 1,3-dibromo-5,5-dimethylhydantoin (DBDMH), and dibutylhydroxytoluene (BHT) is described. The use of BHT in this process suppresses side reactions and enables high-yielding formation of methylene acetals of various diols, including… (More)
The effects of phosphorus substituents on the reactivity of α-alkoxyphosphonium salts with nucleophiles has been explored. Reactions of α-alkoxyphosphonium salts, prepared from various acetals and tris(o-tolyl)phosphine, with a variety of nucleophiles proceeded efficiently. These processes represent the first examples of high-yielding nucleophilic… (More)
The structure and electronic nature of the phosphine have a significant influence on not only the formation, but also the subsequent transformation of O,P-acetals. The O,P-acetals generated from tris(o-tolyl)phosphine [(o-tol)(3)P] underwent efficient substitution reactions with various nucleophiles.