National Museum of Emerging Science and Innovation

Visual Language Navigation (VLN) powered robots have the potential to guide blind people by understanding route instructions provided by sighted passersby. This capability allows robots to operate in environments often unknown a prior. Existing VLN models are insufficient for the scenario of navigation guidance for blind people, as they need to understand routes described from human memory, which frequently contains stutters, errors, and omissions of details, as opposed to those obtained by thinking out loud, such as in the R2R dataset. However, existing benchmarks do not contain instructions obtained from human memory in natural environments. To this end, we present our benchmark, Memory-Maze, which simulates the scenario of seeking route instructions for guiding blind people. Our benchmark contains a maze-like structured virtual environment and novel route instruction data from human memory. Our analysis demonstrates that instruction data collected from memory was longer and contained more varied wording. We further demonstrate that addressing errors and ambiguities from memory-based instructions is challenging, by evaluating state-of-the-art models alongside our baseline model with modularized perception and controls.

Sicherer Unterschlupf: Wird ein dreikerniger Gold(I)-Pyrazolat-Komplex in einen sechseckigen Silicatkanal eingebracht, wirkt dies als Schutz des Lumineszenz-Zentrums, das durch eine metallophile AuI-AuI-Wechselwirkung gebildet wird, vor thermischer Zerstörung. Darüber hinaus kann sich das Zentrum leicht selbständig von einem Hitzeschaden erholen. In lamellaren Gerüsten ist dieser Matrixeffekt dagegen vernachlässigbar.

Despite a large steric bulk of C(60), a molecular graphene with a covalently linked C(60) pendant [hexabenzocoronene (HBC)-C(60); 1] self-assembles into a coaxial nanotube whose wall consists of a graphite-like pi-stacked HBC array, whereas the nanotube surface is fully covered by a molecular layer of clustering C(60). Because of this explicit coaxial configuration, the nanotube exhibits an ambipolar character in the field-effect transistor output [hole mobility (micro(h)) = 9.7 x 10(-7) cm(2) V(-1) s(-1); electron mobility (micro(e)) = 1.1 x 10(-5) cm(2) V(-1) s(-1)] and displays a photovoltaic response upon light illumination. Successful coassembly of 1 and an HBC derivative without C(60) (2) allows for tailoring the p/n heterojunction in the nanotube, so that its ambipolar carrier transport property can be optimized for enhancing the open-circuit voltage in the photovoltaic output. As evaluated by an electrodeless method called flash-photolysis time-resolved microwave conductivity technique, the intratubular hole mobility (2.0 cm(2) V(-1) s(-1)) of a coassembled nanotube containing 10 mol % of HBC-C(60) (1) is as large as the intersheet mobility in graphite. The homotropic nanotube of 2 blended with a soluble C(60) derivative [(6,6)-phenyl C(61) butyric acid methyl ester] displayed a photovoltaic response with a much different composition dependency, where the largest open-circuit voltage attained was obviously lower than that realized by the coassembly of 1 and 2.

X-ray data of the Centaurus cluster, obtained with {\it XMM-Newton} for 45 ksec, were analyzed. Deprojected EPIC spectra from concentric thin shell regions were reproduced equally well by a single-phase plasma emission model, or by a two-phase model developed by {\it ASCA}, both incorporating cool (1.7--2.0 keV) and hot ($\sim 4$ keV) plasma temperatures. However, EPIC spectra with higher statistics, accumulated over 3-dimentional thick shell regions, were reproduced better by the two-phase model than by the singe-phase one. Therefore, hot and cool plasma phases are inferred to co-exist in the cluster core region within $\sim 70$ kpc. The iron and silicon abundances of the plasma were reconfirmed to increase significantly towards the center, while that of oxygen was consistent with being radially constant. The implied non-solar abundance ratios explains away the previously reported excess X-ray absorption from the central region. Although an additional cool ($\sim 0.7$ keV) emission was detected within $\sim 20$ kpc of the center, the RGS data gave tight upper limits on any emission with a tempeartures below $\sim 0.5$ keV. These results are compiled into a magnetosphere model, which interprets the cool phase as confined within closed magnetic loops anchored to the cD galaxy. When combined with so-called Rosner-Tucker-Vaiana mechanism which applies to solar coronae, this model can potentially explain basic properties of the cool phase, including its temperature and thermal stability.

An easy and simple preparation method for individually dispersed single-walled carbon nanotubes (SWNTs) in both liquid and dried solid states was developed using triphenylene derivatives. Furthermore, highly concentrated solution of SWNTs (0.7–0.8%) was successfully prepared, and also the SWNTs were dispersed well after the addition of methanol (up to 70%) for a long time. These properties (redispersion ability and dispersion to organic solvent) were not observed in typical dispersing surfactants, such as sodium dodecylbenzensulfonate and sodium cholate. These unique features of the surfactant-stabilized SWNTs promised to be highly useful for practical applications of SWNTs.

We have prepared supramolecular assemblies of hexaaryl-anchored polyester zinc(II) porphyrin dendrimers (6P(Zn)W, 12P(Zn)W, and 24P(Zn)W) with various bipyridyl guests (C(n)Py2; n = 1, 2, 4, 6, and 8) through self-assembled coordination to control the structures and photophysical properties. We comparatively investigated the photophysical properties of porphyrin dendrimers with and without guest binding by using ensemble and single-molecule spectroscopy. The spectrophotometric titration data of dendrimers with guest molecules provide a strong indication of the selective intercalation of bipyridyl guests into porphyrin dendrimers. The representative dendrimer assembly 12P(Zn)W [symbol: see text] C6Py2 exhibits increased fluorescence quantum yield and lifetime in ensemble measurements, as well as higher initial photon count rates with stepwise photobleaching behavior in the single-molecule fluorescence intensity trajectories (FITs) compared to 12P(Zn)W. At the single-molecule level, the higher photostability of 12P(Zn)W [symbol: see text] C6Py2 can be deduced from the long durations of the first emissive levels in the FITs. We attribute the change in photophysical properties of the dendrimer assemblies to their structural changes upon intercalation of guest molecules between porphyrin units. These results provide new insight into the control of porphyrin dendritic structures using appropriate bidentate guests in poor environmental conditions.

One-handed military discipline: The hexabenzocoronene (HBC) derivative 1 can coassemble with the chiral HBCs (S)- or (R)-2 to yield graphitic nanocoils (see picture). Self-assembly of 2 alone gives noncoiled fibrous assemblies. A sergeants-and-soldiers effect leads to the formation of one-handed nanocoils. These can be covalently stabilized by post-surface ROMP of the pendant norbornene groups to give a uniform cast film. Upon doping with I2, this film becomes electroconductive without any detectable morphological disruption.

A serendipitous finding that ionic liquids gel with carbon nanotubes has opened a new possibility of ionic liquids as modifiers for carbon nanotubes. Upon being ground into ionic liquids, carbon nanotube bundles are untangled, and the resultant fine bundles form a network structure. This is due to the possible specific interaction between the imidazolium ion component and the pi-electronic nanotube surface. The resultant gelatinous materials, consisting of highly electroconductive nanowires and fluid electrolytes, can be utilized for a wide variety of electrochemical applications, such as sensors, capacitors, and actuators. Ionic liquids allow for noncovalent and covalent modifications of carbon nanotubes and fabrication of polymer composites with enhanced physical properties. The processing of carbon nanotubes with ionic liquids is not accompanied by the disruption of the pi-conjugated nanotube structure and does not require solvents; therefore it can readily be scaled up. This article focuses on new aspects of ionic liquids for designer soft materials based on carbon nanotubes.

We present a statistical study of the occurrence and effects of the cooling cores in the clusters of galaxies in a flux-limited sample, HIFLUGCS, based on ROSAT and ASCA observations. About 49% of the clusters in this sample have a significant, classically-calculated cooling-flow, mass-deposition rate. The upper envelope of the derived mass-deposition rate is roughly proportional to the cluster mass, and the fraction of cooling core clusters is found to decrease with it. The cooling core clusters are found to have smaller core radii than non-cooling core clusters, while some non-cooling core clusters have high beta values (> 0.8). In the relation of the X-ray luminosity vs. the temperature and the mass, the cooling core clusters show a significantly higher normalization. A systematic correlation analysis, also involving relations of the gas mass and the total infrared luminosity, indicates that this bias is shown to be mostly due to an enhanced X-ray luminosity for cooling core clusters, while the other parameters, like temperature, mass, and gas mass may be less affected by the occurrence of a cooling core. These results may be explained by at least some of the non-cooling core clusters being in dynamically young states compared with cooling core clusters, and they may turn into cooling core clusters in a later evolutionary stage.