arXiv subjects

Kenji Kawashima

Publications and source records attributed to Kenji Kawashima.

At least 19 recordsLinked to original sources

arXiv2026

Room-Temperature Calcium Intercalation into Graphite Catalyzed by Sodium

Calcium (Ca) insertion into graphite (C) has been considered to require elevated temperatures, and its occurrence at room temperature (RT) has been regarded as highly unlikely. Here, we demonstrate that sodium (Na) catalysis enables the formation of superconducting CaC$_6$ even at RT. In mixtures of Ca, Na, and graphite, the gradual development of superconducting diamagnetism and the emergence of X-ray diffraction peaks confirm the formation of CaC$_6$ during storage at RT. The superconducting transition temperature increases with storage time, and the amount of CaC$_6$ scales proportionally to the square root of storage time. These findings provide new insights into the mechanism of superconductivity and Na-catalyzed formation of CaC$_6$, and highlight the potential of this RT intercalation process for practical applications such as electrode materials in Ca-ion batteries.

cond-mat.supr-con↗

arXiv2026

Surgical Robot, Path Planning, Joint Space, Riemannian Manifolds

Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during operation. Also, the surface of the abdominal cavity is non-concave, making it computationally expensive to find the desired path.In this work, to solve these problems, we propose a method for path planning in joint space by transforming the position into a Riemannian manifold. An edge cost function is defined to search for a desired path in the joint space and reduce the range of motion of the joints. We found that the organ is mostly non-concave, making it easy to find the optimal path using gradient descent method. Experimental results demonstrated that the proposed method reduces the range of joint angle movement compared to calculations in position space.

cs.RO↗

arXiv2025

One-Step Model Predictive Path Integral for Manipulator Motion Planning Using Configuration Space Distance Fields

Motion planning for robotic manipulators is a fundamental problem in robotics. Classical optimization-based methods typically rely on the gradients of signed distance fields (SDFs) to impose collision-avoidance constraints. However, these methods are susceptible to local minima and may fail when the SDF gradients vanish. Recently, Configuration Space Distance Fields (CDFs) have been introduced, which directly model distances in the robot's configuration space. Unlike workspace SDFs, CDFs are differentiable almost everywhere and thus provide reliable gradient information. On the other hand, gradient-free approaches such as Model Predictive Path Integral (MPPI) control leverage long-horizon rollouts to achieve collision avoidance. While effective, these methods are computationally expensive due to the large number of trajectory samples, repeated collision checks, and the difficulty of designing cost functions with heterogeneous physical units. In this paper, we propose a framework that integrates CDFs with MPPI to enable direct navigation in the robot's configuration space. Leveraging CDF gradients, we unify the MPPI cost in joint-space and reduce the horizon to one step, substantially cutting computation while preserving collision avoidance in practice. We demonstrate that our approach achieves nearly 100% success rates in 2D environments and consistently high success rates in challenging 7-DOF Franka manipulator simulations with complex obstacles. Furthermore, our method attains control frequencies exceeding 750 Hz, substantially outperforming both optimization-based and standard MPPI baselines. These results highlight the effectiveness and efficiency of the proposed CDF-MPPI framework for high-dimensional motion planning.

cs.RO↗

arXiv2025

orGAN: A Synthetic Data Augmentation Pipeline for Simultaneous Generation of Surgical Images and Ground Truth Labels

Deep learning in medical imaging faces obstacles: limited data diversity, ethical issues, high acquisition costs, and the need for precise annotations. Bleeding detection and localization during surgery is especially challenging due to the scarcity of high-quality datasets that reflect real surgical scenarios. We propose orGAN, a GAN-based system for generating high-fidelity, annotated surgical images of bleeding. By leveraging small "mimicking organ" datasets, synthetic models that replicate tissue properties and bleeding, our approach reduces ethical concerns and data-collection costs. orGAN builds on StyleGAN with Relational Positional Learning to simulate bleeding events realistically and mark bleeding coordinates. A LaMa-based inpainting module then restores clean, pre-bleed visuals, enabling precise pixel-level annotations. In evaluations, a balanced dataset of orGAN and mimicking-organ images achieved 90% detection accuracy in surgical settings and up to 99% frame-level accuracy. While our development data lack diverse organ morphologies and contain intraoperative artifacts, orGAN markedly advances ethical, efficient, and cost-effective creation of realistic annotated bleeding datasets, supporting broader integration of AI in surgical practice.

eess.IV↗

arXiv2025

Rapid and Scalable Synthesis of Alkali Metal-Intercalated C$_{60}$ Superconductors

Alkali metal-intercalated C$_{60}$, $A_3$$C_{60}$ ($A$ = K, Rb, Cs, and their combinations), holds significant potential for practical applications due to its high superconducting transition temperature (33 K), high upper critical field (900 kOe), and isotropic superconductivity. However, application-oriented research has been limited by the lack of an efficient $A_3$$C_{60}$ synthesis process. In this study, we demonstrate a rapid and scalable synthesis of $A_3$$C_{60}$ ($A$ = K, Rb, and Cs$_{1/3}$Rb$_{2/3}$) via direct mixing of $A$ and C$_{60}$, realizing the fabrication of high-quality sintered $A_3$$C_{60}$ pellets within just 1 hour of heating at 200-300{\deg}C. The pellets exhibited large superconducting shielding volume fractions with sharp transitions, and the relationship between the lattice constant and transition temperature was in good agreement with previous reports. This direct mixing method enables simple and rapid production of large quantities of $A_3$$C_{60}$, which is expected to accelerate research into applications such as superconducting wires and bulk magnets.

cond-mat.supr-con↗

arXiv2025

Control Pneumatic Soft Bending Actuator with Online Learning Pneumatic Physical Reservoir Computing

The intrinsic nonlinearities of soft robots present significant control but simultaneously provide them with rich computational potential. Reservoir computing (RC) has shown effectiveness in online learning systems for controlling nonlinear systems such as soft actuators. Conventional RC can be extended into physical reservoir computing (PRC) by leveraging the nonlinear dynamics of soft actuators for computation. This paper introduces a PRC-based online learning framework to control the motion of a pneumatic soft bending actuator, utilizing another pneumatic soft actuator as the PRC model. Unlike conventional designs requiring two RC models, the proposed control system employs a more compact architecture with a single RC model. Additionally, the framework enables zero-shot online learning, addressing limitations of previous PRC-based control systems reliant on offline training. Simulations and experiments validated the performance of the proposed system. Experimental results indicate that the PRC model achieved superior control performance compared to a linear model, reducing the root-mean-square error (RMSE) by an average of over 37% in bending motion control tasks. The proposed PRC-based online learning control framework provides a novel approach for harnessing physical systems' inherent nonlinearities to enhance the control of soft actuators.

cs.RO↗

arXiv2025

Nocturnal eye inspired liquid to gas phase change soft actuator with Laser-Induced-Graphene: enhanced environmental light harvesting and photothermal conversion

Robotic systems' mobility is constrained by power sources and wiring. While pneumatic actuators remain tethered to air supplies, we developed a new actuator utilizing light energy. Inspired by nocturnal animals' eyes, we designed a bilayer soft actuator incorporating Laser-Induced Graphene (LIG) on the inner surface of a silicone layer. This design maintains silicone's transparency and flexibility while achieving 54% faster response time compared to conventional actuators through enhanced photothermal conversion.

cs.RO↗

arXiv2024

S-RRT*-based Obstacle Avoidance Autonomous Motion Planner for Continuum-rigid Manipulator

Continuum robots are compact and flexible, making them suitable for use in the industries and in medical surgeries. Rapidly-exploring random trees (RRT) are a highly efficient path planning method, and its variant, S-RRT, can generate smooth feasible paths for the end-effector. By combining RRT with inverse instantaneous kinematics (IIK), complete motion planning for the continuum arm can be achieved. Due to the high degrees of freedom of continuum arms, the null space in IIK can be utilized for obstacle avoidance. In this work, we propose a novel approach that uses the S-RRT* algorithm to create paths for the continuum-rigid manipulator. By employing IIK and null space techniques, continuous joint configurations are generated that not only track the path but also enable obstacle avoidance. Simulation results demonstrate that our method effectively handles motion planning and obstacle avoidance while generating high-quality end-effector paths in complex environments. Furthermore, compared to similar IIK methods, our approach exhibits superior computation time.

cs.RO↗

arXiv2024

Control Pneumatic Soft Bending Actuator with Feedforward Hysteresis Compensation by Pneumatic Physical Reservoir Computing

The nonlinearities of soft robots bring control challenges like hysteresis but also provide them with computational capacities. This paper introduces a fuzzy pneumatic physical reservoir computing (FPRC) model for feedforward hysteresis compensation in motion tracking control of soft actuators. Our method utilizes a pneumatic bending actuator as a physical reservoir with nonlinear computing capacities to control another pneumatic bending actuator. The FPRC model employs a Takagi-Sugeno (T-S) fuzzy logic to process outputs from the physical reservoir. The proposed FPRC model shows equivalent training performance to an Echo State Network (ESN) model, whereas it exhibits better test accuracies with significantly reduced execution time. Experiments validate the FPRC model's effectiveness in controlling the bending motion of a pneumatic soft actuator with open-loop and closed-loop control system setups. The proposed FPRC model's robustness against environmental disturbances has also been experimentally verified. To the authors' knowledge, this is the first implementation of a physical system in the feedforward hysteresis compensation model for controlling soft actuators. This study is expected to advance physical reservoir computing in nonlinear control applications and extend the feedforward hysteresis compensation methods for controlling soft actuators.

cs.RO↗

arXiv2024

Accelerated Lanthanide Intercalation into Graphite Catalyzed by Na

Lanthanides ($Ln$) are notoriously difficult to intercalate into graphite. We investigated the possibility of using Na to catalyze the formation of $Ln$-intercalated graphite and successfully synthesized $Ln$C$_6$ ($Ln$ = Sm, Eu, and Yb) significantly rapidly in high yields. The synthesis process involves the formation of the reaction intermediate NaC$_x$, through the mixing of Na and C, which subsequently reacts with $Ln$ upon heating to form $Ln$C$_6$. Well-sintered $Ln$C$_6$ pellets with low residual Na concentrations ($Ln$:Na = 98:2) were fabricated by the two-step method. The pellets enabled the evaluation of $Ln$C$_6$ by powder X-ray diffraction and electrical resistivity measurements. This study highlights the versatility of the Na-catalyzed method and lays the foundation for the rapid mass production of $Ln$C$_6$, with potential applications in superconducting and rechargeable battery materials.

cond-mat.mtrl-sci↗

arXiv2024

Synthesis of $c$-axis textured CaKFe$_4$As$_4$ superconducting bulk via spark plasma texturing technique

Grain alignment is a key factor that determines the performance of a superconducting bulk. In this study, the spark plasma texturing (SPT) technique was used to fabricate a CaKFe$_4$As$_4$ superconducting bulk. X-ray diffraction and electron backscatter diffraction revealed that the $c$-axes of the CaKFe$_4$As$_4$ grains in the SPT bulk are aligned, demonstrating that the SPT technique is effective in achieving $c$-axis texture. In addition, chemical composition analysis showed that oxide impurities, which affect the grain boundary characteristics that determine the inter-grain critical current density ($J_c$), are randomly distributed in the SPT bulk. Magnetization measurements showed high $J_c$ values of the SPT bulk, reaching 127 kA cm$^{-2}$ and 26 kA cm$^{-2}$ at 4.2 K under a self-field and magnetic field of 5 T, respectively. These results suggest that the SPT technique is a promising approach for obtaining a high-performance superconducting bulk material for high-field applications.

cond-mat.supr-con↗

arXiv2024

Synthesis of CaKFe$_4$As$_4$ bulk samples with high critical current density using a spark plasma sintering technique

A high density CaKFe$_4$As$_4$ bulk sample was successfully synthesized using a spark plasma sintering (SPS) technique. The density of the synthesized sample was 5.02 g cm$^{-3}$, corresponding to 96.2% of the theoretical density of CaKFe$_4$As$_4$. Moreover, a reasonably high Vickers hardness of 1 GPa was measured. The electrical resistivity of the SPS bulk sample was as low as approximately 600 $μΩ$ cm at 300 K, which is smaller than that of the ordinary sintered polycrystalline sample by nearly one order of magnitude, and exhibited a sharp superconducting transition, with the transition width $Δ\textit{T}_c$ less than 2 K, indicating an improved grain connectivity. The critical current density of the SPS bulk sample, as calculated from the magnetization hysteresis loops (magnetic $\textit{J}_c$), reached 18 kA cm$^{-2}$ at 4.2 K under 5 T, which is the highest among the iron-based superconductor polycrystalline samples reported thus far.

cond-mat.supr-con↗

arXiv2023

Trajectory Tracking Control of Dual-PAM Soft Actuator with Hysteresis Compensator

Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this challenge, we propose an adaptive control method to compensate for the hysteresis of soft actuators. Employing a novel dual pneumatic artificial muscle (PAM) bending actuator, the innovative control approach abates hysteresis effects by dynamically modulating gains within a traditional PID controller corresponding to the predicted variation of the reference trajectory. Through experimental evaluation, we found that the proposed control method outperforms its conventional counterparts regarding tracking accuracy and response speed. Our work reveals a new direction for advancing model-free control in soft actuators.

cs.RO↗

arXiv2023

Two Degree of Freedom Adaptive Control for Hysteresis Compensation of Pneumatic Continuum Bending Actuator

Soft robotics, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial muscles (PAMs) and pneumatic bending actuators have been fundamental in driving this evolution, capitalizing on their mimetic nature to natural muscle movements. However, with the versatility of these actuators comes the intricate challenge of hysteresis - a nonlinear phenomenon that hampers precise positioning, especially pronounced in pneumatic actuators due to gas compressibility. In this study, we introduce a novel 2-DoF adaptive control for precise bending tracking using a pneumatic continuum actuator. Notably, our control method integrates adaptability into both the feedback and the feedforward element, enhancing trajectory tracking in the presence of profound nonlinear effects. Comparative analysis with existing approaches underscores the superior tracking accuracy of our proposed strategy. This work discusses a new way of simple yet effective control designs for soft actuators with hysteresis properties.

cs.RO↗

arXiv2023

Na-catalyzed rapid synthesis and characterization of intercalated graphite CaC6

In this study, we conducted experiments on CaC6 for elucidating the Na-catalyzed formation mechanism and achieving rapid mass synthesis of graphite intercalation compounds (GICs). Rapidly synthesized CaC6 was characterized by analysis of its crystal structure and physical properties. We found that the formation of the reaction intermediate Na-GIC (NaCx, x = 64) requires a larger amount of Na than is intercalated between the graphite interlayers. The requirement for excess Na may provide insights into the mechanism of Na-catalyzed GIC formation. A Na-to-C molar mixing ratio of 1.5-2.0:6 was suitable for the efficient formation of CaC6 under heat treatment at 250°C for 2 h, and the catalytic Na remaining in the sample was demonstrably reduced to a Na:Ca ratio of approximately 3:97. The upper critical field Hc2 was enhanced approximately three times compared to those of previous reports. Based on X-ray diffraction and experimental parameter analysis, we concluded that the enhancement of Hc2 was attributed to the disordered stacking sequence in CaC6, possibly because of the rapid and low-temperature formation. Physical properties derived from specific heat measurements were comparable to those of high-quality CaC6, which is slowly synthesized using the molten Li-Ca alloy method. This study provides new avenues for future research and exploration in the rapid mass synthesis of GICs as practical materials, for applications such as battery electrodes and superconducting wires.

cond-mat.mtrl-sci↗

arXiv2022

Hidden Structural and Superconducting Phase Induced in Antiperovskite Arsenide SrPd$_{3}$As

Enriching the material variation often contributes to the progress of materials science. We have discovered for the first time antiperovskite arsenide SrPd$_{3}$As and revealed a hidden structural and superconducting phase in Sr(Pd$_{1-x}$Pt$_{x}$)$_{3}$As. The Pd-rich samples (0 $\leq$ x $\leq$ 0.2) had the same non-centrosymmetric (NCS) tetragonal structure (a space group of $I41md$) as SrPd$_{3}$P. For the samples with 0.3 $\leq$ x $\leq$ 0.7, a centrosymmetric (CS) tetragonal structure ($P4/nmm$) identical to that of SrPt$_{3}$P was found to appear, accompanied by superconductivity at a transition temperature ($T_\mathrm{c}$) up to 3.7 K. In the samples synthesized with Pt-rich nominal compositions (0.8 $\leq$ x $\leq$ 1.0), Sr$_{2}$(Pd,Pt)$_{8-y}$As$_{1+y}$ with an intergrowth structure (CS-orthorhombic with Cmcm) was crystallized. The phase diagram obtained for Sr(Pd,Pt)$_{3}$As was analogous to that of (Ca,Sr)Pd$_{3}$P in that superconductivity ($T_\mathrm{c}$ $\geq$ 2 K) occurred in the CS phases induced by substitutions to the NCS phases. This study indicates the potential for further material variation expansion and the importance of elemental substitutions to reveal hidden phases in related antiperovskites.

cond-mat.supr-con↗

arXiv2022

High-pressure synthesis and superconductivity of the novel Laves phase BaIr2

Superconductors comprising 5d transition metals of Ir and Pt have been widely explored because they have the potential of unique superconductivity caused by the strong spin-orbit interaction (SOI). We successfully synthesized BaIr2, the last Laves phase remaining unsynthesized in the MgCu2-type AM2 (A = Ca, Sr, Ba; M = Rh, Pd, Ir, Pt). BaIr2 was crystallized at 925 C under a pressure of 3.3 GPa via a solid-state reaction between Ba and Ir powders; it was found to have the longest a-lattice constant of 8.038(1) A among AM2. BaIr2 exhibited bulk superconductivity at a transition temperature (Tc) of 2.7 K. BaIr2 was found to have a type-II superconductor with an upper critical field of 67.7 kOe, which was above the Pauli paramagnetic limit (50 kOe). The electron-phonon coupling constant and normalized specific heat jump were measured to be 0.63 and 1.2, respectively, indicating that BaIr2 is a weak-coupling superconductor. The electronic-structure calculations for BaIr2 revealed that the Ir-5d states are dominant at the Fermi energy (EF) and the density of states at the EF is strongly affected by SOI as in the case of CaIr2 and SrIr2.

cond-mat.supr-con↗

arXiv2021

Posttreatment Effects on the Crystal Structure and Superconductivity of Ca-Free Double-Layered Cuprate Sr$_2$SrCu$_2$O$_{4+y}$F$_{2-y}$

We report the effects of low-temperature postannealing on the structural and superconducting properties of the recently discovered Ca-free double-layered cuprate, Sr$_2$SrCu$_2$O$_{4+y}$F$_{2-y}$. Although the as-synthesized sample prepared under high pressure has a tetragonal structure with a rock-salt-type blocking layer (the so-called $T$-phase), we found that the symmetry of the structure lowered to that of an orthorhombic system when annealed with CuF$_2$. The structural refinements reveal that such a topochemical reaction leads not only to the removal of excess O$^{2-}$ from the apical site but also to the intercalation of extra F$^-$ into the interstitial site. The orthorhombic phase exhibits bulk superconductivity at a critical temperature of 107 K, which is significantly higher than that of the $T$-phase ($\sim$50 K). Meanwhile, the $T$-phase turns into another structure possessing a fluorite-type blocking layer without apical fluorine (known as the $T^\prime$-phase) by annealing without CuF$_2$. Density functional theory calculations show that the $T^\prime$-phase is more stable than the $T$-phase. This is the first report on the formation of a $T^\prime$-type double-layered cuprate. Furthermore, the structural stability of the three phases of Sr$_2$SrCu$_2$O$_{4+y}$F$_{2-y}$ is discussed in terms of lattice matching between the blocking and conducting layers.

cond-mat.supr-con↗