Proposal of a shape adaptive gripper for robotic assembly tasks

This paper proposes a novel robotic gripper used for assembly tasks that can adaptively grasp objects with different shapes. The proposed hand has a combined structure between two kinds of shape adaptive mechanisms where one is the granular jamming and the other is a multi-finger mechanism driven by a single wire. Due to the effect of the two shape adaptive mechanisms, the pose of a grasped object does not change during an assembly operation. The proposed hand has four fingers where two are the active ones and the other two are the passive ones. The pose of the grasped object can be uniquely determined since the passive fingers are used to orient an object placed on a table before the active fingers are closed to grasp it. Assembly experiments of some kinds of parts are shown to validate the effectiveness of our proposed gripper.     

基于μpd78F9222的无刷电机控制系统的实现

采用NEC微处理器μpd78F9222作为主控芯片,设计了具有价格和功能优势的无刷电机控制系统,可以应用于电动自行车的电机控制系统.该系统可替代目前大多采用的专用集成电路的设计方案,具有控制的实时性强、稳定性好,电路简单、性价比高等特点,目前已进入试生产阶段,具有良好市场前景.     

A novel decomposition technique of friable asbestos by CHClF2-decomposed acidic gas

Asbestos was widely used in numerous materials and building products due to their desirable properties. It is, however, well known that asbestos inhalation causes health damage and its inexpensive decomposition technique is necessary to be developed for pollution prevention. We report here an innovative decomposition technique of friable asbestos by acidic gas (HF and HCl) generated from the decomposition of CHClF(2) by the reaction with superheated steam at 800 degrees C. Chrysotile-asbestos fibers were completely decomposed to sellaite and magnesium silicofluoride hexahydrate by the reaction with CHClF(2)-decomposed acidic gas at 150 degrees C for 30 min. At high temperatures beyond 400 degrees C, sellaite and hematite were detected in the decomposed product. In addition, crocidolite containing wastes and amosite containing wastes were decomposed at 500 degrees C and 600 degrees C for 30 min, respectively, by CHClF(2)-decomposed acidic gas. The observation of the reaction products by phase-contrast microscopy (PCM) and scanning electron microscopy (SEM) confirmed that the resulting products did not contain any asbestos.     

用电子束辐照法在模具表面制备陶瓷/金属复合层

Surface modifications,which result in formation of a hard layer such as CrN,TiN,TiCN etc. on tool surfaces,have been widely utilized in machining tools. How ever,the hard layer has clear interface with the matrix,thereby the delamination between the hard layer and matrix often occurs because of a mismatch of the thermal expansion coefficients. A composite layer with complicated interfaces between hard material and matrix is desired to avoid such a delamination due to a complicated interface existed between workpiece and coating materials. In this study,the formation of ceramic- metal composite layers on the surfaces of die steels by an electron beam( EB) irradiation technique has been investigated. When WC- Co powder was embrocated onto the substrate surfaces,a composite layer of WC- Co and matrix was formed through solidification after the irradiation-induced melting. The composite layer shows a marble- like texture with WC- rich regions. The hardness of the layer reaches up to 1000 HV. For other ceramic pow ders such as TiN and SiC,only small amount of particles has been incorporated into the composite layer,resulting in a relatively low hardness enhancement after the EB irradiation.     

Atypical familial Mediterranean fever developed in a long‐term hemodialysis patient

Familial Mediterranean Fever (FMF) is usually an autosomal recessive autoinflammatory disease characterized by recurrent attacks of fever and serositis. FMF develops before the age of 20 years in 90% of patients. It has intervals of 1 week to several years between attacks, which leads to renal dysfunction—amyloidosis. We report a case of atypical FMF that developed in a long‐term hemodialysis patient. A 65‐year‐old Japanese female undergoing hemodialysis for 32 years was referred to our hospital with a fever of unknown origin (FUO) following cervical laminoplasty. The fever occurred as recurrent attacks accompanied by oligoarthralgia of the left hip and knee. We suspected FMF because of recurrent self‐limited febrile attacks, although the patient showed atypical clinical features such as late‐onset and highly frequent attacks. After receiving treatment, she achieved a complete response to colchicine. Therefore, a diagnosis of FMF was made based on the Tel‐Hashomer criteria, which was confirmed by genetic testing. The case suggests that FMF may be of note in long‐term hemodialysis patients developing FUO.     

Cycle analysis of low and high H2 utilization SOFC/gas turbine combined cycle for CO2 recovery

A major factor in global warming is CO₂ emission from thermal power plants, which burn fossil fuels. One technology proposed to prevent global warming is CO₂ recovery from combustion flue gas and the sequestration of CO₂ underground or near the ocean bed. Solid oxide fuel cell (SOFC) can produce highly concentrated CO₂, because the reformed fuel gas reacts with oxygen electrochemically without being mixed with air in the SOFC. We therefore propose to operate multi-staged SOFCs with high utilization of reformed fuel to obtain highly concentrated CO₂. In this study, we estimated the performance of multi-staged SOFCs considering H₂ diffusion and the combined cycle efficiency of a multi-staged SOFC/gas turbine/CO₂ recovery power plant. The power generation efficiency of our CO₂ recovery combined cycle is 68.5%, whereas the efficiency of a conventional SOFC/GT cycle with the CO₂ recovery amine process is 57.8%.     

Suppression of inhomogeneous segregation in graphene growth on epitaxial metal films

Large-scale uniform graphene growth was achieved by suppressing inhomogeneous carbon segregation using a single domain Ru film epitaxially grown on a sapphire substrate. An investigation of how the metal thickness affected growth and a comparative study on metals with different crystal structures have revealed that locally enhanced carbon segregation at stacking domain boundaries of metal is the origin of inhomogeneous graphene growth. Single domain Ru film has no stacking domain boundary, and the graphene growth on it is mainly caused not by segregation but by a surface catalytic reaction. Suppression of local segregation is essential for uniform graphene growth on epitaxial metal films.     

Hydrothermal fractional pretreatment of sea algae and its enhanced enzymatic hydrolysis

BACKGROUND: Sea algae cellulose has been little utilized because the cellulose content in sea algae is low. For the effective utilization of sea algae cellulose, cellulose must be converted without drying into valuable material with a high rate and yield. From this viewpoint, effects of hydrothermal pretreatments of sea algae to enhance the glucose production by enzymatic hydrolysis of sea algae cellulose were investigated. RESULTS: Using hydrothermal pretreatment performed at 423 K for Monostroma nitidum Wittrock (green alga) and at 473 K for Solieria pacifica (red alga) for 30 min, yields of extracted water‐soluble components containing monosaccharides were 0.51 g g^?1 for the green alga and 0.62 g g^?1 for the red alga. The apparent rate of glucose production from hydrothermally pretreated green alga by enzymatic hydrolysis was > 10 times faster than that of the non‐pretreated sample. Yields of glucose from cellulose by enzymatic hydrolysis were 79.9% for the green alga and 87.8% for the red alga. CONCLUSION: Cellulose of sea algae was successfully fractionated by hydrothermal pretreatments, which resulted in high susceptibility of sea algae cellulose to enzyme attack. This process leads to the effective utilization of sea algae cellulose. Copyright © 2008 Society of Chemical Industry     

Proliferative potential of recurrent intracranial meningiomas as evaluated by labelling indices of BUdR and Ki-67, and tumour doubling time

BACKGROUND: Saphenous vein harvested with a traditional longitudinal technique often results in leg wound complications. An alternative endoscopic harvest technique may decrease these complications. METHODS: One hundred twelve patients scheduled for elective coronary artery bypass grafting were prospectively randomized to have vein harvested using either an endoscopic (group A, n = 54) or traditional technique (group B, n = 58). Groups A and B, respectively, were similar with regard to length of vein harvested (41 +/- 8 cm versus 40 +/- 14 cm), bypasses done (4.1 +/- 1.1 versus 4.2 +/- 1.4), age, preoperative risk stratification, and risks for wound complication (diabetes, sex, obesity, preoperative anemia, hypoalbuminemia, and peripheral vascular disease). RESULTS: Leg wound complications were significantly (p < or = 0.02) reduced in group A (4% [2 of 51] versus 19% [11 of 58]). Univariate analysis identified traditional incision (p < or = 0.02) and diabetes (p < or = 0.05) as wound complication risk factors. Multiple logistic regression analysis identified only the traditional harvest technique as a risk factor for leg wound complications with no significant interaction between harvest technique and any preoperative risk factor (p < or = 0.03). Harvest rate (0.9 +/- 0.4 cm/min versus 1.2 +/- 0.5 cm/min) was slower for group A (p < or = 0.02) and conversion from endoscopic to a traditional harvest occurred in 5.6% (3 of 54) of patients. CONCLUSIONS: In a prospective, randomized trial, saphenous vein harvested endoscopically was associated with fewer wound complications than the traditional longitudinal method.