Grain refinement and superplasticity in a magnesium alloy processed by equal-channel angular pressing

The extrusion/equal channel angular pressing (EX-ECAP) processing procedure, in which magnesium-based alloys are subjected to extrusion followed by ECAP, was applied to a Mg-7.5 pct Al-0.2 pct Zr alloy prepared by casting. Microstructural inspection showed the EX-ECAP process was effective in reducing the grain size from ∼21 μm after extrusion to an as-pressed grain size of ∼0.8 μm. It is shown through static annealing that these ultrafine grains are reasonably stable up to 473 K, but grain growth occurs at higher temperatures. Tensile specimens were cut from the billets prepared by EX-ECAP and testing showed these specimens exhibited superplasticity at relatively low temperatures with maximum elongations up to >700 pct. By processing through EX-ECAP to a higher imposed strain and thereby increasing the area fraction of high-angle boundaries, it is demonstrated that there is a potential for achieving high-strain-rate superplasticity. This article is based on a presentation made at the Symposium entitled “Phase Transformations and Deformation in Magnesium Alloys,” which occurred during the Spring TMS meeting, March 14–18, 2004, in Charlotte, NC, under the auspices of the ASM-MSCTS Phase Transformations Committee.     

Reusing Primitive and Acquired Motion Knowledge for Gait Generation of a Six-legged Robot Using Genetic Programming

There has been growing interest in motion planning problems for mobile robots. In this field, the main research is to generate a motion for a specific robot and task without previously acquired motions. However it is too wasteful not to use hard-earned acquired motions for other tasks. Here, we focus on a mechanism of reusing acquired motion knowledge and study a motion planning system able to generate and reuse motion knowledge. In this paper, we adopt a tree-based representation for expressing knowledge of motion, and propose a hierarchical knowledge for realizing a reuse mechanism. We construct a motion planning system using hierarchical knowledge as motion knowledge and using genetic programming as a learning method. We apply a proposed method for the gait generation task of a six-legged locomotion robot and show its availability with computer simulation.     

Achieving enhanced ductility in a dilute magnesium alloy through severe plastic deformation

Experiments were conducted to evaluate the utility of a new processing procedure developed for Mg-based alloys in which samples are subjected to a two-step processing route of extrusion followed by equal-channel angular pressing (designated as EX-ECAP). The experiments were conducted using a Mg-0.6 wt pct Zr alloy and, for comparison purposes, samples of pure Mg. It is shown that the potential for successfully using ECAP increases in both materials when adopting the EX-ECAP procedure. For the Mg-Zr alloy, the use of EX-ECAP produces a grain size of ∼1.4 μm when the pressing is undertaken at 573 K. By contrast, using EX-ECAP with pure Mg at 573 K produces a grain size of ∼26 μm. Tensile testing of the Mg-Zr alloy at 523 and 573 K after processing by EX-ECAP revealed the occurrence of significantly enhanced ductilities with maximum elongations of ∼300 to 400 pct.     

Evaluation of Young’s modulus of imprinted hydrogen silsesquioxane pillar after residual layer removal by reactive ion etching

Nanoimprint lithography has two basic steps. The first is the imprint step in which a mold with nanostructures on its surface is pressed into a resin film on a substrate, followed by removal of the mold. The second step is the residual layer removal by a reactive ion etching (RIE). There is no report whether the properties of the imprinted structure after RIE change or not. In this work, the authors evaluated the Young’s modulus of the imprinted pillar after residual layer removal by RIE. In this experiment, hydrogen silsesquioxane (HSQ), a type of spin-on-glass, was used as an imprint material. The residual layer was etched by RIE using CHF₃ gas. The Young’s modulus of imprinted pillar after RIE was measured via cantilever method. The Young’s modulus of HSQ pillar after RIE was twice as much as that of HSQ pillar before RIE. From the Fourier transform infrared measurement, it was founds the chemical structure of HSQ was changed by forming network structure due to heating by RIE plasma energy. These results indicate that the mechanical property of imprinted structure was changed in the residual layer removal step by using RIE.     

Stabilizing effect of the cyclodextrins additive to spray-dried particles of curcumin/polyvinylpyrrolidone on the supersaturated state of curcumin

Although curcumin is considered to have various therapeutic effects, its use as a functional food or supplement is restricted owing to its low water solubility and bioavailability. To increase the solubility of curcumin in water, the use of polyvinylpyrrolidone (PVP) and vinylpyrrolidone-vinyl acetate copolymers with a pyrrolidone skeleton was noted to be promising. In particular, the bi-component formulations of curcumin/PVP prepared through spray drying exhibited an amorphous state in powder X-ray diffraction observations and temporally increased the apparent solubility of curcumin to over 5000 times that of untreated curcumin; nevertheless, after 24 h, the solubility decreased owing to the unstable supersaturated state of curcumin. The addition of α-cyclodextrin (α-CyD) in the bi-component curcumin/PVP formulation helped maintain the supersaturated state of curcumin, whereas the addition of β- and γ-CyD led to the collapse of the supersaturated state. The addition of α-CyD can likely help inhibit the nucleation and crystal growth of curcumin, through the interaction among the solubilized units of curcumin/PVP and α-CyD.     

Autonomous Variable‐Resolution Map Building for Mobile Robots in Unknown Environments

This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omnidirectional mobile robot equipped with laser range finders. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 59–69, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22493     

Operation Assist by Vibration Suppression Control Using Impulse‐Shaped Signals for Power Assist Conveyance System

This paper presents an assist control method for a flexible parts conveyance task using a power assist conveyance system. The assist control method should be designed so as not only to suppress vibration but also to reduce the degradation of operating feel. For this purpose, multiple impulse‐shaped signals are used as feedforward signals in order to reduce the vibration of flexible parts during conveyance. In addition, the adjustment time is introduced to adjust the input timing of the impulse‐shaped signal and to suppress vibration. In order to improve the degradation of operating feel, the smaller amplitudes of the three impulse‐shaped signals are used and input repeatedly. The effectiveness of the proposed system was verified experimentally. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(2): 31–39, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22476