Uncurrying for Termination and Complexity

First-order applicative rewrite systems provide a natural framework for modeling higher-order aspects. In this article we present a transformation from untyped applicative term rewrite systems to functional term rewrite systems that preserves and reflects termination. Our transformation is less restrictive than other approaches. In particular, head variables in right-hand sides of rewrite rules can be handled. To further increase the applicability of our transformation, we study the method for innermost rewriting and derivational complexity, and present a version for dependency pairs.     

An expression of system connection considering transmission delay

This paper presents an expression of system connection considering transmission delay. In a research field of decentralized system or information system, the expression method of the system connection is a very important issue. Therefore, several expression methods of system connection have been proposed so far. However, those expressions are mainly based on binary operations without consideration for the transmission delays on connection paths although the concept of time is very important for expression of system connection. In this paper, expression methods of system connection considering transmission delays on the paths are proposed. Those expressions are based on exponential‐type expression and can express both connections and transmission delays. Furthermore, the expression that can express connections, transmission delays, and past subsystems is also proposed. As one example of the application of proposed expressions, application for path selection of the design of network‐based control system is described. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 170(1): 45–54, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20839     

Niobium-based catalysts prepared by reactive radio-frequency magnetron sputtering and arc plasma methods as non-noble metal cathode catalysts for polymer electrolyte fuel cells

Two vacuum methods, reactive radio-frequency (RF) magnetron sputtering and arc plasma deposition, were used to prepare niobium-based catalysts for an oxygen reduction reaction (ORR) as non-noble metal cathodes for polymer electrode fuel cells (PEFCs). Thin films with various N and O contents, denoted as NbO_x and Nb-O-N, were prepared on glassy carbon plates by RF magnetron sputtering with controlled partial pressures of oxygen and nitrogen. Electrochemical measurements indicated that the introduction of the nitrogen species into the thin film resulted in improved ORR activity compared to the oxide-only film. Using an arc plasma method, niobium was deposited on highly oriented pyrolytic graphite (HOPG) substrates, and the sub-nanoscale surface morphology of the deposited particles was investigated using scanning tunneling microscopy (STM). To prepare practical cathode catalysts, niobium was deposited on carbon black (CB) powders by arc plasma method. STM and transmission electron microscopy observations of samples on HOPG and CB indicated that the prepared catalysts were highly dispersed at the atomic level. The onset potential of oxygen reduction on Nb-O-N/CB was 0.86 V vs. a reversible hydrogen electrode, and the apparent current density was drastically improved by the introduction of nitrogen.     

Characterization and antioxidative activities of rare C(50) carotenoids-sarcinaxanthin, sarcinaxanthin monoglucoside, and sarcinaxanthin diglucoside-obtained from Micrococcus yunnanensis

While screening for antioxidative carotenoids from marine bacteria, we isolated and identified sarcinaxanthin and its glucosylated compounds (sarcinaxanthin monoglucoside and sarcinaxanthin diglucoside) from a moderately halophilic bacterium-Micrococcus yunnanensis strain AOY-1. In the singlet oxygen ((1O?) quenching model, the IC(50) values of the antioxidative activities of these carotenoids were as follows: sarcinaxanthin , 57 μM; sarcinaxanthin monoglucoside, 54 μM; and sarcinaxanthin diglucoside, 74 μM. In addition, the complete proton nuclear magnetic resonance (1H NMR) assignments of sarcinaxanthin monoglucoside pentaacetate and sarcinaxanthin diglucoside octaacetate, and fast atom bombardment mass spectrometry/mass spectrometry (FAB-MS/MS) analyses of sarcinaxanthin and sarcinaxanthin monoglucoside are reported for the first time.     

Effect of material anisotropy on the self-positioning of nanostructures

An experimental and numerical investigation of the effect of material anisotropy on the self-positioning of epitaxial nanostructures has been performed. The self-positioning occurs due to a lattice mismatch between two epitaxial material layers (GaAs and In(0.2)Ga(0.8)As) of a hinge. Both materials have cubic crystal symmetry and possess anisotropic mechanical properties. The dependence of the hinge curvature radius on the material orientation angle was obtained experimentally by creating self-positioning hinges with different angles between the hinge axis and material crystallographic axes. The same self-positioning structures were modelled by solving geometrically nonlinear problems with the help of the finite element method. Experimental and numerical values of the hinge curvature radius are in qualitative agreement. It is found that material anisotropy significantly affects the shape of self-positioning structures.     

A Method for Motion Abstraction Based on Haptic Information Directionality and an Application to Haptic Motion Display System

Robots working in the human environment have been researched in the field of motion control. For the next-generation robot, human and robot interaction technologies are needed. In particular, learning and displaying of human haptic motion are important. Therefore, the authors have proposed a method for abstracting haptic motion and designed a haptic motion display system. The motion abstraction method divides a measured motion to each action from the point of force and position. Then, action modes have been defined for expressing each divided action. Action modes are expressing force directionality or position directionality. By utilizing the proposed motion abstraction method, various kinds of human motion are abstracted as action modes. The designed haptic motion display system is trying to show these various kinds of human motion. This paper defines human action modes and environmental action modes from action modes. Human action modes are expressing human action force directionality, while environmental action modes are expressing environmental position response directionality. Furthermore, the haptic motion display system is redesigned. This system is redesigned based on human action modes and environmental action modes. The validity of the proposed method is confirmed by the experimental results.     

A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

In this paper, a bipedal locomotion planning based on virtual linear inverted pendulum mode (VLIPM) is proposed. In conventional methods, the desired center of gravity (COG) position and velocity are achieved by modifying the foot placement. In this research, the desired COG position and velocity are achieved while the desired foot placement is also realized. In the proposed method, the virtual modified foot placement and trajectory planning are calculated separately. VLIPM is applied to the calculation of the virtual modified foot placement. By using virtual supporting point (VSP), the difference between the virtual modified and desired foot placements is compensated. In the result, the desired foot placement is achieved as if the foot placement is in the virtual modified foot placement. Trajectory planning is applied to LIPM with VSP and 5-D polynomial. The boundary conditions of the polynomial are set to the desired COG position and velocity. In the result, the desired COG position and velocity are also obtained. Differences of the motion by different models are compensated by matching the boundary conditions of different models. By applying different models in the calculations of the foot placement and trajectory planning, the desired robot motion is realized. The walking stability of the proposed method is equivalent to that of the conventional method. The effectiveness of the proposed method is confirmed by a simulation and an experiment.     

Robust tracking control of mechatronic arms

A robust tracking control scheme based on variable structure systems (VSS) theory is presented to cope with the uncertainties and parameter variations in mechatronic arm dynamics. A modification of VSS is used to remove its restrictions with regard to chattering and required control efforts. By blending VSS with a self-organizing controller (SOC), a sliding mode self-organizing controller (SLIMSOC)scheme has been developed. In this scheme, both control actions and performance evaluation are executed using the distance from the desired sliding surface and rate of approach to it. Comparisons are drawn and it is shown that the inherent robustness properties of variable structure systems are retained while the undesirable chatter motion of the sliding mode is eliminated. The results are illustrated by applications of SLIMSOC on a direct drive SCARA type of robot.     

Generation of tumor necrosis factor alpha by human nasal epithelial cells and inhibition by fluticasone propionate

Accumulation of mast cells and eosinophils in the nasal epithelial layer occurs in nasal allergic reaction, However, the mechanism of accumulation of these cells has not yet been well clarified. We hypothesized that cytokines generated from the nasal epithelial cells contributed to the accumulation of these cells in the nasal epithelial layer. Recently tumor necrosis factor (TNF) was shown to promote polymorphonuclear neutrophils and eosinophils migration. And also TNF increased eosinophil binding to vascular endothelial cells. In this in vitro study we examined whether or not nasal epithelial cells can produce TNF-alpha and also whether or not glucocorticosteroid fluticasone propionate (FP) can modulate TNF-alpha production from nasal epithelial cells. Nasal epithelial cells constitutively produce TNF-alpha in accordance with the nasal epithelial cells' number and this was substantially increased in the state of nasal epithelial cell's proliferating. FP significantly reduced the level of TNF-alpha in the supernatant of cultured nasal epithelial cells for a period of 6 days. In addition, preincubation of nasal epithelial cells with FP for 6 days caused significant reduction of TNF-alpha level in the supernatant of cultured nasal epithelial cells during a further period of 6 days without FP. These data support the concept that structural cells play an active role in the control of allergic and related inflammatory processes.     

Pancreatic cancer and alcohol

The aetiology of pancreatic cancer remains unknown, as for other cancers, despite continued and exhaustive clinical and laboratory research. Further studies are needed to elucidate the pathogenesis of pancreatic cancer. Due to is anatomical location, detection of carcinoma of the pancreas is difficult in its operable stage. Of the various radiological modalities, real time ultrasonography seems to be most useful and will constitute the major diagnostic approach in the near future.