遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

Fracture toughness evaluation of adjacent flow weld line in polystyrene by the SENB method

Fracture toughness of adjacent flow weld lines, defined as weld lines that occur when two flow fronts meet and continue to flow together in the same direction (meld line or hot weld line), was evaluated by the single‐edge notched‐bend (SENB) method using three differently‐shaped obstructive pins. Although the fracture toughness varied depending upon the shapes of the pin, the values could be standardized as the distance from the meeting point of the two flow fronts flowing around the pin. The fracture toughness decreased drastically from the meeting point along the weld line and then slightly increased. These characteristic features could be explained by flow‐induced molecular orientation at the weld line interface. The molecules around the meeting point that were initially oriented parallel to the weld line due to fountain flow were able to relax, and then entanglement across the weld line interface developed because the flow stopped in the middle of the filling process, resulting in high fracture toughness. In contrast, the material at the downstream side of the weld line continued flowing during the filling process, being stretched along the flow direction. So, the molecular orientation at this area could not relax. In addition, the V‐notch shape, i.e., the depth and length at the surface of the weld line, which also varied depending on the shape of the obstacles, was considered to be identical when the meeting point was allowed to be a datum point. Thus, the meeting point was found to be a significant factor when the properties of weld lines are investigated. POLYM. ENG. SCI., 45:1059–1066, 2005. © 2005 Society of Plastics Engineers     

Magnetic resonance imaging study on the results of surgery for cervical compression myelopathy

The morphologic changes and signal intensity of the spinal cord on preoperative magnetic resonance images were correlated with postoperative outcomes in 74 patients undergoing decompressive cervical surgery for compressive myelopathy. The transverse area of the spinal cord on T1-weighted images at the level of maximum compression was closely correlated with the severity of myelopathy, duration of disease, and recovery rate as determined by the Japanese Orthopaedic Association score. In patients with ossification of the posterior longitudinal ligament or cervical spondylotic myelopathy, the increased intramedullary T2-weighted magnetic resonance imaging signal at the site of maximal cord compression and duration of disease significantly influenced the rate of recovery. A multiple regression equation was then developed with these three variables to predict surgical outcomes.     

A novel brain-derived member of the epidermal growth factor family that interacts with ErbB3 and ErbB4

The availability of an analgesic compound devoid of the side effects associated with the commonly used opioid and nonsteroidal antiinflammatory drugs would be useful during the perioperative period. Although adenosine has analgesic and anesthetic-sparing properties, it also produces dose-dependent cardiovascular depression. Inhibitors of adenosine kinase may be able to provide analgesia without producing acute cardiovascular or respiratory depression. This preliminary study investigated the effects of a novel adenosine kinase-inhibiting drug, GP683, on the minimum alveolar anesthetic concentration (MAC) of desflurane in dogs. Seven mongrel dogs were administered one of three different GP683 dose regimens (or the solvent) by intravenous infusion on separate occasions according to a cross-over study design. After determining the baseline desflurane MAC value, GP683 was infused at 75, 150, or 300 microg x kg(-1) x min(-1) for 5 min as a loading dose, followed by 15, 30, or 60 microg x kg(-1) x min(-1) for an additional 85 min to maintain a stable plasma drug level. The desflurane MAC was redetermined 30-90 min after starting the study drug or vehicle infusion, and 30-90 min and 120-180 min after termination of the infusion. Cardiovascular variables and plasma concentrations of GP683 were determined at specific intervals before, during, and after the MAC determinations. The three GP683 dose regimens produced 22%, 31%, and 50% decreases in the desflurane MAC, respectively. In addition, there was good correlation between the decrease in desflurane MAC and the plasma GP683 concentration (r = -0.78). Although the mean arterial pressure (MAP) was decreased up to 25% by the highest infusion rate of GP683, adjustments in the desflurane concentration to an equi-MAC value resulted in normalization of the MAP values. Furthermore, GP683 produced no changes in heart rate. In conclusion, the adenosine kinase-inhibiting drug, GP683, produced dose-dependent decreases in the desflurane MAC of dogs without producing untoward hemodynamic changes. IMPLICATIONS: An investigational drug (GP683) that can increase the levels of an important endogenous substance in the body (adenosine) has been found to decrease the anesthetic requirement in dogs without producing adverse effects on the cardiovascular system.     

Multiple coronary artery aneurysm

Co-Cinobufotalin Oral Liquor (CCOL) was studied for its ability to inhibit hepatitis B virus DNA replication, HBsAg and HBeAg expression in a HBV-transfected cell line (2.2.15 cell). The result showed that ID50 (the drug concentration that inhibits HBsAg or HBeAg secretion by 50%) was 0.08 mg/ml and 0.07 mg/ml on HBsAg and HBeAg respectively. CD50 (the drug concentration that reduces cell growth by 50%) was 2.5 mg/ml. TI (therapeutic index) was 31.3 and 35.7 respectively. The present data suggest that CCOL could exert a potent antiviral activity against HBV in vitro. Southern blot showed that CCOL inhibited HBV-DNA repication in a dose-dependent manner.     

Metabolism of tetramethrin isomers in rat: II. Identification and quantitation of metabolites

1. To examine the metabolic fate of (1RS, trans)- or (1RS, cis)-tetramethrin [3, 4, 5, 6-tetrahydrophthalimidomethyl (1RS, trans)- or (1RS, cis)-chrysanthemate], rat was administered a single oral dose of trans- or cis-[alcohol-14C]tetramethrin at dose levels of 2 or 250 mg/kg. 2. The radiocarbon was almost completely eliminated from rat within 7 days after administration in all groups. 14C-recoveries (expressed as percentages relative to the dosed 14C) in faeces and urine were 38-58 and 42-58% respectively in rat administrated trans-[alcohol-14C]tetramethrin, and in faeces and urine were 66-91 and 9-31% respectively in rat administered cis-[alcohol-14C]tetramethrin. 3. Fourteen metabolites found in excreta were purified by using several chromatographic techniques and identified by spectroanalyses (nmr and MS). Five sulphonate derivatives and three dicarboxylic acid derivatives were found. 4. The main metabolites were sulphonate derivatives in the faeces, and in the urine, alcohols, dicarboxylic acid and reduced metabolites derived from the 3,4,5,6-tetrahydrophthalimide moiety.     

DETERMINATION OF PALAEOSTRESSES FROM MESOSCALE SHEAR FRACTURES IN CORE SAMPLES USING THE MULTI-INVERSE METHOD

Palaeostress reconstruction is the key to quantitative characterization of fractured hydrocarbon reservoirs. In order to calculate the palaeostresses responsible for fault activity, faults in oriented core samples can be analysed and the optimal stresses can then be determined from fault-slip data in a least-squares sense. Many fractured reservoir rocks, however, include faults generated during a number of different tectonic phases. In these cases, the optimal stresses can be determined for subgroups of faults which are considered to be of approximately the same age. The difficulty with this is that criteria for accurate age-dating are often absent, especially from core samples.
Recently, the so-called "multi-inverse" method has been proposed to address this problem. This is a numerical technique for separating palaeostresses within a heterogeneous fault assemblage in the absence of a priori information on the faults'relative ages. In this paper, we apply the method to eighteen faults in two short (9m) cores from an exploration well in Hokkaido, northern Japan. The cores came from a fractured hydrocarbon reservoir and were oriented by correlation with borehole images. Core lithologies included massive Cretaceous basalts in which there was no layering which would show fault offsets; for these samples, we determined the sense of shear by studying asymmetric microstructures on the fault surfaces. The results show that the rocks have experienced six different stress regimes. In general, these are compatible with the tectonic history of the study area as inferred from the regional stratigraphy and from macroscale geological structures.
These results show that the multi-inverse method can be used to extract palaeostress data from cores, thereby providing information which will assist with the exploration of (and production from) fractured hydrocarbon reservoirs.     

New fault locating system for air-insulated substations usingoptical current detector

The authors present the basic philosophy, construction, design features, and test results of a new fault locating system. This fault locating system helps to shorten the time required for restoration of service after the occurrence of a busbar fault in an air-insulated distribution substation. Recent optical and electronic technologies allow the design of a highly accurate and compact fault locating system which consists of optical current detectors using the Faraday effect and a fault locating processor using a digital data processing technique. The fault location is carried out by discriminating between the directions of zero-sequence currents. Through various tests and field operations, it has been confirmed that the system has sufficient performance for practical applications     

Hot carrier magnetophonon spectroscopy of semiconductors in high magnetic fields up to 40 T

Hot carrier magnetophonon resonances of n-type Si, short channel InP and p-type InSb were investigated in pulsed high magnetic fields up to 40 T. Using a recently developed high resolution technique in pulsed high fields, many new features of the hot carrier-phonon interactions in high magnetic fields were found.