Direct digital design of computed torque controllers

Direct digital design of computed torque controllers for a robot manipulator is discussed in this article. A simple discrete-time model of the robot manipulator obtained by Euler's method is used for the design. Taking account of computation delay in the digital processor, we propose predictor-based designs of the PD and PID type controllers. The PID-type controller is designed based on a modified version of the discrete-time integral controller proposed by Mita. For both controllers, the feedback gains can be determined easily by using simple formulas. A simulation example is presented to illustrate the relevance of the proposed designs and the robustness of PID-type controller against physical parameter variations. © 1994 John Wiley & Sons, Inc.     

Catalytic decomposition of HCFC22 (CHClF2)

The catalytic decomposition of CHClF₂ was studied over various acidic metal oxides in a fixed-bed reactor. The Cr₂O₃ZrO₂ exhibited the highest activity. The presence of water vapor in the reaction system suppresses the transformation of oxides to fluorides, progresses the formation of CO₂, and it improves the catalysts life.     

A case of venous aneurysm

A 70-year-old woman was referred to our hospital with a complaint of a soft mass at the right elbow. Venography demonstrated that the mass was connected with vein. This mass was surgically removed and histologically a marked reduction of both elastic fibers and the adventitia were observed in the aneurysmal wall. Venous aneurysm (VA) is different form varicose veins by many features. It was considered that congenital fragility of the venous walls was associated with the onset of VA. We classified VA into type-I VA (cystic ectasia) and type II (fusiform ectasia).     

Human peripheral eosinophils express functional interferon-gamma receptors (IFN-gammaR)

In order to determine whether or not IFN-gammaR is associated with regulatory mechanisms on human eosinophil function, we examined the expression of functional IFN-gammaR on human peripheral eosinophils. In this study, peripheral blood eosinophils were obtained from seven normal controls and 12 patients (bronchial asthma, n = 9, and hypereosinophilic syndrome (HES), n = 3), and the purity of eosinophils was 97.11 +/- 2.31%, n = 19. We first showed that anti-IFN-gammaR alpha-chain MoAb reacted with all tested eosinophils of both normal controls and patients by flow cytometry analysis. We also showed expression of mRNA for the alpha-chain of IFN-gammaR in all purified eosinophils of six individuals. Further, to characterize IFN-gammaR on eosinophils, we did binding experiments with 125I-IFN-gamma on purified peripheral eosinophils. The linear Scatchard plot indicated a single type of high-affinity binding sites (dissociation constant (Kd) = 3.89-4.95 x 10(-10) M, numbers of binding sites = 183-233/cell, n = 3). To determine whether IFN-gammaR on eosinophils is functional, we examined surface eosinophilic cationic protein (ECP) and CD69 induction after IFN-gammaR ligation with recombinant human IFN-gamma (rhIFN-gamma) on eosinophils by flow cytometry. rhIFN-gamma stimulation significantly induced both ECP and CD69 expression on the 2-18 h-cultured eosinophils in a dose-dependent manner. Further, the effects of rhIFN-gamma stimulation were significantly blocked by both a neutralizing anti-IFN-gamma MoAb and a blocking anti-IFN-gammaR MoAb. These results suggest that human peripheral eosinophils express functional IFN-gammaR.     

Body effects on SAR distributions for microwave exposures in a realistic model of the human head.

The finite-difference time-domain (FDTD) simulations of specific absorption rate (SAR) in a human head exposed to microwaves have, to date, been carried out on models of the head only. This was because it was believed that the body effects on the average SAR of the head could be ignored at high frequencies of around 1 GHz. That opinion, however, was based on inappropriate calculation conditions and is therefore unreliable. In this paper, we have re-examined the body effects on the SAR distributions in a realistic homogeneous model of the adult head exposed to microwaves. We found that the SAR on the eye surface of the head-only model exposed to E-polarized waves was 31% smaller than that of the whole-body model at 900 MHz, and 43% larger at 1.5 GHz. For a size that can practically be considered whole-body, it is necessary to have the top of the head to the belly for 900 MHz and to the chest area for 1.5 GHz. The previously unclear body effects of H-polarized waves were assumed to be less than those of E-polarized waves, suggesting that the chest area would be sufficient for both frequencies.     

X gene and precore region mutations in the hepatitis B virus genome in persons positive for antibody to hepatitis B e antigen: comparison between asymptomatic "healthy" carriers and patients with severe chronic active hepatitis

Hepatitis B virus (HBV) carriers with antibody to hepatitis e antigen comprise asymptomatic carriers (ASCs), who have low replication levels of HBV, and patients with chronic active hepatitis (CAH), who have high levels of viral replication. To investigate whether defects in the X protein might be responsible for this difference in the level of viral replication, nucleotide sequences of X and precore gene regions in serum HBV were analyzed in 19 ASCs and 9 CAH patients. All patients had a point mutation creating a stop codon in the precore region. Seventeen ASCs (87.3%) had identical mutations consisting of 4 noncontiguous 1-bp deletions or an 8-bp deletion, both of which truncate the normal X protein, whereas no CAH patient had an X gene mutation (P < .001). Thus, deletion of the X protein might be responsible for the low levels of viral replication in ASCs.     

Clinical study of total intravenous anesthesia with droperidol, fentanyl and ketamine--effects of nicardipine, diltiazem and nifedipine on intraoperative hypertension

The purpose of the study was to explore the relationship between the exposure of adolescents in the seventh and eighth grades to cigarette advertising and their being smokers. A survey questionnaire given to 602 adolescents assessed their exposure to cigarette advertising and provided measures of their smoking behavior, demographic characteristics, and some psychosocial variables. The results indicated that exposure to cigarette advertising and having friends who smoked were predictive of current smoking status. Adolescents with high exposure to cigarette advertising were significantly more likely to be smokers, according to several measures of smoking behavior, than were those with low exposure to cigarette advertising. The findings extend previous research identifying factors that may play a role in the initiation and maintenance of smoking among adolescents.     

Successive overrelaxation method with projection for finite element solutions of nonlinear radiation cooling problems

In this paper, we consider the successive overrelaxation method with projection for obtaining the finite element solutions under the nonlinear radiation boundary conditions. In particular we establish the convergence of the successive overrelaxation method with projection. Some numerical results are also given to illustrate the usefulness.