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．     

Hinokitiol induces differentiation of teratocarcinoma F9 cells

Hinokitiol, a constituent of the wood of Chamaecyparis taiwanensis, was found to induce differentiation of teratocarcinoma F9 cells. When examined by the agar-overlay method, in which expression of plasminogen activator as a differentiation marker protein was detected, this compound exhibited a dose- and time-dependent induction. Induction of differentiation by hinokitiol occurred irreversibly and required its addition for more than 12h. Among its structure-related compounds tested, tropolone and two colchicine-related compounds exerted potent activities comparable to that of hinokitiol. These findings indicate that free tropolone structure in the molecules plays an essential role in inducing differentiation of F9 cells. Hinokitiol showed a strong inhibitory effect of DNA synthesis in very early stages of culture, suggesting that this effect may be responsible for triggering differentiation of F9 cells.     

Preparation of pyrochlores. A1−xHxTaO3·nH2O (A=Na,K)

Pyrochlores of A_1?xH_xTaO₃·nH₂O (A=Na,K) were prepared under the hydrothermal conditions. The values of x for these compounds were increased from 0.3 to 0.5 for A=Na and from 0.2 to 0.5 for A=K by treatment with the distilled water. The compounds with x<0.5 were decomposed to a mixture of NaTaO₃ and Na₂Ta₄O₁₁ for A=Na, or to a mixture of KTaO₃ and a tetragonal tungsten bronze phase, and those with x=0.5 to a single phase of A₂Ta₄O₁₁ at elevated temperatures. Below the decomposition temperatures, defect pyrochlores with oxygen vacancies, $\text{A}{}_{\mathrm{<mtext>1?</mtext><mtext>x</mtext>}}\text{TaO}{}_{\mathrm{<mtext>3?</mtext><mtext>x</mtext><mtext>2</mtext>}}$, were produced. They were hygroscopic, and in the case of A=K and x=0.5 the original phase was recovered by leaving in air for several hours.     

Study on axiomatic rules for building up relationships between requirement and source programs

The purpose of our study is to build up relationships between requirement and source programs with our originally thought-out rules. When other rules to be derived from these original rules are applied to software development, even a single instruction in a programming language could be determined, and the program would satisfy the requirement. More specifically speaking, these rules will turn into a formula or a prototype of software programs. Hence, when the variables in the requirement are placed in the formula, we can get a required program in an automatic way.     

Detailed Measurements of Nuclear Spin Polarizations in a Single InAlAs Quantum Dot Through Overhauser Shift of Photoluminescence

We investigated optical pumping of nuclear spin polarizations in a single self-assembled In_0.75Al_0.25As/Al_0.3Ga_0.7As quantum dot. The nuclear spin polarization exhibits the abrupt jump and hysteresis in the excitation power dependence at a particular excitation polarization. Measurement of circular polarization rate of the photoluminescence reveals that the abrupt change of the nuclear spin polarization is created mainly by the spin flip-flop process between nuclei and an electron of a positive charged exciton in this single quantum dot. Model calculation explains well the experimentally observed bistable behavior in InAlAs quantum dot. By using this abrupt change, the sign and magnitude of electron and hole g-factors in z-direction are verified.      

Resonant-tunnelling hot-electron transistor (RHET) using a GaInAs/(AlGa)InAs heterostructure

A common-emitter current gain of 10 has been measured at 77 K for a 100 nm-base resonant-tunnelling hot-electron transistor (RHET) using a GaInAs/(AlGa)InAs heterostructure. The current gain for 25 nm-base RHETs has reached 25, which is the highest value yet reported for hot-electron transistors, and the collector current peak-to-valley ratio has reached 15.0 for the same device.     

Robust stabilization of a magnetic suspension system using H∞ Control Theory

This paper presents the robust control design of a magnetic suspension system for a flexible beam which is a simplified model of an elastic rotor in a magnetic bearing system. To stabilize this magnetic suspension system which is unstable in nature, the H^infin; control theory is applied for a design of the control system. To apply the H^infin; control theory, a statespace model of an augmented plant with frequency-weighting functions is constructed. This augmented plant has two inputs which are the exogenous inputs and the control inputs, and two outputs which are the sensor outputs and the regulated outputs. Here we consider the mixed sensitivity problem. The H^infin; controller is implemented by a digital controller which is able to execute the computations very quickly. For the evaluation of the control performance, several experiments are made. The robustness of the closed-loop system is confirmed by the experimental results. The result of this study is useful for the control design of a magnetic bearing system.     

Design of electrofusion joints and evaluation of fusion strength using fusion simulation technology

Fusion simulation is one of the key techniques in designing and producing electrofusion (EF) joints for gas distribution and in evaluating fusion joint integrity. This paper describes the result of a numerical simulation of a thermal fusion process, using the finite element method. A nonlinear heat transfer computer program was used to obtain the temperature profile of a large electrofusion joint at fusion. The effects of applied voltage, heating time, wire pitch, and ambient temperature were examined for designing a 150-mm EF joint. A method to shorten the cooling time was also investigated. The fusion condition range suitable for a 150-mm EF joint was found to be slightly narrower than that suitable for a 50-mm EF joint. Examination of the effect of wire pitch revealed that if the pitch is extremely large, thermal degradation starts in the resin close to the wire before the fusion-interface strength reaches the maximum value. We have developed a program to simulate the process of closing the gap between the pipe and the joint due to resin expansion and melting after the power is supplied.     

Hydrothermal upgrading of wood biomass: Influence of the addition of K2CO3 and cellulose/lignin ratio

The hydrothermal treatment of two different wood biomass samples such as cherry (hard wood) and cypress (soft wood), whose composition is different i.e. lignin, cellulose and hemicellulose were performed at 280 °C for 15 min with aq. K₂CO₃ with different concentrations (0–1 M). The soft wood biomass contains higher lignin content than hard wood biomass. The cellulose rich cherry wood biomass produced higher proportion of acetic acid than cypress. The lignin rich cypress produced the hydrocarbons with major portion of phenolic hydrocarbons and derivatives than cherry. The total oil yields from both cherry and cypress wood biomass produced 50 wt% of liquid hydrocarbons at 280 °C for 15 min with 0.5 M K₂CO₃ solution. The volatility distribution of liquid hydrocarbons showed the characteristic features of soft and hard wood biomasses.