Trajectory control of incompletely restrained parallel-wire-suspended mechanism based on inverse dynamics

This paper discusses parallel wire mechanisms where an end-effector of the mechanism is suspended by multiple wires. The mechanisms enable not only three-dimensional (3-D) positioning but also 3-D orienting of the end-effector, unlike typical wire suspension-type mechanisms such as overhead crane. To discuss the parallel-wire-suspended mechanisms generally, two forms of basic dynamic equations are presented. Then the parallel wire mechanisms are classified into two types based on the basic equations. Dynamical properties of the two types of wire-suspended positioning mechanism are discussed. In this paper, one of the wire-suspended mechanism, incompletely restrained-type parallel wire mechanism, is mainly discussed on its inverse dynamics problem and its trajectory control problem. The inverse dynamics problem for the incompletely restrained-type mechanism plays an important role on its control problem, because the mechanism has low stiffness based on incomplete constraints on the suspended object which is governed by its dynamics. The paper proposes an antisway control method for the suspended object. In the method, the inverse dynamics calculation is used for nonlinear dynamics compensation to control the suspended object of the incompletely restrained parallel wire mechanism.     

Pulmonary vascular disease and operative indications in complete atrioventricular canal defect in early infancy

Pulmonary vascular disease was morphometrically analyzed in 67 patients (mean age, 19 months) with isolated complete atrioventricular canal defect. Complete obstruction of the small pulmonary arterial lumen resulting from acute fibrous proliferation and atrophy of the peripheral arterial media, which were considered absolute operative contraindications, were characteristic in six patients with Down's syndrome. Morphometric analysis of medial thickness revealed that thinning of the media of the small pulmonary arteries is generally observed at around 6 months of age in patients with complete atrioventricular canal defect and that the media in patients who have complete atrioventricular canal defect and Down's syndrome was thinner than that in such patients without Down's syndrome. These results suggest that thinning of the media as a result of two factors--Down's syndrome and aging--facilitates the rapid occurrence of fibrous intimal proliferation. Therefore intracardiac repair is desirable within 6 months of life, before medial thinning, in patients with complete atrioventricular canal defect and Down's syndrome. Excluding patients with absolute operative contraindications, the scores of the index of pulmonary vascular disease in operative survivors were below 2.0 and death occurred when scores were more than 2.2. The pulmonary vascular resistances measured in room air and by the oxygen inhalation and tolazoline tests in patients with operative contraindications were more than 7.3, 3.8, and 6.6 units.m2, respectively. We thus conclude that lung biopsy should be undertaken for patients in whom pulmonary vascular resistance is beyond these values to determine the appropriateness of surgical intervention.     

Steady-state torque control system with secondary-current feedback for three-phase squirrel-cage induction motors

This paper presents a highly stable steady-state torque control system with a feedback of a secondary current signal. The torque control system is constructed with a feedback of the secondary current (I₂) signal using a quick response magnetic-field sensor constructed with an amorphous core multivibrator bridge, which can solve the secondary resistance change problem for temperature variation in the IM. Moreover, we added a state feedback to the system to improve the response speed for the unit step function of a torque order. The I₂ sensor method has advantages especially at a low-speed range, in which conventional method using an integrator shows control errors.     

First-principles calculation of phase equilibria and phase separation of the Fe-Ni alloy system

Theoretical investigation of the phase equilibria of the Fe-Ni alloy has been performed by combining the FLAPW total energy calculations and the Cluster Variation Method through the Cluster Expansion Method. The calculations have proved the stabilization of the LIE phase at 1：3 stoichiometry, which is in agreement with the experimental result, and predicted the existence of L1 0 as a stable phase below 550 K; this L1 0 phase has been missing in the conventional phase diagram. The calculations are extended to the Fe-rich region that is characterized by a wide range phase separation and has drawn considerable attention because of the intriguing Invar property associated with a Fe concentration of 65%. To reveal the origin of the phase separation, a P-V curve in an entire concentration range is derived by the second derivative of free energy functional of the disordered phase with respect to the volume. The calculation confirmed that the phase separation is caused by the breakdown of the mechanical-stability criterion. The newly calculated phase separation line combined with the L1 0 and L12Eorder-disordered phase boundaries provides phase equilibria in the wider concentration range of the system. Furthermore, a coefficient of thermal expansion （CTE） is attempted by incorporating the thermal vibration effect through harmonic approximation of the Debye-Gruneisen model. The Invar behavior has been reproduced, and the origin of this anomalous volume change has been discussed.     

Fabrication of Nonadditive Mica Ceramics by Hot Isostatic Processing

Powder compacts of synthetic mica (fluorphlogopite) encapsulated in a boro–silicate glass tube were isostatically hot–pressed in a Roy–Tuttle–type pressure vessel. Synthetic mica was sintered to a density of 2.60 g/cm³ (91.2% of theoretical density) without additives under 98 MPa of water at 800°C for 45 min.     

Probability of precision micro-machining of insulating Si3N4 ceramics by EDM

Electrical discharge machining (EDM) is used as a precision machining method for the electrically conductive hard materials with a soft electrode material. But recently we succeeded to machine on insulating material by EDM. The technology is named as an assisting electrode method. The EDMed surface is covered with the electrical conductive layer during discharge. The layer holds the electrical conductivity during discharge. For micro-EDM, the wear of tool electrode becomes lager ratio than the normal machining. So the micro-machining is extremely difficult to get the precision sample.

In this paper to obtain a fine and precise ceramics sample, some trials were carried out considering the EDM conditions, tool electrodes material and assisting electrode materials. Insulating Si₃N₄ ceramics were used for workpiece. The machining properties were estimated by the removal rate and tool wear ratio. To confirm the change of micro-machining process, the discharge waveforms were observed. The micro-machining of the Ø0.05 mm hole could be machined with the commercial sinking electrical discharge machine.     

Compact cryogenic system with mechanical cryocoolers for antihydrogen synthesis

We have developed a compact cryogenic system which cools a vacuum chamber housing multi-ring trap electrodes (MRTs) of an antihydrogen synthesis trap using mechanical cryocoolers to achieve background pressure less than 10(-12) Torr. The vacuum chamber and the cryocoolers are thermally connected by copper strips of 99.9999% in purity. All components are installed within a diametric gap between the MRT of phi108 mm and a magnet bore of phi160 mm. An adjusting mechanism is prepared to align the MRT axis to the magnet axis. The vacuum chamber was successfully cooled down to 4.0 K after 14 h of cooling with heat load of 0.8 W.     

First-principles calculation of L10 -disorder phase equilibria for Fe–Ni system

By combining Cluster Variation Method with FLAPW electronic structure total energy calculations and the Debye–Grüneisen theory within quasi-harmonic approximation, L1₀-disorder phase equilibria for Fe–Ni system are calculated. The transition temperature, 483 K, determined in the present calculation is lower than that obtained in the previous calculation without thermal vibration effects. The decrease of the transition temperature is ascribed to the enhanced phase stability of a disordered phase due to the thermal softening of a lattice.     

Parametric Studies on the Behavior of Reinforced Soil Retaining Walls under Earthquake Loading

The finite element procedures are extremely useful in gaining insights into the behavior of reinforced soil retaining walls. In this study, a validated finite element procedure was used for conducting a series of parametric studies on the behavior of reinforced soil walls under construction and subject to earthquake loading. The procedure utilized a nonlinear numerical algorithms that incorporated a generalized plasticity soil model and a bounding surface geosynthetic model. The reinforcement layouts, soil properties under monotonic and cyclic loadings, block interaction properties, and earthquake motions were among major variables of investigation. The performance of the wall was presented for the facing deformation and crest surface settlement, lateral earth pressure, tensile force in the reinforcement layers, and acceleration amplification. The effects of soil properties, earthquake motions, and reinforcement layouts are issues of major design concern under earthquake loading. The deformation, reinforcement force, and earth pressure increased drastically under earthquake loading compared to end of construction.     

Optical properties of end-sealed hollow fibers

We propose sealing techniques for medical hollow fibers to protect the inner surface of fibers from debris or water that scatters from targets. First, hollow fibers are sealed with a film of polymer that is easily formed by use of a dipping technique. The transmission loss of 20-microm-thick sealing film was 0.2 dB for Er:YAG laser light, and the maximum energy that is available for the film was 180 mJ. Second, a sealed glass cap was applied to the output end of hollow fiber. The silica-glass cap with a wall thickness of 400 microm shows a transmission loss of 0.5 dB and was not damaged by radiation of 400-mJ energy pulses.