Development of Sensor and Control Systems of a Wearable Robot to Walk on a Step

The goal of our study is to develop a system for walking on a step using a wearable robot. Our system consists of (1) sensing of a step from the movement of the walker, (2) detection of the foot placement state related to the step, and (3) generation of gait patterns of climbing and stepping down for the step. In the generation of gait patterns for the step, toe trajectories are generated according to the height of the step to avoid collision of the swinging leg with the step. The hip trajectory is generated by an optimization technique that minimizes the sum of the joint angular jerk of the robot subject to constraints on the hip position and the velocity at toe liftoff. Each joint angle trajectory is calculated from the generated trajectories by means of inverse kinematic equations. We investigated the feasibility of the proposed sensor and control systems for two steps with different heights.     

Acoustic phonon modulation and electron�Cphonon interaction in?semiconductor slabs and nanowires

The acoustic phonon modulation (confinement) in semiconductor nanostructures and their interaction with electrons are reviewed. Special emphasis will be placed on free-standing and layered slabs, as well as nanowires. Analysis includes acoustic phonon dispersion relations, displacement wave functions, amplitudes, form factor, electron-phonon scattering rate, and electron mobility.     

Thermophysical properties of (U,Y)O2

We prepared polycrystalline pellets of (U,Y)O₂, containing YO_1.5 up to 11 mol.%. We performed indentation tests on the pellets, and evaluated the Young’s modulus and hardness. We measured the heat capacity and the thermal diffusivity, and evaluated the thermal conductivity. We succeeded in evaluating the effect of Y content on the thermophysical properties of (U,Y)O₂. We revealed that the Young’s modulus, hardness, and thermal conductivity of (U,Y)O₂ decreased with increasing the Y content.     

Thermal decomposition of cellulose/synthetic polymer blends containing grafted products. V. Cellulose/polystyrene blends

Homogeneous grafting of styrene onto cellulose was carried out in a dimethylacetamide/lithium chloride solvent system. The grafted products were added to cellulose/polystyrene (PS) blends as compatibilizers. The thermal decomposition behavior of the blends was investigated by thermogravimetry. The thermal stability of the blends decreased with an increase in grafted product content. The crystallinity of the blends decreased with grafted product content. The microphase‐separated structures of the blends became finer with grafted product content. The glass transition temperatures for cellulose and PS in the blends were lowered with grafted product content. Differences in thermal decomposition behavior of the blends were correlated with compatibility. Thermogravimetry was effective for compatibility estimation in cellulose/PS blends containing grafted products. © 2010 Wiley Periodicals, Inc. J Appl Polym Sci, 2010     

Tensile and impact properties of fully green composites reinforced with mercerized ramie fibers

The purpose of this study is to create a natural fiber-reinforced fully green composite with excellent toughness. By treating ramie plied yarns in a high concentration alkali solution, the reinforcements were mercerized. Results of tensile tests showed that unidirectional composites using mercerized ramie yarns exhibited two to three times larger fracture strain, without a marked decrease in strength, than composites using untreated yarns. In addition, mercerization for the ramie yarns brings a better interfacial strength to the composites. Laminated composites using mercerized ramie yarns also showed approximately twice larger impact energy than composites using untreated yarns. Thus, mercerization for natural fibers is expected for application to mechanical materials requiring a high toughness.     

Protein interactions of Gts1p of Saccharomyces cerevisiae throughout a region similar to a cytoplasmic portion of some ATP-binding cassette transporters

The GTS1 gene product, Gts1p, has pleiotropic effects on the timing of budding, cell size, heat tolerance, sporulation and the lifespan of the yeast Saccharomyces cerevisiae. In this study, we found (using the yeast two-hybrid system) that Gts1p forms homodimers throughout the 18-amino acid region 296-313 which has considerable similarity to a region downstream of the Walker nucleotide-binding motif A of some ATP-binding cassette (ABC) transporters. The region contains two aspartic acid residues at 301 and 310 preceded by hydrophobic amino acid residues, and Gts1p with an Asp310 to Ala substitution showed considerably reduced homodimerization, as shown by the two-hybrid assay. Overexpression of the point-mutated Gts1p did not efficiently induce the Gts1p-related phenotypes described above, suggesting that the homodimerization of Gts1p is required for it to function in vivo. The C-terminal cytoplasmic domain of the yeast ABC transporters Mdl1p (multidrug resistance-like transporter) and Ycf1p (yeast cadmium factor or glutathione S-conjugate pump) bound to Gts1p in the two-hybrid system, and the heterodimerization activity of the Gts1p with the Asp301 to Ala substitution was more affected than the Gts1p with the Asp310 to Ala substitution. Overexpression of GTS1 considerably reduced, and disruption of GTS1 slightly decreased, cellular resistance to cycloheximide, cadmium, cisplatin and 1-chloro-2,4-dinitrophenol, which (except for cycloheximide) are all substrates of Ycf1p. These results suggest that Gts1p interacts with some ABC transporters through the binding site overlapping that of homodimerization and modulates their activity.     

The nitrogen gas tension test of concrete. Part 1: effect of boundary conditions and axial strain response

In this study, the surface and internal strain response of a specimen subjected to the nitrogen gas tension test was examined. The effect of the restraining force acting on the cylindrical specimen due to the rubber “O” ring seal was also determined. It was found that the effect of the restraining force was vanishingly small, and that the specimen was uniformly deformed in the axial direction. The effect of moisture content was also studied, and was found to have a considerable influence on the results. It was concluded that the concrete specimen should be considered as a two-phase system, consisting of a solid phase and a fluid phase.     

Thermal conductivity of polymer filled with carbon materials: Effect of conductive particle chains on thermal conductivity

Thermal and electric conductivities of polyethylene and poly(vinyl chloride) filled with carbon materials over a wide range are measured in order to study the effect of formed conductive particle chains on thermal conductivities of the composites. With increase of content of carbon particles, the amount of formed conductive chains exponentially increases and the conductive chains tend largely to increase thermal conductivity of a composite. Some models proposed to predict thermal conductivity of a composite in a two-phase system could not be applied to the system with high volume content of particles. In this study, a new thermal conduction model is proposed to correctly predict thermal conductivity of a composite which contains various amounts of particles ranging from a small content, to the region in which conductive chains largely effect a thermal conductivity of a composite. Thermal conductivity of a polymer filled with high volume content of particles largely decreased with a rise in temperature. This phenomenon can be referred to as a PTC phenomenon in thermal resistance.