Motion control of underactuated linkage robot based on gymnastic skill

In this paper, a reproduction of a swing‐up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an equivalent center of mass (ECM) of underactuated robots and the gymnast. At first, the behaviors of the ECM of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing‐up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the ECM of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing‐up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations.     

Contribution of metal vapor mass at periphery part of pulsed arc to electromagnetic force in weld pool

The arc welding has been used in various welding methods because it is inexpensive and high in strength after welding. However, it is a problem that accidents such as collapse of the bridge occur because of the welding defects. The welding of low cost and high productivity is required without the welding defects. The pulsed TIG welding is inexpensive and capable of high‐quality welding. The electromagnetic force contributing to penetration changes because the transient response of arc temperature and iron vapor generated from anode occurs. However, the analysis of pulsed TIG welding with metal vapor has been elucidated only metal vapor concentration near anode with transient phenomenon and heat flux. Thus, the theoretical elucidation of penetration depth with control factor has not been researched. In this paper, the contribution of metal vapor mass at the periphery part of pulsed arc to the electromagnetic force in the weld pool is elucidated. As a result, the iron vapor mass at periphery part decreased with increasing the frequency. The iron vapor was stagnated at axial center within one cycle. The electromagnetic force to the penetration depth direction in weld pool increased at axial center. Therefore, the metal vapor mass at periphery part plays an important role for the electromagnetic force increment at axial center.     

Ammonia production using iron nitride and water as hydrogen source under mild temperature and pressure

Ammonia generation was studied in the reaction between water and nitrogen-containing iron at 323 K and atmospheric pressure. Similar to metallic Fe, the interstitial compound Fe₃N reduced water through Fe oxidation to produce hydrogen gas, while the N combined with atomic hydrogen to produce ammonia as a byproduct. The addition of carbon dioxide to this system accelerated the reaction with concomitant consumption of carbon dioxide. The promoted ammonia production upon addition of carbon dioxide can be attributed to the generation of atomic hydrogen from the redox reaction of carbonic acid and Fe, as well as removal of used Fe from the reaction system through the formation of a soluble carbonato complex. When carbonate was added to the reaction system, the production rates of ammonia and hydrogen increased further. The results here confirmed that ammonia can be synthesized from iron nitride under mild conditions by utilizing carbon dioxide.     

Light-Wavelength-Based Quantitative Control of Dihydrofolate Reductase Activity by Using a Photochromic Isostere of an Inhibitor

Photopharmacology has attracted research attention as a new tool for achieving optical control of biomolecules, following the methods of caged compounds and optogenetics. We have developed an efficient photopharmacological inhibitor—azoMTX—for Escherichia coli dihydrofolate reductase (eDHFR) by replacing some atoms of the original ligand, methotrexate, to achieve photoisomerization properties. This fine molecular design enabled quick structural conversion between the active “bent” Z isomer of azoMTX and the inactive “extended” E isomer, and this property afforded quantitative control over the enzyme activity, depending on the wavelength of irradiating light applied. Real-time photoreversible control over enzyme activity was also achieved.     

Frequency of Upward Lightning Hits to Wind Turbines in Winter

In recent years, frequent damage to wind turbines by winter lightning has been reported in the region along the Sea of Japan. It is a serious finding that lightning hits concentrate on wind turbines in this region. The authors investigated the increase rate of the frequency of lightning hits on wind turbines due to wind turbine construction by using LLS (lightning location system) data. As a result, an experimental formula to estimate the increase rate of the frequency of lightning hits on wind turbines as a function of parameters related to the construction conditions, namely the height of wind turbines, the height above sea level, and the latitude, is proposed.     

Optimal Pricing Algorithm in the Electricity Market with Battery and Accumulator and Demand–Supply Balancing

This paper considers the day‐ahead market with batteries and accumulators to level power generation. First, we model consumers with batteries, generators with batteries, and accumulators, all of whom strive to maximize their own profit. An optimal pricing algorithm based on dual decomposition and the steepest descent method is derived and shown to be stable. Finally, the effectiveness of the algorithm is demonstrated by means of numerical simulations which indicate that it achieves demand–supply balance.     

Photocatalytic Synthesis of p-Anisaldehyde in a Mini Slurry-Bubble Reactor under Solar Light Irradiation

Dense photocatalyst slurry was employed for the synthesis of p-anisaldehyde under solar light irradiation. An Fe-modified rutile TiO ₂ (Fe-TiO _2, 34.5 m ²/g) photocatalyst was used as a visible-light-responsive photocatalyst. A conventional TiO ₂ (P25, 35 m ²/g) photocatalyst was also examined as a reference catalyst. XRD patterns and diffuse reflectance spectra showed that Fe-TiO ₂ consists of 100 % rutile phase and absorbs more visible light compared to P25, respectively. The catalyst powder was suspended in an ethyl acetate solution of p-methoxytoluene in the mini-reactor, with oxygen bubbling, under a solar simulator, visible light, and UV LEDs. p-anisaldehyde, as a reaction product, was analyzed by sampling using gas-chromatograph. Regardless of the light source, Fe-TiO ₂ always outperformed P25 in terms of both generation rates (GR) of p-anisaldehyde and energy requirements (ER). It was demonstrated that the highly dense Fe-TiO ₂ slurry was efficient for the synthesis under solar light owing to the small size of the reactor. The small amount of Pt and ZrO ₂ cocatalysts significantly enhanced the GR under solar light. By adopting a visible light responsive Fe-TiO ₂ photocatalyst, the mini slurry-bubble reactor under solar light achieved a high GR per catalyst mass (CM), which is one to two orders higher than that reported by most previous studies with high-power lamps.