Anti‐Sway Crane Control Considering Wind Disturbance and Container Mass

A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately and must use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction force, and wind. Moreover, the container mass cannot be determined, and therefore the observer parameter is not suitable. We already proposed robust antisway control for overcoming rope length error without adding a new sensor. Further, we designed a friction disturbance observer to cancel out the influence of the friction force. In this paper, we first propose a container mass estimation method when a crane system performs rolling up control. The observer parameter can be selected using the estimated mass value. Second, in crane parallel shift control, we propose a robust antisway control even when there is a wind disturbance. We design a wind disturbance observer and propose a wind disturbance estimator to separate the friction observer output from the wind disturbance observer output. We confirm through experiments that the proposed method can reduce vibration.     

F-actin bundling activity of Tetrahymena elongation factor 1 alpha is regulated by Ca2+/calmodulin

Translation elongation factor 1 alpha (EF-1 alpha) catalyzes the GTP-dependent binding of amino-acyl-tRNA to the ribosome. Previously, Tetrahymena 14-nm filament-associated protein was identified as EF-1 alpha [Kurasawa et al. (1992) Exp. Cell Res. 203, 251-258]. This and several other studies suggest that EF-1 alpha functions not only in translation but also in regulation of some part of the cytoskeleton. Tetrahymena EF-1 alpha bound to F-actin and induced bundling of F-actin. We investigated the effects of GTP/GDP and Ca2+/calmodulin on F-actin bundling activity of EF-1alpha. The presence of GTP, GDP, or guanylyl-imidodiphosphate (GMP-PNP) slightly decreased the amount of EF-1 alpha which bound to F-actin, but each had virtually no effect on the F-actin bundling activity. The formation of F-actin bundles by EF-1 alpha was Ca(2+)-insensitive. In the absence of Ca2+, calmodulin did not bind to EF-1 alpha and F-actin. On the other hand, in the presence of Ca2+, calmodulin directly bound to EF-1 alpha but did not have any serious influence on EF-1 alpha/F-actin binding. Under the conditions, electron microscopy demonstrated that Ca2+/calmodulin completely inhibited the F-actin bundling by EF-1 alpha. These results indicate that CA2+/calmodulin regulates the F-actin bundling activity of EF-1 alpha without inhibition of the binding between Ef-1 alpha and F-actin.     

Molecular Dynamics Simulation of Structural Relaxation of Asphaltene Aggregates

For asphaltene obtained from vacuum residue of Khafji crude oil, the energy-minimum conformation calculated by molecular mechanics-dynamics simulations showed that aggregated structures of asphaltene molecules through noncovalent interactions are more stable. Changes induced in aggregated structures by pretreatment with solvents were investigated using molecular dynamics calculations. The simulation showed that in quinolin at 573 K, some staking interactions could be disrupted, while, in 1-methylnaphthalene it was not observed. Autoclave experiments showed that the coke yield after pyrolysis at 713 K was decreased when the asphaltene was pretreated with quinoline at 573 K for 1 h, compared to the yield without the pretreatment. While, in the case of pretreatment in 1-methylnaphthalene, the coke yield did not change significantly. The simulation's results above can be related to the difference in coke yield between two solvents; in quinoline some aromatic-aromatic stacking interactions could be disrupted and mobility of molecules was increased. This resulted in prevention of the asphaltenes from polymerizing, as in condensation reactions among aromatic rings. Consequently, the coke yield after the pretreatment with quinoline was decreased.     

Augmenting Edge-Connectivity between Vertex Subsets

Given a directed or undirected graph G=(V,E), a collection ${\mathcal{R}}=\{(S_{i},T_{i}) \mid i=1,2,\ldots,|{\mathcal{R}}|, S_{i},T_{i} \subseteq V, S_{i} \cap T_{i} =\emptyset\}$ of two disjoint subsets of V, and a requirement function $r: {\mathcal{R}} \to\mathbb{R}_{+}$ , we consider the problem (called area-to-area edge-connectivity augmentation problem) of augmenting G by a smallest number of new edges so that the resulting graph $\hat{G}$ satisfies $d_{\hat{G}}(X)\geq r(S,T)$ for all X?V, $(S,T) \in{\mathcal{R}}$ with S?X?V?T, where d _G (X) denotes the degree of a vertex set X in G. This problem can be regarded as a natural generalization of the global, local, and node-to-area edge-connectivity augmentation problems. In this paper, we show that there exists a constant c such that the problem is inapproximable within a ratio of $c\log{|{\mathcal{R}}|}$ , unless P=NP, even restricted to the directed global node-to-area edge-connectivity augmentation or undirected local node-to-area edge-connectivity augmentation. We also provide an ${\mathrm{O}}(\log{|{\mathcal{R}}|})$ -approximation algorithm for the area-to-area edge-connectivity augmentation problem, which is a natural extension of Kortsarz and Nutov’s algorithm (Kortsarz and Nutov, J. Comput. Syst. Sci., 74:662–670, 2008). This together with the negative result implies that the problem is ${\varTheta}(\log{|{\mathcal{R}}|})$ -approximable, unless P=NP, which solves open problems for node-to-area edge-connectivity augmentation in Ishii et al. (Algorithmica, 56:413–436, 2010), Ishii and Hagiwara (Discrete Appl. Math., 154:2307–2329, 2006), Miwa and Ito (J. Oper. Res. Soc. Jpn., 47:224–243, 2004). Furthermore, we characterize the node-to-area and area-to-area edge-connectivity augmentation problems as the augmentation problems with modulotone and k-modulotone functions.     

Microstructure of TiO2 and ZnO Films Fabricated by the Sol-Gel Method

Titanium dioxide and zinc oxide films were fabricated by spin-on and dip-coating methods. Both types of films exhibited columnar grains when the single coating was thin, ∼10 nm. The columnar TiO₂ films were dense, as confirmed by their density values calculated from the refractive index and TEM results. The addition of Al cations into the ZnO suppressed grain growth, because Zn had a lower diffusivity in the doped films. The doped ZnO films had nearly the same electrical resistivity as that of the undoped films.     

Minimum cost source location problem with vertex-connectivity requirements in digraphs

Given a digraph (or an undirected graph) G=(V,E) with a set V of vertices v with nonnegative real costs w(v), and a set E of edges and a positive integer k, we deal with the problem of finding a minimum cost subset SV such that, for each vertex vV−S, there are k vertex-disjoint paths from S to v. In this paper, we show that the problem can be solved by a greedy algorithm in time in a digraph (or in time in an undirected graph), where n=|V| and m=|E|. Based on this, given a digraph and two integers k and ℓ, we also give a polynomial time algorithm for finding a minimum cost subset SV such that for each vertex vV−S, there are k vertex-disjoint paths from S to v as well as ℓ vertex-disjoint paths from v to S.     

Mammalian Cytochrome P450-Dependent Metabolism of Polychlorinated Dibenzo-p-dioxins and Coplanar Polychlorinated Biphenyls

Polychlorinated dibenzo-p-dioxins (PCDDs) and coplanar polychlorinated biphenyls (PCBs) contribute to dioxin toxicity in humans and wildlife after bioaccumulation through the food chain from the environment. The authors examined human and rat cytochrome P450 (CYP)-dependent metabolism of PCDDs and PCBs. A number of human CYP isoforms belonging to the CYP1 and CYP2 families showed remarkable activities toward low-chlorinated PCDDs. In particular, human CYP1A1, CYP1A2, and CYP1B1 showed high activities toward monoCDDs, diCDDs, and triCDDs but no detectable activity toward 2,3,7,8-tetrachlorodibenzo-p-dioxin (2,3,7,8-tetraCDD). Large amino acids located at putative substrate-recognition sites and the F-G loop in rat CYP1A1 contributed to the successful metabolism of 2,3,7,8-tetraCDD. Rat, but not human, CYP1A1 metabolized 3,3'',4,4'',5-pentachlorobiphenyl (CB126) to two hydroxylated metabolites. These metabolites are probably less toxic than is CB126, due to their higher solubility. Homology models of human and rat CYP1A1s and CB126 docking studies indicated that two amino acid differences in the CB126-binding cavity were important for CB126 metabolism. In this review, the importance of CYPs in the metabolism of dioxins and PCBs in mammals and the species-based differences between humans and rats are described. In addition, the authors reveal the molecular mechanism behind the binding modes of dioxins and PCBs in the heme pocket of CYPs.     

Enhanced Infrared Absorption of C60 on Thin Evaporated Pd Island Films

Infrared transmission spectra of C₆₀ multilayers on thin Pd films deposited onto surface-oxidized Si(100) and hydrogen-terminated Si(111) substrates are reported. In both cases, the spectra in the 1500–1100 cm⁻¹ region exhibited bands at 1444, 1429, and 1182 cm⁻¹ due, respectively, to the A_g (2), T_1u (4), and T_1u (3) modes. The appearance of the A_g (2) mode, which is originally infrared inactive (Raman active), reveals electron transfer from the metal to chemisorbed C₆₀. Indeed, increasing the thickness of C₆₀, the A_g (2) mode intensity saturated more rapidly than the T_1u (4) and T_1u (3) modes. The originally infrared active T_1u (4) and T_1u (3) modes were enhanced in intensity depending upon the Pd thickness. Actually, while both substrates gave nearly the same magnitude of enhancement, the optimum Pd thickness was smaller on the hydrogen-terminated surface than on the surface-oxidized surface. On the other hand, the A_g (2) mode was less intense on the hydrogen-terminated surface than on the oxidized surface, suggestive of a shortage of chemisorbed C₆₀ and thus pointing out the importance of the metal film morphology. Indeed, Pd films deposited on the two substrates gave rise to quite different AFM images. We also show that, regardless of the substrate, the A_g (2) mode is an order of magnitude smaller than for Ag deposition, though no remarkable intensity differences were observed with respect to the T_1u (4) and T_1u (3) modes.     

Contact and interconnect formation on compound semiconductor devices by ionized-cluster beam deposition

A new deposition technology, namely the ionized-cluster beam deposition method, was applied to form contacts and interconnects on III–V compound semiconductor devices. Au alloy films deposited by this technology had strong enough adhesion to an insulator layer to be a satisfactory interconnection. A step approximately 8 μm high at an angle of 90° to the semiconductor was covered fully with an Au alloy film obtained by this method. Electrical ohmic contacts for p-type GaP and GaAs were successfully obtained at substrate temperatures of 400 °C and 300 °C respectively without any further annealing process; this resulted in better device characteristics because of the lower process temperatures and also made the device less expensive because of a reduction in fabrication time.