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.     

Studies on sublimation of disperse dye out of dyed polymers. I. Rate of sublimation and amorphous transition points of poly(ethylene terephthalate)

Four samples of poly(ethylene terephthalate) film of various crystallinities and orientation were dyed with p-nitroaniline and disperse dyes. When these films were heated under a 2–3 × 10^?3 mm Hg vacuum at a specified temperature T, the dye sublimed out of the dyed specimen. The amount (M_t/M_∞) of sublimed dye is in linear proportion to the square root of the sublimation time, t^½, where M_t and M_∞ are the amounts of dye sublimed for times t and t = ∞. The diffusion coefficient D, calculated from the slope of the above plot, is independent of the dye concentration of the film. When log D is plotted against 1/T°K over the temperature range 320–520°K, the relation is composed of two to four intersecting lines with the slope decreasing with elevation of temperature and with the breaks at about 89°–98°, 122°–135°, 155° and 175°–176°C. These breaks are the amorphous transitions: the first is the glass transition temperature T_g, the second and the fourth are the amorphous transitions corresponding to the crystalline transition points, i.e., the cold crystallization temperature and the smectic–triclinic transition temperature. With some exceptions, these amorphous transitions are found also by dilatometry and electrical conductivity measurements. The apparent activation energy for diffusion decreases from about 100 kcal/mole for the glass state to 22–24 kcal/mole for the region above 180°C. The activation energy for each region changes slightly with the size of dye molecule and the crystallinity and orientation of the film.     

Graft polymerization of some vinyl monomers onto acrylic rubber. II. Mechanical properties of graft polymers

Some mechanical properties of styrene and acrylonitrile copolymers grafted onto acrylic rubber are investigated. The impact strength of graft polymers depended upon the nature and the concentration of the catalyst, the composition and the intrinsic viscosity of the rubber, and the acrylonitrile content in the rigid matrix. The most desirable result was obtained when benzoyl peroxide as the catalyst, n-butyl acrylate–acrylonitrile copolymer of 7–10% acrylonitrile content, and about 0–5% acrylonitrile in the rigid matrix were used. Dynamic mechanical tests show the increase in efficiency of rubber modification by the grafted chains. The better weathering resistance of these graft polymers, as compared with commercial ABS plastics, was confirmed.     

Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

Psychological Stress Exacerbates Inflammation of the Ileum via the Corticotropin-Releasing Hormone-Mast Cell Axis in a Mouse Model of Eosinophilic Enteritis

The effects of psychological stress on eosinophilic gastrointestinal disorders have not been elucidated. This study investigated the effects of psychological stress in a mouse model of eosinophilic enteritis (EoN). BALB/c mice were treated with ovalbumin (OVA) to create an EoN model and subjected to either water avoidance stress (WAS) or sham stress (SS). Microscopic inflammation, eosinophil and mast cell counts, mRNA expression, and protein levels of type 2 helper T cell (Th2) cytokines in the ileum were compared between groups. We evaluated ex vivo intestinal permeability using an Ussing chamber. A corticotropin-releasing hormone type 1 receptor (CRH-R1) antagonist was administered before WAS, and its effects were analyzed. WAS significantly increased diarrhea occurrence and, eosinophil and mast cell counts, and decreased the villus/crypt ratio compared to those in the SS group. The mRNA expression of CRH, interleukin IL-4, IL-5, IL-13, eotaxin-1, and mast cell tryptase β2 significantly increased, and the protein levels of IL-5, IL-13, and OVA-specific immunoglobulin E (IgE) also significantly increased in the WAS group. Moreover, WAS significantly increased the intestinal permeability. The CRH-R1 antagonist significantly inhibited all changes induced by WAS. Psychological stress exacerbated ileal inflammation via the CRH-mast cell axis in an EoN mouse model.     

A spherical aberration-corrected 200 kV TEM

A spherical aberration (Cs)-corrected 200 kV TEM was newly developed. The column of the microscope was extended by 25 cm and the inner yoke of the objective lens was modified to insert some parts of the corrector elements. The corrector has two hexapole elements that play a main role in Cs correction and they are placed at a position equivalent to the coma-free point of the objective lens by using two transfer doublet lenses. The Cs correction was successfully carried out by means of the third-order aberration that was generated in the two extended hexapoles. The Cs can be corrected to the desired value and also can be overcompensated in order to produce a negative Cs, as with the corrected Cs of -23 microm shown in this work. The optical system of the corrector does not produce second- and fourth-order aberrations, and can correct residual aberrations up to the third order. All of the corrector elements are computer-controlled and the third-order aberrations are quite stable after they are properly corrected. The resolution of 0.135 nm was experimentally confirmed by the Young's fringe method. Image simulations of a silicon [110] single crystal were made with various Cs and defocus values to demonstrate the effectiveness of arbitral control of Cs.     

A formation of compatible poly(vinyl alcohol)/alumina gel composite and its properties

A formation of poly(vinyl alcohol) (PVA)/alumina gel composite was investigated with a viewpoint of compatibility of the composite. An alumina sol was prepared from aluminium iso-propoxide (Al(iPro)₃). The alkoxide was hydrolyzed and the resultant hydrate was peptized to a clear sol with acetic acid. The composite were transparent in whole content of alumina. The effects of dispersed alumina on the sorption of water and mechanical properties of composite were examined. The composites containing PVA 40–50% are flexible. They are folded in various forms and can be drawn five times the initial length in humid state. The residues obtained by calcination to remove PVA at 600°C keep its original form and transparency.     

Effects of bile acid feeding on hepatic deoxycholate 7α-hydroxylase activity in the hamster

In order to investigate the effects of bile acid feeding on hepatic microsomal deoxycholate 7α-hydroxylase activity, three different bile acids were administered (0.2% w/w in chow) to hamsters for two weeks. Deoxycholate 7α-hydroxylase activity was increased markedly by feeding of cholic acid (CA) and slightly by deoxycholic acid (DCA) Chenodeoxycholic acid (CDCA) had little effect on the enzyme activity. Feeding each of the bile acids significantly inhibited the activity of cholesterol 7α-hydroxylase in the order CDCA≥ DCA>CA. There was no correlation between deoxycholate 7α-hydroxylase activity and cholesterol 7α-hydroxylase activity. It is concluded that the activity of deoxycholate 7α-hydroxylase is up-regulated by feeding DCA and CA and that the mechanism seems to be different from that of cholesterol 7α-hydroxylase. The increased activity of hepatic deoxycholate 7α-hydroxylase by CA and DCA should be beneficial in minimizing the toxic effects of DCA in the hamster.     

Pervaporation of methanol–water mixture by poly(γ-methyl L-glutamate) membrane and synergetic effect of their mixture on diffusion rate

The pervaporation behaviors of methanol–water by poly(γ-methyl L -glutamate) (PMLG) membrane at non-steady- and steady-state permeation were investigated. The values of t_1/2 (time required to reach a half value of steady-state permeation flux) for methanol and water changed and did not change with the component in feed, respectively. Both of the average diffusion coefficients for methanol–and water–PMLG from the mixture changed exponentially with the sorption amount of methanol by the synergetic effect on diffusion. The difference in behavior of non-steady and steady state diffusion was explained by whether D_o (diffusion coefficient at zero penetrant concentration) was influenced by the concentration distribution of penetrant in PMLG membrane.