Dynamic Capturing Strategy for a 2-D Stick-Shaped Object Based on Friction Independent Collision

This paper proposes dynamic capturing strategies where a 2D stick-shaped object with both translational and rotational velocity is completely stopped by two robotic fingers. We first show the fingertip position and the object orientation for generating a desired velocity of the object under the friction independent collision. Once the object results in a pure translational motion whose direction is perpendicular to the longitudinal axis of object, it is guaranteed that two fingers can always capture the object irrespective of friction coefficient. By using this nature, we show both 2-step and 3-step capturing strategies for a 2D stick-shaped object whose width is negligibly small. The 3-step capturing strategy can guide the object in an arbitrary direction, while the 2-step one can do it only in a particular direction. The proposed strategies are demonstrated by experiments for verifying our idea.     

Modeling,Sensing, and Interpretation of Viscoelastic Contact Interface

Soft robotics is important in the next generation of robots because of the rapidly increasing need for robotics in biomedical applications and the advantages of providing a soft interface for interaction with the physical environment in service robots and other applications. It is indispensable to understand the fundamental behavior of such contact interface, typically viscoelastic, in order to accurately predict the actual elastic and temporal responses of the contact and to successfully control it. Viscoelasticity is a phenomenon of time-dependent strain and/or stress in soft materials. It is therefore important to model such behavior and to study the effects of such time-dependent strain and stress on stability and behavior at the contact interface. The contribution of this paper is the introduction of a novel latency model, which is a nonlinear model with differential equations that govern viscoelastic materials. Latency model describes various features of viscoelastic materials, such as stress relaxation and strain creep. The theoretical modeling was supported by experimental results in which we found two types of relaxation. Type I relaxation is well documented in existing literature but Type II relaxation has not been elaborated previously with the physical insights provided in this paper. The proposed theory can unify both types of time-dependent relaxation responses for modeling, sensing, and interpretation of viscoelastic contact interface.     

Effect of oxygen on the wettability of sapphire by liquid palladium

The surface tension of liquid palladium and the contact angle between liquid palladium and sapphire have been measured at 1833 K as a function of oxygen pressure by the sessile drop method. Oxygen acted as a surface-active element on the surface of liquid palladium and at the interface between liquid palladium and sapphire, resulting in the decrease of the surface tension and the contact angle. The work of adhesion calculated from their values increased with increasing oxygen pressure, and had a constant value above 400 Pa. The maximum excess concentration of oxygen was estimated to be 7.3×10^–6 mol m^–2 for the surface and 6.9×10^–6 mol m^–2 for the interface.     

Successive pattern classification based on test feature classifier and its application to defect image classification

A novel successive learning algorithm based on a Test Feature Classifier is proposed for efficient handling of sequentially provided training data. The fundamental characteristics of the successive learning are considered. In the learning, after recognition of a set of unknown data by a classifier, they are fed into the classifier in order to obtain a modified performance. An efficient algorithm is proposed for the incremental definition of prime tests which are irreducible combinations of features and capable of classifying training patterns into correct classes. Four strategies for addition of training patterns are investigated with respect to their precision and performance using real pattern data. A real-world problem of classification of defects on wafer images has been dealt with by the proposed classifier, obtaining excellent performance even through efficient addition strategies.     

氟化活性炭纤维对极性分子的吸附

将活性炭纤维（ACF）与氟气反应制备出氟化活性炭纤维（FACF），根据将FACF与参照试样XPS的对比，碳原子是以sp^3杂化轨道同氟原子形成共健键。αs图分析氮吸附等温线的线果表明，ACF氟化后其比表面积和微孔容积都显著降低，微孔宽度基本不变，ACF的水吸附等温线呈V型，而FACF对水的吸附量极小；FACF的微孔表面具有完美的憎水性和高稳定性，乙醇和甲醇在ACF上的吸附等温线是Ⅰ型，在FACF上接近于Ⅰ型，但吸附量显著降低。     

Changes in high K+-evoked serotonin release and serotonin 2A/2C receptor binding in the frontal cortex of rats with thioacetamide-induced hepatic encephalopathy

Protein import into the nucleus is generally considered to involve specific nuclear localization signals (NLS) though it is becoming increasingly clear that efficient and well controlled import of proteins which lack a canonical NLS also occurs in cells. Human immunodeficiency virus type 1 (HIV-1) Vpr is one such protein which does not have an identifiable canonical NLS and yet efficiently localizes to the nuclear compartment. Here, we use confocal microscopy to demonstrate that mutations in the putative central hydrophobic helix of Vpr result in the retention of the protein in highly localized ring-like structures around the nuclear periphery with striking impairment in their ability to enter the nuclear interior. By characterizing other biological activities associated with this protein, such as its ability to incorporate into budding virions and its ability to arrest cells in G2, we show that this helical domain is specific for the nuclear translocation of the protein with very little effect on these other functions. Interestingly, however, perturbation of this helical motif also perturbs the protein's ability to augment viral replication in primary human macrophages indicating that the integrity of this secondary structure is essential for optimal infection in these non-dividing cells.     

Voltammetric study of electrocatalysis for dioxygen reduction by trinuclear rutheniumammine complex confined in a polymer membrane

Electrocatalytic O₂ reduction was studied using a modified electrode coated with a Nafion membrane (Nf) dispersing a trinuclear ruthenium ammine complex ([(NH₃)₅Ru^IIIORu^IV(NH₃)₄ORu^III(NH₃)₅]Cl₆, Ru-red). When measuring cyclic voltammogram under O₂ atmosphere (at 0.5 mV s⁻¹), catalytic currents due to O₂ reduction were found to develop below −0.2 V (vs. Ag/AgCl). Since Ru-red undergoes irreversible decomposition into the mononuclear complexes via the reduced state (Ru^III-Ru^III-Ru^III) (∼−0.1 V), it is suggested that the electrocatalysis originates from the decomposed species (initial active species: Ru^II(NH₃)₅(OH₂) and Ru^II(NH₃)₄(OH₂)₂) rather than from the Ru-red. Although the present electrocatalyst was also applied to H₂O₂ reduction system, the catalytic activity was found to be poor from the voltammetric behavior. It appeared that the kinetics of the electrocatalysis is much faster in the O₂ reduction than in the H₂O₂ one. A selective and direct catalysis for O₂ reduction into H₂O was suggested from a ring-disk voltammogram to take place by an aggregate of the mononuclear ruthenium complexes in the polymer matrix. In addition, it was found that electrocatalytic O₂ reduction involves a slow kinetic process, so that factors affecting the overall kinetics were discussed in terms of the catalysis mechanism.