Development and motion control of a biped walking robot based on passive walking theory

This research aims to develop the biped walking robot that can walk on the horizontal ground and improve walking efficiency by utilizing the theory of the passive walking robot, namely the pendulum principle. For that, two motors were installed on the hip of the robot to generate the control torques to perform a walking motion. The computer simulations with dynamic model were carried out to investigate the walking capability of the system. Experimental robot was developed considering the calculated results. The proportional control law was used in walking experiment. The robot can walk on the horizontal ground with the proposed method.     

A new cluster-ion-beam source for secondary ion mass spectrometry (SIMS) using the electrospray of a pure ionic liquid under high vacuum

Electrospray characteristics were studied using a pure room-temperature molten salt (i.e., an ionic liquid) at pressures around 10^?5 Pa as well as at atmospheric pressure. The ionic liquid N,N-diethyl-N-methyl-N-(2-methoxyethyl)ammonium bis(trifluoromethanesulfonyl)imide was tested, which has negligible vapor pressure and high conductivity. During electrospray, the ionic liquid was introduced at a constant flow rate into a stainless-steel capillary (i.d. 30 μm). It was demonstrated that stable electrosprayed currents exceeding ±1 μΑ were continuously produced in both positive and negative modes. The electrosprayed currents in a high vacuum were twice those at atmospheric pressure. It was found that gas pressure rose slightly with increasing electrosprayed currents. Residual gas analysis revealed that gas component at negative mode was different from that at positive mode. Experimental results indicate that vacuum electrospray of pure ionic liquids is applicable to a massive-cluster beam source for SIMS.     

Syntheses of chemical‐modified cellulose obtained from waste pulp

Chemical‐modified pulps were synthesized from four types of waste pulps (Pulp1–4) and succinic anhydride (SAn) or maleic anhydride (MAn). The solubility of the modified pulps was evaluated in common organic solvents, and their thermal properties were investigated by DSC measurement. The solubility of the modified pulps increased with an increasing degree of substitution (DS). However, no T_g or T_m of these modified pulps was confirmed. Pulps and modified pulps were graft‐polymerized with ε‐caprolactone (CL) in bulk and in DMAc/LiCl. Although the solubility of the graft copolymers was similar to modified pulps, some graft copolymers showed a T_g by the introduction of CL units. In the bulk, graft copolymers obtained from modified pulps and nonmodified pulps showed a T_g of about 75°C and no T_g, respectively. In DMAc/LiCl, the obtained graft copolymers from both modified and nonmodified pulps exhibited a T_g of 95–110°C. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 90: 2059–2065, 2003     

Formation of hydrogen-capped polyynes by laser ablation of C60 particles suspended in solution

Laser ablation of C₆₀ particles suspended in hexane or methanol solution has been studied using a Nd:YAG laser (266, 355, 532, and 1064 nm). Insoluble product analysis by Raman spectroscopy showed that C₆₀ particles transformed to graphite-like ones. On the other hand, soluble product analysis by HPLC coupled with UV absorption spectroscopy and GC/MS demonstrated that linear hydrogen-capped polyynes (C_nH₂: n=8, 10, 12) were formed. The dominant C_nH₂ polyyne was C₈H₂ in all cases. The relative abundance of polyynes decreased with increasing wavelength of the Nd:YAG laser, except for 266-nm irradiation in hexane, where the relative abundance of polyynes at 355 nm was greater than that at 266 nm. It was therefore concluded that photochemical processes are more important than thermal ones for the formation of polyynes. The relative abundance of polyynes in hexane was greater than that in methanol. The dependence of relative abundance of polyynes on the particles concentration, laser irradiation time, and laser power was measured in order to obtain information on formation mechanism of polyynes. These results and reported laser photochemical processes of C₆₀ molecules in the gas phase suggested that C₂ radicals produced from C₆₀ are polymerized and hydrogenated to form C₈H₂ and much smaller amounts of C₁₀H₂ and C₁₂H₂.     

Protein Folding in the Presence of Water‐Soluble Cyclic Diselenides with Novel Oxidoreductase and Isomerase Activities

The protein disulfide isomerase (PDI) family, found in the endoplasmic reticulum (ER) of the eukaryotic cell, catalyzes the formation and cleavage of disulfide bonds and thereby helps in protein folding. A decrease in PDI activity under ER stress conditions leads to protein misfolding, which is responsible for the progression of various human diseases, such as Alzheimer's, Parkinson's, diabetes mellitus, and atherosclerosis. Here we report that water‐soluble cyclic diselenides mimic the multifunctional activity of the PDI family by facilitating oxidative folding, disulfide formation/reduction, and repair of the scrambled disulfide bonds in misfolded proteins.     

Properties of Nitrogen-Containing Yttria—Alumina—Silica Melts and Glasses

The viscosity and solubility of nitrogen in Y₂O₃–Al₂O₃–SiO₂ melts have been systematically examined. The effects of nitrogen content on viscosity for Y-Al-Si-O-N melts and on Vickers hardness of oxynitride glasses also have been examined. Although the viscosity of Y₂O₃–Al₂O₃–SiO₂ melts was decreased, the solubility of nitrogen into the melts was increased with increased Y₂O₃ content. These results indicated that the yttrium ion behaved as a network modifier. Therefore, the structural units for viscous flow became small, and the amount of nonbridging oxygen increased in the melts when the Y₂O₃ content increased. The viscosity of Y-Al-Si-O-N melts and Vickers hardness of oxynitride glasses remarkably increased with increased nitrogen content. These results suggested that the substitution of nitrogen for oxygen in the melts may have led to a high average coordination of nonmetal atoms and that the increased cross-linking produced a more rigid glass network.     

In situ study of ionic conductivity for polyether-LiCF3SO3 electrolytes with subcritical and supercritical CO2

In situ measurements of the ionic conductivity were performed on polyethers, poly(ethylene oxide) (PEO) and poly(oligo oxyethylene methacrylate) (PMEO), with lithium triflate (LiCF₃SO₃) as crystalline and amorphous electrolytes, and at CO₂ pressures up to 20 MPa. Both PEO and PMEO systems in subcritical and supercritical CO₂ increased more than five fold in ionic conductivity at 40 °C composed to atmospheric pressure. The pressure dependence of the ionic conductivity for PEO electrolytes was positive under CO₂, and increased by two orders of magnitude under pressurization from 0 to 20 MPa, whereas it decreases with increasing pressure of N₂. The enhancement is caused by the plasticizing effect of CO₂ molecules that penetrate into the electrolytes.     

Synthesis,characterization, and CO2 permeation properties of acetylene‐terminated polyimide membranes

A novel fluorine‐containing telechelic polyimide end‐capped with acetylene group which derived from 4,4‐(hexafluoroisopropylidene) diphthalic anhydride (6FDA), 3,4‐diaminodiphenyl ether (DADE), and 4‐(2‐phenylethynyl) phthalic anhydride (PEPA) was synthesized using polycondensation. The physical and CO₂ permeation properties of its crosslinked membranes prepared by the cyclotrimerization reaction of the acetylene groups at the polymer chain end using tantalum (V) chloride (TaCl₅) as a catalyst under thermal treatment was investigated in terms of CO₂‐induced membrane plasticization. The crosslinked membranes showed a gel content in organic solvent, which was good solvent of noncrosslinked membranes, and improved their thermal stability. Based on the measurement of the high‐pressure time dependence on CO₂ permeation, the crosslinked 6FDA–DADE–PEPA membranes exhibited more resistance to CO₂‐induced plasticization than noncrosslinked 6FDA–DADE and thermal treated 6FDA–DADE–PEPA. Furthermore, the increase in TaCl₅ content resulted in more resistance to plasticization. The cyclotrimerization reaction of the acetylene groups at the polymer chain ends using a transition metal catalyst under thermal treatment was found to be more effective than conventional thermal treatments for suppressing membrane plasticization without the membrane densification. POLYM. ENG. SCI., 2013. © 2012 Society of Plastics Engineers     

Viscoelastic and thermal decomposition behaviors of polytetrahydrofuran binder prepared using glycerin as a crosslinking modifier

Polytetrahydrofuran (PTHF) is an effective binder ingredient used for improving the performance of propellants. PTHF becomes sufficiently rubbery for use as a binder with the addition of an adequate crosslinking modifier. This study investigated the viscoelastic and thermal decomposition behaviors of the PTHF binder prepared using glycerin as a crosslinking modifier, as well as the influence of the molecular weight of PTHF on the characteristics of the PTHF binder. The curing behavior of the PTHF binder was suitable for the manufacture of propellants, and the superior tensile properties of the PTHF binder made it suitable for use as a propellant binder. The degree of crosslinking of the samples decreased as the molecular weight of the PTHF increased. The PTHF binder has unique dynamic mechanical properties owing to its melting and chemical structure, and these properties were dependent on the molecular weight of PTHF. The glass transition temperature (T_g) and the loss tangent at T_g decreased as the molecular weight of the PTHF increased. The temperature and frequency dependence of the PTHF binder were influenced by the melting point of PTHF. The viscoelastic properties of the binder prepared using PTHF with a molecular weight of 650 followed the time–temperature superposition principle. The activation energy for the relaxation of this binder varied remarkably at the melting point of PTHF. The thermal decomposition behavior indicated that at low temperatures, the consumption rate of the binder with low‐molecular‐weight PTHF was slightly larger than that of the binder with high‐molecular‐weight PTHF. © 2012 Wiley Periodicals, Inc. J. Appl. Polym. Sci., 2013     

Laser roll welding of dissimilar metal joint of titanium to aluminium alloy

Recently, the demand for dissimilar metal joints of titanium to aluminium alloy has arisen in industry, especially in the transportation vehicle industry. However, it is well known that fusion welding of titanium to aluminium alloy is difficult because of generating the brittle intermetallic compound at the joint interface. Therefore, new welding processes with high reliability and productivity for these dissimilar materials are demanded. In the present work, Laser roll welding of titanium to aluminium alloy using a 2 kW fibre laser was tried to investigate the effects of the process parameters on the formation of the interlayer and the mechanical properties of the joint. As a result, the cross-section of the joint shows partial melting of the aluminium sheet and spreading of molten aluminium alloy on the titanium sheet occurs during the welding thermal cycle. Various types of intermetallic compound were confirmed at the interlayer of the welded joint. The specimen with a bonding width of 2.8 mm failed in the base metal of titanium in the tensile shear test. In Erichsen cupping tests, the Erichsen value was 5.7 mm. This value was 89% of the base metal of aluminium sheet.