A new desk-top encounter-type haptic device with an actively driven pen-tablet LCD panel

In conventional haptic devices for virtual reality (VR) systems, a user interacts with a scene by handling a tool (such as a pen) using a mechanical device (i.e. an end-effector-type haptic device). In the case that the device can ‘mimic’ a VR object, the user can interact directly with the VR object without the mechanical constraint of a device (i.e. an encounter-type haptic device). A new challenge of an encounter-type haptic device is displaying the visuals and haptic information simultaneously on a single device. We are proposing a new desk-top encounter-type haptic device with an actively driven pen-tablet LCD panel. The proposed device is capable of providing pseudo-3D visuals and haptic information on a single device. As the result, the system provides to the user a sense of interaction with a real object. To develop a proof-of-concept prototype, a compact parallel mechanism was developed and implemented. The aim of this research is to propose a new concept in haptic research. In this paper, the concept, the prototype, and some preliminary evaluation tests with the proposed system are presented.     

REINFORCEMENT LEARNING FOR POMDP USING STATE CLASSIFICATION

Reinforcement learning (RL) has been widely used to solve problems with a little feedback from environment. Q learning can solve Markov decision processes (MDPs) quite well. For partially observable Markov decision processes (POMDPs), a recurrent neural network (RNN) can be used to approximate Q values. However, learning time for these problems is typically very long. We present a new combination of RL and RNN to find a good policy for POMDPs in a shorter learning time. This method contains two phases: firstly, state space is divided into two groups (fully observable state group and hidden state group); secondly, a Q value table is used to store values of fully observable states and an RNN is used to approximate values for hidden states. Results of experiments in two grid world problems show that the proposed method enables an agent to acquire a policy with better learning performance compared to the method using only a RNN.     

Deposition and structural analyses of molybdenum-disulfide (MoS2)–amorphous hydrogenated carbon (a-C:H) composite coatings

In this study we developed composite coatings consisting of amorphous hydrogenated carbon (a-C:H) and molybdenum-disulfide (MoS₂), and clarified their microstructure. In addition, we interpreted the tribological properties of the composite coatings in the viewpoint of a deposition-induced microstructural modification. The coatings were produced by the hybrid deposition technique of RF-generated methane and argon plasma and DC magnetron co-sputtering of MoS₂ target. The deposition parameter investigated in this study was methane flow rate. Structural analyses were performed using a transmission electron microscope (TEM) and an atomic force microscope (AFM). Friction tests were conducted using a ball-on-disk type tribometer. From an electron micrograph, it was confirmed that nano-clusters were embedded into an amorphous carbon host matrix. Surface roughness of the composite coating was ～ 0.25 nm in R_a compared to 5.0 nm in R_a of sputtered MoS₂. The concentration measurements were performed, and the results show that the sulfur and molybdenum concentration ratio, [S]/[Mo], is ～ 0.9, which indicates that the amount of sulfur was reduced due to the discharged plasma. In friction tests, composite coatings showed high friction in a vacuum condition. It was considered that lubricant MoS₂ lamellar structures showing super-low friction in a vacuum condition during friction could not be formed between ball and coating during friction because of the lack of sulfur in embedded clusters.     

Organic LED full-color passive-matrix display

Abstract— A full-color 5.2-inch 1/4-VGA passive-matrix organic LED display has been developed, adopting selective deposition for the different emitting materials. The display features 320 (×3) × 240 pixels with an equivalent pixel size of 0.33 × 0.33 mm, white peak luminance of over 150 cd/m², and power consumption of 6 W.     

Microscopic Charge Inhomogeneities in Underdoped La2−xSrxCuO4: Local Structural Evidence

We present local structural evidence for the existence of charge inhomogeneities at low temperature in underdoped and optimally doped La_2?x Sr _x CuO₄. The inhomogeneities disappear for x ≥ 0.2. The evidence for the charge inhomogeneities comes from an anomalous increase in the inplane Cu–O bond length distribution in the underdoped samples as well as evidence for CuO₆ octahedral tilt inhomogeneities in the intermediate range structure. Preliminary analysis of the temperature dependence of this phenomenon indicates that the inhomogeneities set in at temperatures in the range 60 K < T _co < 130 K, which depends on doping.     

Polyamine detection system for high-performance liquid chromatography involving enzymatic and chemiluminescent reactions

We have developed a new specific detection system for polyamines, separated by high-performance liquid chromatography, to replace the usual o-phthalaldehyde (OPA) postlabeling method. This system utilizes a chemiluminescent reaction to determine the amount of hydrogen peroxide generated through the enzymatic oxidation of polyamines. With this method, as little as 5 pmol of putrescine could be accurately determined (S/N = 4), and linearity between the amount of this polyamine and the relative chemiluminescence intensity was observed up to 500 pmol. In the cases of cadaverine, spermidine, and spermine, the linearity continued to 1 nmol. The within-assay coefficients of variation for these four polyamines ranged between 0.97% and 2.03%. As compared with the OPA method, the new method is highly specific for polyamines due to the high specificity of the enzyme used. Another advantage of the new method is the direct determination of polyamines in urine samples that contain various compounds that interfere with the OPA method.     

Ultrasonic speeds and densities of poly(dimethylsiloxane) (viscosity grades 30 and 50×10−4 m · s−1) at 298.15, 303.15, and 308.15 K under high pressures

The ultrasonic speeds and densities of poly(dimethylsiloxane), viscosity grades 30 and 50×10^–4 m · s^–1 at 298.15 K, were measured at 298.15, 303.15, and 308.15 K. The measurements were carried out using new apparatuses, one for measurement of the speed under pressures up to 200 MPa and another for measurement of the density under pressures up to 100 MPa. The former is constructed with a sing-around technique of the fixed-path type operated at a frequency of 2 MHz, and the latter is a dynamic bellows piezometer. The probable uncertainty in the present results is within ±0.23% for speed and ±0.19% for density for all the experimental conditions. The ultrasonic speed in these fluids at first increases rapidly with pressure and then indicates a mild rise in the highpressure region. Similar pressure effects are observed for the density. The relationship between the speed and the density satisfied a first-order function well. The isentropic compressibility, derived from the speed and density, also showed a large pressure effect. The values and its pressure effects seemed almost independent of the viscosity of poly(dimethylsiloxane).     

Prognosis of completely asymptomatic adult patients with hypertrophic cardiomyopathy

OBJECTIVES: We investigated the long-term prognosis of completely asymptomatic adult patients with hypertrophic cardiomyopathy (HC). Diagnosis of HC was suspected because of an abnormal electrocardiogram and/or cardiac murmur and confirmed by echocardiography and/or left ventricular angiography, and hemodynamic investigation. BACKGROUND: Hypertrophic cardiomyopathy shows marked heterogeneity in clinical expression and prognosis. The prognosis of asymptomatic patients with HC has not been fully defined. METHODS: Of 128 consecutive adult patients with HC, 58 asymptomatic patients (Group 1, mean age 42.8 years) and 70 symptomatic patients (Group 2, mean age 50.4 years) were studied to assess cardiac mortality. Mean follow-up periods were 11.0 years for Group 1 and 9.1 years for Group 2. RESULTS: At presentation, Group 1 patients were younger and had smaller left atrial dimensions than did Group 2 patients. The annual cardiac mortality rate and the rate for sudden death alone in Group 1 were significantly lower than in Group 2 (0.9% vs. 1.9%, p < 0.05, 0.1% vs. 1.4%, p < 0.05, respectively). Although about one-third of the survivors in Group 1 had cardiac symptoms at their most recent evaluation, only one patient died suddenly compared with eight in Group 2. The annual mortality rate due to heart failure was similar in each group. Only a syncopal episode was associated with both cardiac death and sudden death for both groups combined. CONCLUSIONS: The cardiac mortality rate for completely asymptomatic adult patients with HC was very low, significantly lower than that of symptomatic patients, and there was a disproportionately low incidence of sudden death.     

Experimental verification for stability improvement of sensorless vector control system of induction motor using real‐time tuning of observer gain

This paper proposes a method for the design of the adaptive rotor flux observer gain to improve stability at low speed and in regenerating mode. The method is based on stability analysis, which utilizes a linearized model considering all systems, including each control loop. Therefore, the proposed method considers the effects of motor constants and control circuit constants. The stability analysis using the transfer function for the rotor speed considers the arrangement of poles and zeros and the steady‐state error. The rotor flux observer gain which improves the stability for each operating condition is ascertained. This paper also proposes a real‐time tuning method for the observer gain. The validity of the proposed method was confirmed by simulation using Matlab Simulink and by experiment. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 166(1): 67–81, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20715