Component-based robot system design for grasping tasks

The paper presents a robot system design with highly reusable components for a component-based robot system for manipulation tasks. The robot system is designed based on the analysis of manipulation tasks using a unified modeling language use case diagram. For a service robot with locomotion and manipulation mechanisms, reusability of robot system components is improved by adopting the proposed design. Our structure consists of scenario, task, robot information management server, data analyzer, sensor hardware controller, skill, and motion hardware controller on a component-based robot system. Based on the proposed robot system, we implemented a component-based robot system and subsequently realized a grasping motion by a service robot.     

Moving pick‐up‐type contactless power transfer systems and their efficiency using series and parallel resonant capacitors

The equivalent circuit, the efficiency, and the important characteristics of moving pick‐up type contactless power transfer systems are described. If the primary series capacitor and the secondary parallel capacitors are chosen correctly and the winding resistances are ignored, the equivalent circuit of the transformer with these capacitors becomes the same as an ideal transformer at the resonant frequency. This simple approximation helps to understand the phenomena occurring with load changes. Because the circuit analysis becomes simple, the approximate value of the power transfer efficiency can be derived. This paper describes the determination of the capacitor values, the derivation of the equivalent circuit and the efficiency, and test results. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 172(2): 47–54, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20970     

Quail egg yolk (Coturnix coturnix japonica) enriched with omega-3 fatty acids

This experiment was carried out with 58-week old laying quails (Coturnix coturnix japonica) assigned to four treatment groups with eight quails per replication in six repetitions in a completely randomized design. The treatments consisted of diets with different levels of flaxseed (0, 1.5, 3.0, and 5.0%). The amounts of cholesterol and total lipids and the fatty acid composition of quail egg yolk were determined in four 21-day cycles. No difference was found in cholesterol levels between the four treatments and the four cycles. The increased ingestion of linolenic acid (LNA) in diet reduced the formation of arachidonic acid (AA) significantly. The 3.0 and 5.0% treatment groups presented a reduction in total saturated fatty acids (TSFA) with the increase in percent flaxseed in feed comparatively to the control value. The n-3 fatty acid level was high in all treatments when compared to that of the control group. The n-6/n-3 ratio decreased from 21.30 (control) to 4.52 (5.0%), which is a better value from the nutritional viewpoint.     

Synergistic effect of Pt or Pd and perovskite oxide for water gas shift reaction

The water gas shift (WGS) reaction over Pt and Pd catalysts supported on various perovskite oxides has been investigated at 573 K without catalyst pretreatment. The Pt and Pd catalysts on LaCoO₃ support showed high catalytic activity. Interaction between Pt or Pd and the support is considered to promote the WGS reaction: Pt/LaCoO₃ had high initial activity but deactivated immediately; Pd/LaCoO₃ was less active than Pt/LaCoO₃, but had superior stability. Catalysts were characterized using XRD, STEM, XPS, and H₂-temperature programmed reduction (TPR). Results of this study showed that reduction of the support decreased the CO conversion on Pt/LaCoO₃. On the other hand, Pd/LaCoO₃ showed stable activity for the WGS reaction. Therefore, Pd was added to Pt/LaCoO₃ for stabilizing the catalyst activity, and 0.5 wt.% Pd/1 wt.% Pt/LaCoO₃ catalyst showed higher activity and stability.     

Functional binders for reversible lithium intercalation into graphite in propylene carbonate and ionic liquid media

Poly(acrylic acid) (PAA), poly(methacrylic acid) (PMA), and poly(vinyl alcohol) (PVA), which have oxygen species as functional groups, were utilized as a binder for graphite electrodes, and the electrochemical reversibility of lithium intercalation was examined in PC medium and ionic liquid electrolyte, lithium bis(trifluoromethanesulfonyl)amide dissolved in 1-butyl-1-methylpyrrolidinium bis(trifluoromethanesulfonyl)amide (BMP-TFSA). Columbic efficiency of 75–80% with more than 300 mAh g^?1 was achieved upon first reduction/oxidation cycle in both electrolytes using these binding polymers, which were significantly improved in comparison to a conventional PVdF binder (less than 45% of columbic efficiency for the first cycle). For the graphite-PVdF electrode, co-intercalation and/or decomposition of PC molecules solvating to Li ions were observed by the electrochemical reduction, resulting in the cracking of graphite particles. In contrast, the co-intercalation and decomposition of PC molecules and BMP cations for the first reduction process were completely suppressed for the graphite electrodes prepared with the polymers containing oxygen atoms. It was proposed that the selective permeability of lithium ions was attained by the uniform coating of the graphite particles with PAA, PMA, and PVA polymers, because the electrostatic interaction between the positively charged lithium ions and negatively charged oxygen atom in the polymer should modulate the desolvation process of lithium ions during the lithium intercalation into graphite, showing the similar functions like artificial solid-electrolyte interphase.     

Formation of a Network Structure in the Gaseous Reduction of Magnetite Doped with Alumina

Reduction of un-doped magnetite is developed topochemically with the formation of a dense iron shell. However, the reduction of alumina-doped magnetite to wüstite proceeds with the formation of a network-like structure which consists of criss-crossed horizontal and vertical plates of wüstite. Reduction of magnetite includes the conversion of Fe³⁺ to Fe²⁺ and the movement of iron cations from the tetrahedral sites on the {400} and {220} planes of magnetite to the octahedral sites on the {200} planes of wüstite. Alumina has a negligibly small solubility in wüstite. In the reduction of magnetite doped with Al₂O₃, rejected Al³⁺ cations from wüstite diffuse to the magnetite–hercynite solid solution. Enrichment of the Fe₃O₄–FeAl₂O₄ solution with alumina in the vicinity of the reduction interface restricts the growth of {220} planes of wüstite and nucleation of {220} planes adjusted to the existing planes, preventing the merging of wüstite plates during the reduction process. Reduction of magnetite from the magnetite–hercynite solid solution practically stops when the Al³⁺ content at the interface approaches the solubility limit. Wüstite in the separated plates is reduced further to iron.     

Cholesterol and fatty acids profile of Brazilian commercial chicken giblets

This study was carried out to determine the chemical composition, cholesterol contents and fatty acids profile of Brazilian commercial chicken giblets. The analysis were performed in gizzard, liver and heart in natura and also in cooked gizzard, fried liver and roasted heart. Fat and cholesterol contents ranged from 0.88% and 72.68 mg/100 g, in cooked gizzard, to 22.19% and 213.18 mg/100 g, in roasted heart. As the fat content gets higher, so does the cholesterol content. Palmitic (C16:0) and stearic acids (C18:0) were the predominant saturated fatty acids (SFA). The C16:0 ranged from 6.39% in cooked gizzard to 18.51% in fried liver. The C18:0 level ranged from 6.62% in roasted heart to 19.19% in cooked gizzard. Linoleic acid (C18:2 omega 6) was the predominant polyunsaturated fatty acid (PUFA). The data revealed that the three different analysed giblets presented a good PUFA/SFA ratio, with values of 1.11, 1.14 and 1.40 for cooked gizzard, fried liver and roasted heart, respectively.     

Crystal growth and structure analysis of twin-free monoclinic hydroxyapatite

Single crystals of hydroxyapatite were grown by a flux method using Ca₃(PO₄)₂ and Ca(OH)₂ under 100 MPa of Ar gas. The crystals obtained had stoichiometric composition of Ca₁₀(PO₄)₆(OH)₂ and some of them were twin-free single crystals. From X-ray diffraction analyses, the space group was confirmed to be monoclinic P2₁/b with cell parameters a=0.9419(3) nm, b=1.8848(6) nm, c=0.6884(2) nm, and =119.98(2)°. The detailed crystal structure was determined with a reliability factor R_w=0.033; the O atoms of OH were located just on the 2₁ axis while the H atoms of OH occupied the positions a little deviated from the 2₁ axis. The origin of this structure was ascribed to the formation of hydrogen bonds between the H atoms of the OH ions and the specific O atoms of the PO₄ ions.     

Protective layer for high‐efficiency PDPs driven at low voltage

Abstract— The sustain pulse voltage of a panel for 66‐kPa Ne + Xe (5–30%) with an (SrCa)O protective layer is 20–40% lower than that with an MgO protective layer. The luminous efficiency of the panel with a Ne + Xe (30%) (SrCa)O protective layer is 1.5 times that of the conventional panel with a Ne + Xe (10%) MgO protective layer; the sustain pulse voltages of these panels are almost the same. The power loss caused by panel capacitance is proportional to the second power of the sustain pulse voltage. Using the (SrCa)O protective layer for Xe (5–30%), the power loss is reduced by 35–60% compared with the MgO protective layer. It follows that, using the (SrCa)O protective layer, we can increase the Xe content with little power loss and thus achieve high‐efficiency PDPs. As for MgO and CaO with Xe ions, electrons are probably ejected from only the defect states. On the other hand, as for the SrO with Xe ions, it is likely that electrons can be ejected from not only defect states but also the valance band. This seems to be the reason why the driving voltage is lower with the (SrCa)O protective layer than with the MgO protective layer.