Microprocessor-Based Decoupled Control of Manipulator Using Modified Model-Following Method with Sliding Mode

A methodology of discontinuous feedback and continuous feedforward control is developed to achieve accurate decoupled tracking in a class of nonlinear, time varying systems in the presence of disturbances, parameter variations and nonlinear dynamic interactions. The method is based on an improved variable structure control with a sliding mode.     

Current distribution in superconducting multistrands for ac use before and after quenching

A superconducting multistranded cable is used to realize high current capacity for ac use. The critical current value of the cable is reported to be less than the simple summation of the individual critical current value of each strand. The causes for such a degradation of the critical current value have not been revealed. This paper investigates the current distribution in multistrands before and after their quenching by using seven-strand superconducting cable and 7x7 cable. The following experimental results are derived: (1) the quenching is initiated at one strand in the cable; (2) the current in the quenched strand is transferred into the other strands; (3) an avalanche of quenching is induced among the strands; and (4) the central strand is quenched finally among the strands. The critical current values of the 7- and 7 × 7-stranded cables also are measured. These values are in good agreement with the predicted values based on the mutual inductance among the strands. It is concluded that the unbalance of the current distribution in the superconducting multistrands can be one of the promising causes for the degradation of the critical current value.     

Development of extruded ethylene propylene rubber insulated superconducting cable

A superconducting power cable is one of the promising ways of underground transmission of huge electric power in the future. The authors have long proposed the idea of the extruded polymer insulation for superconducting cables. The prominent features of the design are to exploit the excellent electrical properties of polymer in the cryogenic temperatures and to separate the helium coolant from the electrical insulation. Although the extruded cross-linked polyethylene cable has proved ability at the liquid nitrogen temperature, the cable insulation cracked due to mechanical stress during cooling to the liquid helium temperature. To overcome this problem, ethylene propylene rubber (EPR) was selected as a new insulating material considering the good results of mechanical and electrical tests of EPR samples at cryogenic temperatures. An extruded EPR insulated superconducting cable 15 m in length was fabricated and a cooling test down to the liquid helium temperature and a voltage test at the liquid helium temperature were carried out with fair success. This is a breakthrough in terms of the electrical insulation design of cryogenic cables.     

Calculation of magnetic near field generated by the contact discharge of an ESD gun

An ESD (electrostatic discharge) testing is specified in the IEC 61000‐4‐2, in which the detailed waveform of the discharge current injected by an ESD gun is prescribed. However, due to lack of understanding of the discharge process, it is difficult to confirm whether or not the IEC current waveform can be injected onto actual equipment. We thus previously proposed an equivalent circuit model for the ESD gun based on its geometrical structure, and showed decisive factors for the discharge current. In this study, in order to confirm the feasibility of the above equivalent circuit model, we measured with a 6‐GHz wide‐band digital oscilloscope the discharge current through an SMA connector and the resultant magnetic near field for the contact discharge of an ESD gun. As a result, we found that both measured waveforms approximately agree with those calculated from our equivalent circuit model. We then measured with respect to charge voltages the magnetic near fields for the contact discharge of the ESD gun to the ground, which revealed that the measured waveform around the first peak is in fair agreement with the calculated one. Furthermore, we found that the magnetic field peak increases with increasing charge voltage, whose dependence can be predicted from our equivalent model. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 153(1): 17–24, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20194     

Performance of passive heat removal by an air‐cooling panel from a high‐temperature gas‐cooled reactor

An experiment was performed to simulate an air‐cooling panel system for passive decay heat removal from a high‐temperature gas‐cooled reactor to investigate the performance of decay heat removal and the temperature distributions of components of the system. The experimental apparatus consisted of a pressure vessel 1 m wide and 3 m high. Nineteen simulated standpipes containing heaters with a maximum heating rate of 100 kW simulated residual heat of the core, and the cooling panels surrounded the pressure vessel. An analytical code (THANPACST2) was applied to the experimental data to investigate the validity of the analytical method and the model proposed. Under the conditions of helium gas at a pressure of 0.64 MPa and temperature of 514 °C in the pressure vessel, the predicted temperature distribution in the pressure vessel was estimated and was within ?10 to +50 °C as compared to the experimental data. The analysis indicated that the heat transferred to the cooling panel was 15.4% less than the experimental value. © 2002 Wiley Periodicals, Inc. Heat Trans Asian Res, 31(8): 665–677, 2002; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/htj.10061     

Brominated and organophosphate flame retardants in selected consumer products on the Japanese market in 2008

The concentrations of traditional brominated flame retardants (BFRs) and organophosphate flame retardants (OPFRs) in new consumer products, including electronic equipment, curtains, wallpaper, and building materials, on the Japanese market in 2008 were investigated. Although some components of the electronic equipment contained bromine at concentrations on the order of percent by weight, as indicated by X-ray fluorescence analysis, the bromine content could not be fully accounted for by the BFRs analyzed in this study, which included polybrominated diphenylethers, decabromodiphenyl ethane, tetrabromobisphenol A, polybromophenols, and hexabromocyclododecanes. These results suggest the use of alternative BFRs such as newly developed formulations derived from tribromophenol, tetrabromobisphenol A, or both. Among the 11 OPFRs analyzed, triphenylphosphate was present at the highest concentrations in all the products investigated, which suggests the use of condensed-type OPFRs as alternative flame retardants, because they contain triphenylphosphate as an impurity. Tripropylphosphate was not detected in any samples; and trimethylphosphate, tributyl tris(2-butoxyethyl)phosphate, and tris(1,3-dichloro-2-propyl)phosphate were detected in only some components and at low concentrations. Note that all the consumer products evaluated in this study also contained traditional BFRs in amounts that were inadequate to impart flame retardancy, which implies the incorporation of recycled plastic materials containing BFRs that are of global concern.     

In situ measurement of lithium mass transfer during charging and discharging of a Ni–Sn alloy electrode

The charging (lithiation) and discharging (delithiation) of a Ni–Sn alloy electrode was examined by means of holographic interferometry and laser scanning confocal microscopy (LSCM). The developing concentration profile of Li⁺ ion during discharging (delithiation) of the Ni–Sn alloy electrode agreed reasonably well with the prediction based on transient diffusion theory, indicating that the cell configuration successfully suppressed natural convection due to the electrochemical reaction. The morphological variation of Ni–Sn alloy electrode during charge/discharge cycle could be observed very clearly by in situ LSCM. It was found that the contraction of active material during the discharge (delithiation) initiates cracks in the Ni–Sn alloy electrode.     

A versatile planar QCM-based sensor design for nonlabeling biomolecule detection

Despite high theoretical sensitivity, low-cost manufacture, and compactness potentially amenable to lab-on-a-chip use, practical hurdles have stymied the application of the quartz crystal microbalance (QCM) for aqueous applications such as detection of biomolecular interactions. The chief difficulty lies in achieving a sufficiently stable resonance signal in the presence of even minute fluctuations in hydrostatic pressure. In this work, we present a novel versatile planar sensor chip design (QCM chip) for a microliter-scale on-line biosensor. By sealing the quartz resonator along its edges to a flat, solid support, we provide uniform support for the crystal face not exposed to solvent, greatly decreasing deformation of the crystal resonator under hydrostatic pressure. Furthermore, this cassette design obviates the need for direct handling when exchanging the delicate quartz crystal in the flow cell. A prototype 27-MHz sensor signal exhibited very low noise over a range of flow rates up to 100 microL/min. In contrast, signals obtained from a conventional QCM sensor employing an O-ring-based holder were less stable and deteriorated even further with increasing flow rate. Additional control designs with intermediate amounts of unsupported undersurface yielded intermediate levels of stability, consistent with the interpretation that deformation of the crystal resonator under fluctuating hydraulic pressure is the chief source of noise. As a practical demonstration of the design's high effective sensitivity, we readily detected interaction between myoglobin and surface-bound antibody.     

Control strategies for transients of hydrogen production plant in VHTR cogeneration systems

Operability of Very High Temperature Reactor (VHTR) hydrogen cogeneration systems in response to abnormal transients initiated by the hydrogen production plant is one of the important concerns from economical and safety points of views. The abnormal events in the hydrogen production plant could initiate load changes and induce temperature variations in a primary cooling system. Excessive temperature increase in the primary cooling system would cause reactor scrams since the temperature increase in the primary cooling system is restricted in order to prevent undue thermal stresses from reactor structures. Also, temperature decrease has a potential propagation path for reactor scrams by reactivity insertions as a consequence of the reactivity feedbacks. Since suspensions of reactor operation and electricity generation should be avoided even in case of abnormal events in the hydrogen production plant from an economical point of view, an establishment of a control scheme against abnormal transients of hydrogen production plant is required for plant system design.In the present study, basic controls and their integration for the GTHTR300C, a VHTR cogeneration system designed by JAEA with a direct Brayton cycle power conversion unit and thermochemical Iodine-Sulfur process hydrogen production plant (IS hydrogen production plant), against abnormal transients of IS hydrogen production plant are presented. Transient simulations for selected load change events in the IS hydrogen production plants are performed by an original system analysis code which enables to evaluate major phenomena assumed in process heat exchangers of the IS hydrogen production plant.It is shown that abnormal load change events are successfully simulated by the system analysis code developed. The results demonstrated the technical feasibility of proposed controls for continuous operation of the reactor and power conversion unit against load change events in the IS hydrogen production plant.     

Sampling Rate Evaluation Of NO2 Badge: (I) In Indoor Environments

The sampling rate of a nitrogen dioxide (NO²) passive sampling badge was evaluated in indoor environments including an unoccupied research house, residential houses, and an office. Measurements from the NO² badges were compared with those of a chemiluminescent analyzer the EPA reference method, by placing them near to the sample inlet of the chemiluminescent analyzer In this study, we used a new sampling rate for the NO² badge placed in indoor environments (an overall mass transfer coefficient of 0.10 cm/s) smaller than the rate previously reported for the badge when used outdoors. The new rate provides more accurate measurements of NO, concentrations in indoor environments. Indoor NO² concentrations were also measured with the NO² badges exposed to a constant wind velocity provided by a wind tunnel. Since the measurements of the badge with a constant wind velocity agreed well with the reference method, the badges could be assumed to be a secondary reference measurement. With the badges used as the secondary reference measurement, we developed a portable wind tunnel to evaluate a personal exposure measurement by the badge. The results are presented in Environment International (Lee et al., 1993). Precision of the badge measurements was as good as an intraclass correlation coefficient of 0.9779. It was determined that placement of the badge should be at least 10 cm out from an indoor wall surface to avoid undersampling due to NO² gradients near the surface.