Intelligent manipulator system with nonsymmetric and redundant master-slave

Some work is so complicated and unsteady that it is not possible to use automatic robots, such as FA robots. In such a case, a teleoperated manipulation system is applied. In this research, the authors aim at a reduction in the operator's physical and mental burdens. An artificially intelligent manipulator system has been developed with nonsymmetric and redundant master-slave. This system has five features: (1) a polar coordinates master arm; (2) a highly operational articulated slave arm with 7 degrees of freedom; (3) a nonsymmetric configuration and different degrees of freedom master-slave control; (4) an expert system; and (5) a new master-slave control motion, which makes the operator's task easier with automatic force/position control. The system was experimentally produced and its performance tested and evaluated. A qualitative evaluation was carried out by conducting a comparative test on the conventional master-slave control and the new master-slave control. It was found to be effective in reducing operating time, as well as work-induced fatigue.     

Formation of dityrosine and other fluorescent amino acids by reaction of amino acids with lipid hydroperoxides

Formation of fluorescence by the reaction of various amino acids with lipid hydroperoxides,i.e., linoleic acid 13-monohydroperoxide, methyl linoleate 13-monohydroperoxide and phosphatidylcholine hydroperoxide, in the presence of methemoglobin was investigated. Two types of fluorescence were produced: fluorescent dityrosine (3,3′-dityrosine) from tyrosine, and unidentified fluorophores with α- and ε-amino groups of various amino acids. While the former was stable after treatment with borohydride, the latter fluorophores were readily destroyed. The rate of dityrosine formation was rapid, and the yield of dityrosine was dependent on the concentrations of tyrosine and the lipid hydroperoxides. Butylated hydroxytoluene and tocopherol inhibited the formation of dityrosine, but did not affect the formation of fluorophores on the amino groups. Dityrosine appears to be formed by radical reaction of the lipid hydroperoxides, while the other fluorophores seem to be created by nonradical mechanisms.     

Hydrothermal upgrading of wood biomass: Influence of the addition of K2CO3 and cellulose/lignin ratio

The hydrothermal treatment of two different wood biomass samples such as cherry (hard wood) and cypress (soft wood), whose composition is different i.e. lignin, cellulose and hemicellulose were performed at 280 °C for 15 min with aq. K₂CO₃ with different concentrations (0–1 M). The soft wood biomass contains higher lignin content than hard wood biomass. The cellulose rich cherry wood biomass produced higher proportion of acetic acid than cypress. The lignin rich cypress produced the hydrocarbons with major portion of phenolic hydrocarbons and derivatives than cherry. The total oil yields from both cherry and cypress wood biomass produced 50 wt% of liquid hydrocarbons at 280 °C for 15 min with 0.5 M K₂CO₃ solution. The volatility distribution of liquid hydrocarbons showed the characteristic features of soft and hard wood biomasses.     

Effect of functional group of ferrocene redox substance on the transport properties of newly designed ion exchange membrane prepared from polymer gel

A different newly designed cationic exchange polymer membrane and anionic exchange polymer membrane were introduced, and also the transport properties of these polymeric membranes were investigated in this study. The transport properties of these polymer membranes in contact with ferrocene redox derivatives were estimated by using electrochemical techniques such as cyclicvoltammetry, chronopotentiometry, and chronoamperometry techniques, respectively. The used ferrocene redox substances, which have different functional groups, were (Ferrocenylmethyl) trimethylamonium iodide, FcMA, Ferrocenedimethanol, FcDM, and Ferrocene carboxylic acid, FcCA. It indicated that the performance of a membrane depended on the content of polymer gel, anionic exchange polymer site (20 wt % and 50 wt %) or cationic polymer exchange site (20 wt % and 50 wt %), and the efficiency of the functional groups of cationic and anionic exchange polymer site as well. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Effect of 8 MeV electron irradiation on electrical properties of CuInSe2 thin films

Radiation damages due to 8 MeV electron irradiation in electrical properties of CuInSe₂ thin films have been investigated. The n-type CuInSe₂ films in which the carrier concentration was about 3×10¹⁶ cm⁻³, were epitaxially grown on a GaAs(0 0 1) substrate by RF diode sputtering. No significant change in the electrical properties was observed under the electron fluence <3×10¹⁶ e cm⁻². As the electron fluence exceeded 10¹⁷ e cm⁻², both the carrier concentration and Hall mobility slightly decreased. The carrier removal rate was estimated to be about 0.8 cm⁻¹, which is slightly lower than that of III–V compound materials.     

Accelerator Analysis of Tributyltin Adsorbed onto the Surface of a Tributyltin Resistant Marine Pseudoalteromonas sp. Cell

Tributyltin (TBT) released into seawater from ship hulls is a stable marine pollutant and obviously remains in marine environments. We isolated a TBT resistant marine Pseudoalteromonas sp. TBT1 from sediment of a ship’s ballast water. The isolate (10^{9.3 ± 0.2} colony-forming units mL⁻¹) adsorbed TBT in proportion to the concentrations of TBTCl externally added up to 3 mM, where the number of TBT adsorbed by a single cell was estimated to be 10^8.2. The value was reduced to about one-fifth when the lysozyme-treated cells were used. The surface of ethanol treated cells became rough, but the capacity of TBT adsorption was the same as that for native cells. These results indicate that the function of the cell surface, rather than that structure, plays an important role to the adsorption of TBT. The adsorption state of TBT seems to be multi-layer when the number of more than 10^6.8 TBT molecules is adsorbed by a single cell.     

Ideal crosslinked-polymers and their characterization in free-radical monovinyl-divinyl copolymerizations

The critical conditions in which the classical Flory-Stockmayer gelation theory (F-S theory) is applicable to monovinyl-divinyl copolymerizations were pursued in detail. The resulting prepolymers or precursors of ideal crosslinked-polymers were characterized as standard polymers for the discussion of network formation in free-radical monovinyl-divinyl copolymerizations. Methyl methacrylate was copolymerized with a small amount of ethylene dimethacrylate, butylene dimethacrylate or nonapropyleneglycol dimethacrylate in the presence of lauryl mercaptan, a chain transfer agent to reduce the occurrence of a thermodynamic excluded volume effect and intramolecular crosslinking as the primary and secondary factors, respectively, for the greatly delayed gelation in the free-radical monovinyl-divinyl copolymerizations and, moreover, to keep the primary chain length constant by inhibiting a gel effect. The ratio of the actual gel point to the theoretical one reached 1.1, supporting the validity of F-S theory. The resulting prepolymers were subjected to SEC-MALLS analysis to determine the molecular weights, the molecular-weight distributions and the radii of gyration; the correlations of molecular weight vs. elution volume and radius of gyration vs. molecular weight were useful for the characterization of the precursors of ideal network-polymers.     

Theory and characteristics of novel variable reluctance 1X resolver

Although brushless resolvers have been used widely as angular position transducers, they are expensive due to their intricate construction, involving a rotary transformer to supply the exciting coils wound on the rotor poles with the current. It is shown theoretically in this paper that the resolver without rotary transformer or brushes can be realized by simple construction, which consists of the stator core with both 4-poles exciting windings and 2-poles output ones and the rotor core carrying no windings. In this resolver the rotor core has minimum gap at one side and a maximum gap at another side of the diameter. It is characterized by an outer surface form that makes the fluctuation part of gap permeance very in proportion to cos θ, where θ represents the angular position of a point in the air gap with respect to the origin on the rotor, the point of minimum air gap. The method determining the rotor form to embody the aforementioned gap permeance variation is also shown. It has been confirmed not only by simulation but also experiment that the 2-phase output voltages of a model designed based on the theory have sinusoidal waveforms with very small harmonic contents. Moreover, the rotor position detected by processing the output voltages through the conventional resolver/digital converter was within acceptable engineering accuracy.     

Online-Religion in Japan: Websites and Religious Counseling from a Comparative Cross-Cultural Perspective

This article considers the nature of online religion by examining the websites and religious counseling activities conducted by new Japanese religions. Beginning with an overview of the widespread use of the Internet in Japan and its use in religion, the article examines the cultural and social factors that keep the religious use of the Internet from becoming as pervasive in Japan as it is in the U.S. The article then describes a website with elements of online religion and the Internet-based religious counseling services being provided by ministers of the new Shintō-derived religions of Konkōkyō and Tenrikyō. These activities have successfully given some people who need religious assistance access to religious teaching. In concluding, the article examines the reasons for the success of these efforts, as well as the reasons why they have not expanded in scope, in light of the cultural and organizational advantages and disadvantages that affect Internet use.