Force estimation via physical properties of air cushion for the control of a human-cooperative robot: basic experiments

For the control of a human-cooperative robot (HCR) using a soft material, we aim to verify, in this study, the usefulness of force estimation via physical properties of an air cushion. First, the physical model of the air cushion was represented by an air cylinder with a piston, which is subject to constraint by nonlinear elasticity. Second, the elastic properties of the air cushion were examined under the assumption that it can be formulated by a function of pneumatic pressure. The force applied to the air cushion was next estimated on the basis of the physical model, and the HCR was successfully controlled according to the estimated force.     

The effects of a convex rear-view mirror on ocular accommodative responses

Convex mirrors are universally used as rear-view mirrors in automobiles. However, the ocular accommodative responses during the use of these mirrors have not yet been examined. This study investigated the effects of a convex mirror on the ocular accommodative systems. Seven young adults with normal visual functions were ordered to binocularly watch an object in a convex or plane mirror. The accommodative responses were measured with an infrared optometer. The average of the accommodation of all subjects while viewing the object in the convex mirror were significantly nearer than in the plane mirror, although all subjects perceived the position of the object in the convex mirror as being farther away. Moreover, the fluctuations of accommodation were significantly larger for the convex mirror. The convex mirror caused the 'false recognition of distance', which induced the large accommodative fluctuations and blurred vision. Manufactures should consider the ocular accommodative responses as a new indicator for increasing automotive safety.     

Preparation method for supported metal catalysts using w/o microemulsion: Study on immobilization conditions of metal particles by hydrolysis of alkoxide

It was previously found that the silica-supported rhodium catalyst prepared using water-in-oil microemulsion had rhodium particles partly, or wholly, embedded in silica. In this work, consequently, we investigated the effect of hydrolysis conditions of tetraethylorthosilicate, employed as the source of silica, on the atomic ratio of surface rhodium in contact with the gas phase, to total surface rhodium of nanoparticles. This ratio is denoted as R in this paper. R became higher when the catalyst was prepared under the following hydrolysis conditions: a shorter hydrolysis time and a smaller amount of tetraethylorthosilicate. On the other hand, R showed the minimum value when the water content in the preparation solution was 33 vol%. From these results, it is demonstrated that it was important to form silica as early as possible in hydrolysis of TEOS in order to increase R values. In addition, the effect of R on the catalytic behavior in CO hydrogenation was investigated. At R values below 30%, the turnover frequencies increased with a decrease in R.     

Thermal and optical properties of epoxy/zirconia hybrid materials synthesized via in situ polymerization

Epoxy/zirconia hybrid materials were synthesized from a bisphenol-A type epoxy resin, zirconium-tetra-n-propoxide and acetic acid via in situ polymerization. Acetic acid was used to control the hydrolysis and condensation reaction of the zirconium-tetra-n-propoxide. As a result, the zirconia produced by the in situ polymerization was uniformly dispersed into the epoxy matrix on a nano scale or less, and the hybrid materials exhibited an excellent optical transparency. With the increasing zirconia contents, the storage modulus in the rubbery region increased and the peak area of tanδ in the glass transition temperature region decreased. These results indicate that their heat resistance of the hybrid materials could be improved by hybridization with zirconia. Furthermore, the refractive indices of the hybrid materials were significantly improved with the increasing zirconia contents.     

Comparison of enteral nutrition with combined enteral and parenteral nutrition in post-pancreaticoduodenectomy patients: a pilot study

Background  

Many clinical studies have demonstrated that early postoperative enteral nutrition (EN) improved the postroperative course. Post-pancreaticoduodenectomy (PD), patients tend to suffer from postoperative nausea, abdominal distention, and diarrhoea, causing difficulty in the introduction of EN. In this pilot study, we investigated the appropriate nutritional mode post-pancreatic surgery.     

Parallel processing of network calculations in order to speed up transient stability analysis

Power systems have become very large, and in addition the forthcoming open electricity market will make power system operation more complex. Therefore, power system operation must become more efficient and flexible. Very fast power system simulation is a means of achieving more sophisticated power system on‐line monitoring and control, and parallel computing is a key technology for very fast power system simulation. This paper proposes an efficient and fast parallel network calculation algorithm that will contribute to the development of fast power system simulation programs. Numerical examples show that the proposed method using six processors is about 4.0 times as fast as the usual serial algorithm when applied to a large‐scale radial power system and about 3.2 times as fast when applied to a large‐scale loop power system. © 2001 Scripta Technica, Electr Eng Jpn, 135(3): 26–36, 2001     

Influence of the methyl group on the dielectric constant of boron carbon nitride films containing it

LSI interconnect insulators made using low dielectric constant (low-k) materials are required for high performance devices with a small RC delay. We investigated a boron carbon nitride film containing the methyl group (Me–BCN) using tris-di-methyl-amino-boron (TMAB: B[N(CH₃)₂]₃) gas as a low-k material. In addition, we studied the influence of the methyl group on the dielectric constant (k-value) and the properties of the Me–BCN films. It was found that the k-value of the Me–BCN films decreases with increasing number of C–H bonds due to the methyl group (CH₃). The number of O–H bonds due to water incorporation is suppressed by increasing the number of C–H bonds. Consequently, we suggested that a lower k-value can be realized by the suppression of water invasion by a hydrophobic surface due to methyl bonds. Thus, the control of the methyl group is important to achieve a low-k material using Me–BCN films.     

Water wettability/non-wettability of polymer materials by molecular orbital studies

The water wettability and non-wettability onto various kinds of polymers, which have so far been macroscopically described by the water contact angle, were investigated using the molecular orbital theory. An atomistic model consisting of an H₂O molecule and a selected polymer crystal surface was analyzed in the isolated and the physisorbed states. The degree of interaction between the water molecule and the polymer surface was evaluated by considering the change of Mulliken charge at the oxygen site in the water molecule, and also the work of adhesion during the physisorption process. Such energetic quantities for several polymers were compared with the macroscopic water wettability/non-wettability. We found fairly good agreement between these approaches for the highly non-wettability polymers.     

Characterization of polystyrene-binding peptides (PS-tags) for site-specific immobilization of proteins

In this study, we characterized polystyrene-binding peptides (PS-tags) that possess a specific binding affinity for hydrophilic polystyrene (phi-PS) plates. Both the FITC-labeled PS19-1 (RAFIASRRIKRP) and PS19-6 (RIIIRRIRR) peptides showed strong binding affinity for commercially available hydrophilic, but not hydrophobic, PS plates in the presence of the non-ionic surfactant Tween 20. The dissociation constants (K_d) of the PS19-1 and PS19-6 peptides for the hydrophilic PS-A plate were 169 and 86 nM, respectively, and the K_d of both peptides increased with the concentration of NaCl or urea. Based on adsorption yield and residual activity of glutathione S-transferase (GST) after fusion with the PS19-6 peptide or its variants, it was found that the basic amino acid in the PS-tags, i.e., Arg was essential for the strong binding affinity of PS-tags in both the peptide and peptide-fused protein forms The aliphatic amino acids in PS19-6 and PS19-6L, such as Ile or Leu, were also effective. Thus, a series of PS-tags that possess this unusual feature, especially the peptides PS19-6 (RIIIRRIRR) and PS19-6L (RLLLRRLRR), are potential candidate affinity peptide tags for site-specific immobilization of proteins onto hydrophilic PS plates, which show potential as solid supports for protein-based biochips.     

Design and evaluation of orifice arrangement for particle-excitation flow control valve

In this article, we report a new particle-excitation flow control valve. The purpose of this study is the development of a particle-excitation flow control valve that can precisely control pneumatic cylinders. We have reported this flow control valve principle. The valve, driven by a PZT vibrator, has a simple lightweight structure with large flow rate. We report the relationship between the orifice arrangement and flow rate characteristics of the valve. We have designed a new prototype for the purpose of high controllability. We have measured flow-rate characteristics and confirmed the conditions necessary for continuous adjustment of flow quantity. The control valve works successfully to realize a change in flow rate.