Gain‐Scheduled Control via Switching of LTI Controllers and State Reset

This paper proposes a synthesis method of gain‐scheduled control systems that switch linear time‐invariant controllers according to hysteresis of the scheduling parameter. Stability and L₂‐gain analysis and synthesis methods for switched systems are applied to the switched gain‐scheduled control synthesis using reset of the controller state, where also the reset law is computed via linear matrix inequalities (LMIs). In addition to optimization of an upper bound of L₂‐gain, we reduce jumps of control input via an auxiliary optimization. Numerical examples are presented to illustrate the switched gain‐scheduled controller.     

High‐resolution technology for FPD manufacturing

Using shorter wavelength for exposure light is one way to achieve high resolution while keeping sufficient depth of focus. We show exposure results for high resolution to confirm the effect of deep UV exposure light. With deep UV light, 1.2‐µm line and space pattern and 1.8‐µm contact hole pattern are resolved while keeping sufficient depth of focus.     

Mathematics for/from Society: The Role of the Module in Modernizing Japanese Architectural Production

This paper presents an examination of the process of the development of module in the works and theories of Japanese architect Ikebe Kiyoshi (1920-79). Ikebe based his idea of module on the belief that “Beauty is Mathematics.” He applied his ideas of module in various ways from the 1940s to the 1970s. Analyzing his ideas and works against their historical background, the social and creative meanings of the idea of module and of mathematics in architecture will be re-examined. This allows us to see how Ikebe developed his ideas of module from a characteristic mathematical approach, and how he developed his idea of mathematical logic into his creative theories based on the flexible nature of people’s lifestyles and social conditions. Going beyond the cultural and social differences and the limitations of Le Corbusier’s Modulor, the idea of module as the method for organizing human space in a harmonious manner was reframed in Ikebe’s works, and was developed in a more flexible mathematical way.     

Sudden death of adults in Japan

Epidemiological features, risk factors and preventive methods of sudden death (SD) derived from studies the authors have performed since 1987 together with colleagues in Niigata University School of Medicine were reviewed. When SD was defined as death occurring within 24 hours of the onset of symptoms, the annual incidence was 145/100,000 for people aged 15 years and older in Niigata Prefecture. The incidence increased sharply along with the advance of age, while the proportion of SD to natural death due to circulatory diseases was higher in younger people. Though diseases of the circulatory system made up approximately 90 percent of all causes of death, SD due to ischemic heart disease was less frequent in Japan than in western countries. SD showed various patterns in seasonal and "within-a-day" occurrences according to sex, age and cause of death. The months of the highest SD occurrence differed by occupation and matched the busiest work periods. A decrease in sleeping hours and mental stress experienced during the preceding week were related to the occurrence of both sudden death and non-fatal acute myocardial infarction. People having structural circulatory diseases were shown to be predisposed to SD when stress occurred, because fatal arrhythmia is easily induced by the above factors in such people. Health examinations were shown to have preventive effects, though limited, against SD. Differences in the resuscitated rates in cases where a witness was present and where one was not indicates that educating people about correct resuscitation methods is important to minimizing SD.     

The effects of amino-acid mutations on specific interactions between urokinase-type plasminogen activator and its receptor: Ab initio molecular orbital calculations

During cancer invasion, the binding of urokinase-type plasminogen activator (uPA) to its receptor (uPAR) on the surface of a cancer cell is considered a trigger for invasion. Here, we present a stable structure of the solvated complex formed between uPA and uPAR (uPA-uPAR) and investigate the specific interactions between uPA and uPAR by ab initio fragment molecular orbital (FMO) calculations. The result indicates that the electrostatic interactions between the charged amino acid residues existing in both uPA and uPAR make a large contribution to the binding between uPA and uPAR. In particular, Lys23, Lys46, Lys98 and Lys61 of uPA are found to have strong attractive interactions with uPAR. To elucidate the effect of these residues on the interactions between uPA and uPAR, we substituted each of them with the uncharged amino acid Leu and investigated the interactions between the mutated uPA and wild-type uPAR. The interaction energies indicate that Lys46 and Lys98, which bind uPA to the rim of the central ligand-binding cavity of uPAR, make greater contributions to the binding between uPA and uPAR than Lys23, which is positioned at the bottom of the ligand-binding cavity of uPAR. The effect of hydrating water molecules located between uPA and uPAR is also investigated to be significant for the specific interactions between uPA and uPAR. These results are expected to be informative for developing new peptide antagonists that block the binding of uPA to uPAR.     

Development of a stable localized visual inspection system for underwater structures

To avert potential crisis from Japan’s aging infrastructure and declining birth rate, the Japanese Government is planning to introduce robotic technology for the inspection of social infrastructure (such as pipes, dams, and bridges). Recording underwater positions is a difficult task for human divers who undertake conventional dam inspections. This study presents the Anchor Diver 5.2 system for efficient and effectual dam inspection. Anchor Diver 5.2 is based on an extended-tether-maneuvered remotely operated vehicle (ROV) equipped with cameras. The ROV is lowered into water by a hoist system from a boat and implements a visual survey of the concrete underwater structure. To improve the visibility of the ROV in murky and cloudy water, a novel concept named Water Loupe is proposed. In addition, a simple boat-fixing method is proposed to provide a stable base on the water surface, and the underwater position of the ROV, which cannot be accessed by global positioning systems, is recorded using a feasible localization method. Finally, the developed system was evaluated in field experiments conducted in the Amagase Dam, Japan, and its merits and problems are discussed.     

Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

In general, manipulators used for industry and in academic laboratories have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it is necessary to design parameters related to energy regions and the gains of some partly stable controllers based on the computed torque method. Here, the switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

Superconductivity in dilute Cu-Nb-Sn alloys containing Nb3Sn precipitates

The dilute Cu-Nb-Sn alloys containing small amounts of Nb and Sn less than 1 at % exhibited superconductivity after quenching from the liquid state and ageing. The best superconducting properties ( andJ _c=130 A cm^–2) in a Cu-0.30 at % Nb 0.15 at % Sn alloy were obtained when the sample was aged at 550° C for 384 h. This sample exhibited a structure of fine Nb₃Sn precipitates of 200 to 500Å diameter distributed homogeneously in the Cu matrix, and therefore it was concluded that superconductivity in these alloys resulted from the proximity effect of Nb₃Sn particles. In spite of the similar structure obtained by ageing at 800° C, the Cu-Nb-Sn alloys showed inferior superconducting properties compared to the Cu-0.4 at % Nb alloy and this would be explained qualitatively by the difference in the mean free path in the two alloys.     

Morphological and crystallographic features of γ-γ′ Ni-Al and Ni-Al-Ti two-phase bicrystals

Several- Ni-Al and Ni-Al-Ti two-phase bicrystals were made by the solid-state diffusion couple method. Each couple consisted of a-phase single crystal and a pure-Ni polycrystal, and was annealed at 1473 K in an Ar gas atmosphere. Single crystal layers of-phase with uniform thickness always grow into the parent-phase single crystals. The resultant/ interface has no voids or facets regardless of the orientation of interface and the chemical composition of the-phase. Porosity formation due to the Kirkendall effect is observed in the diffused region. Concentration profiles exhibit nearly constant gradients in-phase. The orientation relationship between both phases is found to be 001//001, that is, the-phase grows epitaxially along the crystal orientation of-phase.     

Colorimetric microdetermination of sulphites in foods by use of the modified rankine apparatus. IV.

Summary Detection and determination of traces of sulphites in foods was attempted by use of the modified Rankine apparatus and pararosaniline colorimetry. Replacement of alkaline titration reported previously by pararosaniline colorimetry lowered the absolute detection limit from 30 g (titration method) to 2 g. In view of clean analysis, in the color developing system, 0.1 N-sodium hydroxide was used in place of mercuric chloride solution commonly used as an absorbant of sulphites. In order to prevent oxidative decomposition of sulphites during operation, nitrogen gas was used as carrier instead of air. Dimedone and sodium azide were used for the elimination of aldehydes and nitrites, respecitvely, in the sample, which will disturb the color development of sulphites with pararosaniline-formaldehyde reagents. With this improved method, it was possible to determine the residual sulphites in frozen peeled shrimps, sugared beans and other foods with low sulphite contents accurately.

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Colorimetrische Mikrobestimmung von Sulfiten in Lebensmitteln bei Anwendung der modifizierten IV. Rankine Apparatur

Zusammenfassung Geringe Sulfitmengen in Lebensmitteln (geschälte Garnelen, gezuckerte Bohnen) können colorimetrisch bestimmt werden. Die neuentwickelte Methode beruht auf einer Kombination von colorimetrischer Bestimmung mittels p-Rosanilin und der Bestimmungsmethode nach Rankine. Auf diese Weise lassen sich Gehalte von 2 g noch genau bestimmen. Bei der Farbentwicklung wurde das giftige Quecksilbertetrachlorid durch 0.1 n-NaOH ersetzt, anstelle von Luft Stickstoff als Trägergas verwendet und somit eine Oxydation des Sulfits während der Bestimmung vermieden. Da Nitrit und Aldehyde die Farbentwicklung stören, wurde ihr Einfluß durch Dimedon und Natriumazid ausgeschaltet.

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Studies on the Analyses of Sulphites in Foods (IV)