Motion planning for computer controlled automata

The motion planning of Computer Controlled Automata (CCA) is described. We consider two steps for the motion planning: (1) design of rough patterns of motion and (2) modification of the patterns iteratively to generate the desired motion. A real-time planning method for a robot task, which has been developed by the authors, is applied as the first step. Using this method, by operating a joystick, a human operator can generate a trajectory for the CCA while monitoring the actual motion. To accurately modify inadequate motion, in the second step, a CAD system is developed. Tools for the CAD system are described, and then the effectiveness is demonstrated using an experimental example.     

Flavin-Dependent Monooxygenases NotI and NotI′ Mediate Spiro-Oxindole Formation in Biosynthesis of the Notoamides

The fungal indole alkaloids are a unique class of complex molecules that have a characteristic bicyclo[2.2.2]diazaoctane ring and frequently contain a spiro-oxindole moiety. While various strains produce these compounds, an intriguing case involves the formation of individual antipodes by two unique species of fungi in the generation of the potent anticancer agents (+)- and (−)-notoamide A. NotI and NotI′ have been characterized as flavin-dependent monooxygenases that catalyze epoxidation and semi-pinacol rearrangement to form the spiro-oxindole center within these molecules. This work elucidates a key step in the biosynthesis of the notoamides and provides an evolutionary hypothesis regarding a common ancestor for production of enantiopure notoamides.     

Immobilized diaphorase surfaces observed by scanning electrochemical microscope with shear force based tip-substrate positioning

Imaging of a coimmobilized diaphorase and albumin surface was investigated by scanning electrochemical microscopy (SECM) with shear force based tip-substrate distance control. A microelectrode tip was attached to a commercially available tuning fork to detect the shear force between the microelectrode tip and the surface. We used the standing approach mode, which repeats an approach and retraction at each data point of the surface to obtain simultaneous current and topographic images. To check the performance of our SECM system, we imaged a platinum-patterned array electrode and a diaphorase/albumin coimmobilized glass surface. Since the system acquires current when the tip is retracted to a desired distance, this mode is useful for a relatively large microelectrode (approximately 10 microm) and for scanning a large area (few hundreds of micrometers). Furthermore, by retracting the tip when the tip moves laterally to the next data point to avoid contact between the tip and sample surface, we successfully imaged the surface without destroying its morphology.     

The curing behavior of resol. III. Effect of alkali metal hydroxides and alkaline earth metal hydroxides as catalyst for the cure of resol

The effect of the addition of cure catalysts on the cure acceleration of ammonia free resol was investigated by means of Curelastometer. The resol which was prepared by the reaction between phenol and formaldehyde with molar ratio 1:1.2 in the presence of NaOH (0.02 mol to phenol) was neutralized with HCI. Catalyst selected from LiOH, NaOH, KOH, Mg(OH)₂, Ca(OH)₂, Sr(OH)₂, and Ba(OH)₂ was added to the resol, and curing behavior of the resol was examined. Both alkali metal hydroxides and alkaline earth metal hydroxides accelerate the curing of resol. The cure acceleration effect of barium hydroxide is the largest. In the relation between the kinds of catalysts and the cure acceleration effect, the larger the ion radius of catalyst the faster the cure of resol. Cure speed of the resol containing either sodium hydroxide or barium hydroxide as a curing catalyst increases with an increase in the amount of catalyst. Apparent activation energies of curing behavior of the resols containing the cure catalysts were in the range 17.0–21.3 kcal/mol.     

Synthesis of a polyamide from l-aspartic acid and l-lysine

Summary A non-peptidic polyamide having a regular structure was synthesized by the polycondensation of N-(-L-aspartyl)-L-lysine via the active ester method. Amino groups of L-lysine were orthogonally protected with benzyl and t-butoxy carbonyl groups, and the -carboxylic group of L-aspartic acid was masked as benzyl ester, the carboxylic group of L-lysine being activated as pentachlorophenyl ester. Coupling was achieved by the mixed anhydride method. The polycondensation of the dimeric amino acid derivative was carried out in two steps, and provided a polymer with a reduced viscosity of 0,16 dl/g (c=1%, hexafluoroisopropanol).     

Stabilizing lithium plating-stripping reaction between a lithium phosphorus oxynitride glass electrolyte and copper thin film by platinum insertion

Lithium (Li) plating-stripping reaction properties at the lithium phosphorus oxynitride glass electrolyte (LiPON)/copper thin film (Cu) interface is improved by the insertion of nano-thickness platinum (Pt) layer at the interface. The LiPON films are formed on mirror-polished lithium-ion conductive solid electrolyte sheets, and current collector thin films of Li, Cu-Pt multi layer, and Cu are formed on the LiPON films. The plating-stripping reactions at the LiPON/current collector films interface are carried out by galvanostatic and potential sweep measurements. Galvanostatic measurements reveal that Pt layer insertion reduces the overvoltage of the reaction and improves its coulomb efficiency. Also, cyclic voltammetry measurement suggests formation of Li-Pt alloys at higher voltages than 0 V (vs. Li/Li⁺) during the lithium plating process. Scanning electron microscopy observation clarifies that platinum insertion moderate non-uniform lithium plating reaction. Most probably, Li-Pt alloys increase the reaction sites, resulting in both the stabilization of current collector and the reduction of the overvoltage of the lithium plating-stripping reaction upon cycling. The results shown here will be useful in improving the anode reaction of the “Li-free” all-solid-state lithium batteries.     

In-situ infrared thermographic analysis during dehydrogenationof cyclohexane over carbon-supported Pt catalysts using spray-pulsed reactor

Infrared thermography, a tool used for screening of active catalytic materials generally during the exothermic reactions has been used for thermal imaging during strong endothermic reaction of dehydrogenation of cyclohexane on Pt catalyst supported on active carbon cloth (CFF-1500s) sheets. A spray-pulsed mode was used for injection of atomized cyclohexane and to create alternate wet and dry condition on catalyst surface. The simultaneous product gas analysis and recording of the temperature profile of the catalyst surface using an IR camera was carried out. The production rate of hydrogen via endothermic dehydrogenation reaction is greatly dependent on the temperature of the catalyst surface. The observed change in the temperature profile at wet and dry conditions with varying pulse-injection frequency and corresponding product gas analysis reveals that the spray-pulse mode is useful in improving the catalyst activity. Further the reaction conditions were optimized using thermal profile data.Rajesh B. Biniwale-On deputation from NEERI, Nagpur India.     

Water quality analysis in Lake Hachiroko,Japan, using ALOS AVNIR‐2 data

In recent years, remote sensing has been used to assessing water pollution distribution. In this study, water quality is analyzed using data collected by the Advanced Visible and Near Infrared Radiometer type‐2 (AVNIR‐2) of the Advanced Land Observing Satellite (ALOS) at various points in time. We carried out fuzzy regression analysis of the AVNIR‐2 data and direct measurements of local water quality. The relationship between the water quality data and the AVNIR‐2 data was analyzed by solving both the min and max problems. By comparing the maps of estimated water quality with actual distributions of water quality in the study area, we found that the method used in this study allows effective derivation of water quality conditions from AVNIR‐2 data, which provides 10‐m spatial resolution. Furthermore, by comparing the maps created using AVNIR‐2 data collected at different times, we obtained results suggesting temporal changes in water quality. We also compared the results obtained using data collected by the optical sensor of the Landsat thematic mapper (TM) with 30‐m resolution and those obtained using data collected by the active sensor of JERS‐1 synthetic aperture radar (SAR), and examined the differences in classification results resulting from differences in resolution and sensors. © 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Tax competition, spillovers, and subsidies

In the literature of local public finance, one of the well-known properties of optimal matching grant programs is that the matching grant rate should increase as the degree of benefit spillovers of public goods increases. This paper presents the reexamination of properties of optimal matching grant programs using the model of Bjorvatn and Schjelderup (Int Tax Public Financ 9:111–120, 2002). The result formally captures a property of matching grants that the optimal matching grant rate might decrease with the degree of spillover externalities.