Development of an Autonomous Quadruped Robot for Robot Entertainment

In this paper, we present Robot Entertainment as a new field of the entertainment industry using autonomous robots. For feasibility studies of Robot Entertainment, we have developed an autonomous quadruped robot, named MUTANT, as a pet-type robot. It has four legs, each of which has three degree-of-freedom, and a head which also has three degree-of-freedom. Micro camera, stereo microphone, touch sensors, and other sensor systems are coupled with newly developed behavior generation system, which has emotion module as its major components, and generates high complex and interactive behaviors. Agent architecture, real-world recognition technologies, software component technology, and some dedicated devices such as Micro Camera Unit, were developed and tested for this purpose. From the lessons learned from the development of MUTANT, we refined the design concept of MUTANT to derive requirements for a general architecture and a set of interfaces of robot systems for entertainment applications. Through these feasibility studies, we consider entertainment applications a significant target at this moment from both scientific and engineering points of view.     

Demonstration of a fully spatial coherent X-ray laser at 13.9 nm

We have recently reported the successful development of a fully coherent X-ray laser (XRL) at 13.9 nm by an oscillator-amplifier configuration with two targets. In the experiment, a seed XRL beam from the first target is injected into a plasma amplifier at the second target. The observed XRL beam has full spatial coherence and 0.2 mrad of nearly diffraction-limited divergence. In order to improve the output fluence, the amplification properties of the XRL beam have been investigated using various plasma lengths of the second amplifier target. The output energy has been improved by a factor of ten, increasing the length of the gain region to 10 mm, resulting in about 0.2 /spl mu/J of output energy.     

Numerical computation of cross‐coupled algebraic Riccati equations related to H2/H∞ control problem for singularly perturbed systems

In this paper, we present a numerical algorithm to the cross‐coupled algebraic Riccati equations(CARE) related to H₂/H_∞ control problems for singularly perturbed systems (SPS) by means of Newton's method. The resulting algorithm can be widely used to solve Nash game problems and robust control problems because the CARE is solvable even if the quadratic term has an indefinite sign. We prove that the resulting iterative algorithm has the property of the quadratic convergence. Using the solution of the CARE, we construct the high‐order approximate H₂/H_∞ controller. Copyright © 2004 John Wiley & Sons, Ltd.     

Friction Powder Compaction for Fabrication of Open-Cell Aluminum Foam by the Sintering and Dissolution Process Route

A new friction powder compaction (FPC) process by the sintering and dissolution process (SDP) route for fabricating open-cell aluminum (Al) foam, which requires no external heat sources, was developed. Foams with porosities of 74 and 83 pct were successfully fabricated and their compressive responses were investigated. The sintered mixture during the removal process was observed nondestructively by X-ray computed tomography (CT) to reveal the progress of the removal of soluble particles and to confirm that they were completely dissolved.     

NMR-Guided Repositioning of Non-Steroidal Anti-Inflammatory Drugs into Tight Junction Modulators

Bioavailability is a major bottleneck in the clinical application of medium molecular weight therapeutics, including protein and peptide drugs. Paracellular transport of these molecules is hampered by intercellular tight junction (TJ) complexes. Therefore, safe chemical regulators for TJ loosening are desired. Here, we showed a potential application of select non-steroidal anti-inflammatory drugs (NSAIDs) as TJ modulators. Based on our previous observation that diclofenac and flufenamic acid directly bound various PDZ domains with a broad specificity, we applied solution nuclear magnetic resonance techniques to examine the interaction of other NSAIDs and the first PDZ domain (PDZ1) of zonula occludens (ZO)-1, ZO-1(PDZ1). Inhibition of ZO-1(PDZ1) is expected to provide loosening of the epithelial barrier function because the domain plays a crucial role in maintaining TJ integrity. Accordingly, diclofenac and indomethacin were found to decrease the subcellular localization of claudin (CLD)-2 but not occludin and ZO-1 at the apicolateral intercellular compartment of Madin–Darby canine kidney (MDCK) II cells. These NSAIDs exhibited 125–155% improved paracellular efflux of fluorescein isothiocyanate insulin for the Caco-2 cell monolayer. We propose that these NSAIDs can be repurposed as drug absorption enhancers for peptide drugs.     

Analysis and modeling of char particle combustion with heat and multicomponent mass transfer

A char combustion model suitable for a large-scale boiler/gasifier simulation, which considers the variation of physical quantities in the radial direction of char particles, is developed and examined. The structural evolution within particles is formulated using the basic concept of the random pore model while simultaneously considering particle shrinkage. To reduce the computational cost, a new approximate analytical boundary condition is applied to the particle surface, which is approximately derived from the Stefan–Maxwell equations. The boundary condition showed reasonably good agreement with direct numerical integration with a fine grid resolution by the finite difference method under arbitrary conditions. The model was applied to combustion in a drop tube furnace and showed qualitatively good agreement with experiments, including for the burnout behavior in the late stages. It is revealed that the profiles of the oxygen mole fraction, conversion, and combustion rate have considerably different characteristics in small and large particles. This means that a model that considers one total conversion for each particle is insufficient to describe the state of particles. Since our char combustion model requires only one fitting parameter, which is determined from information on the internal geometry of char particles, it is useful for performing numerical simulations.