Modeling,Sensing, and Interpretation of Viscoelastic Contact Interface

Soft robotics is important in the next generation of robots because of the rapidly increasing need for robotics in biomedical applications and the advantages of providing a soft interface for interaction with the physical environment in service robots and other applications. It is indispensable to understand the fundamental behavior of such contact interface, typically viscoelastic, in order to accurately predict the actual elastic and temporal responses of the contact and to successfully control it. Viscoelasticity is a phenomenon of time-dependent strain and/or stress in soft materials. It is therefore important to model such behavior and to study the effects of such time-dependent strain and stress on stability and behavior at the contact interface. The contribution of this paper is the introduction of a novel latency model, which is a nonlinear model with differential equations that govern viscoelastic materials. Latency model describes various features of viscoelastic materials, such as stress relaxation and strain creep. The theoretical modeling was supported by experimental results in which we found two types of relaxation. Type I relaxation is well documented in existing literature but Type II relaxation has not been elaborated previously with the physical insights provided in this paper. The proposed theory can unify both types of time-dependent relaxation responses for modeling, sensing, and interpretation of viscoelastic contact interface.     

Analytic Flow Design Method for an Automated Distribution Center with Multiple Shipping Areas

An analytic flow design algorithm for an automated distribution center with multiple shipping areas is presented. The main elements of the analytic flow design are the number of devices and the volumes of product flow between the devices. In the design of an automated distribution center, it is necessary to satisfy the demand throughput while minimizing construction costs. In the conventional design process, system engineers utilize experimental and intuitional approaches. However, conventional approaches are time-consuming and the design outcome is dependent on the skill of the designer. Therefore, a theoretical design algorithm is needed. We propose an analytic flow design algorithm using a dynamic network flow model and considering time-variable flow volumes according to shipment and storage schedules. To verify the feasibility of the proposed method, we perform analytic flow design using real data and confirm that the proposed method can yield a feasible analytic flow design in several minutes.     

PEG-PLA nanoparticles prepared by emulsion solvent diffusion using oil-soluble and water-soluble PEG-PLA

Poly(ethylene glycol)-block-polylactide (PEG-PLA) nanoparticles were prepared through the oil-in-water (O/W, ethyl acetate/water) emulsion technique using oil-soluble PEG-PLA in the presence of water-soluble PEG-PLA as a surfactant. The particle diameter decreased with increasing water-soluble PEG-PLA concentration, the smallest averaged diameter was 75 nm. From these results, it was found that water-soluble PEG-PLA acted as a surfactant which prevents further coalescence of droplets. In addition, the particles diameter decreased with increasing hydrophile-lipophile balance of oil-soluble PEG-PLA in the absence of water-soluble PEG-PLA. In contrast, the particle diameter was constant in the presence of water-soluble PEG-PLA. Therefore, the capability of water-soluble PEG-PLA as a surfactant was more excellent than that of oil-soluble PEG-PLA.     

Regression analysis of amino acid substitutions and factor IX activity in hemophilia B

Hemophilia B is caused by a deficit or decreased activity of factor IX. Mutation in factor IX is made up of a majority of amino acid substitutions. We examined the relation between the activation level of factor IX and the category of amino acid substitution with regression analysis. As parameters, we used four physical-chemical parameters of amino acids and Dayhoff’s PAM matrix. In addition, the average of the activation level with the same amino acid substitution was used for the analysis. We analyzed the relationship between variations containing cysteine or factor IX’s seven regions and activity levels. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Effect of molasses on the production and activity of dye-decolorizing peroxidase from Geotrichum candidum Dec1

The production of dye-decolorizing peroxidase (DyP) was investigated by cultivating Geotrichum candidum Dec1 using molasses as a carbon source. Molasses at concentrations greater than 10 g·l⁻¹ was found to increase the decolorization activity of the culture broth toward dye, reactive blue 5 mainly because the amount of enzyme produced was enhanced. However, complete inhibition of DyP activity by molasses was observed at the concentration of 20 g·l⁻¹, indicating that the inhibitory effect of molasses on the culture broth activity to decolorize the dye was involved. When the culture broth was diluted 25 times, the dye-decolorizing activity was 7 times as much as that of non-diluted culture broth. The molasses fractions separated by gel chromatography (300–400 ml and 400–500 ml fractions) completely inhibited the purified DyP. On the basis of these results, we propose a scheme to control both positive and negative effects of molasses on the dye decolorization process.     

Non-uniqueness and symmetry of optimal topology of a shell for minimum compliance

Uniqueness and symmetry of solution are investigated for topology optimization of a symmetric continuum structure subjected to symmetrically distributed loads. The structure is discretized into finite elements, and the compliance is minimized under constraint on the structural volume. The design variables are the densities of materials of elements, and intermediate densities are penalized to prevent convergence to a gray solution. A path of solution satisfying conditions for local optimality is traced using the continuation method with respect to the penalization parameter. It is shown that the rate form of the solution path can be formulated from the optimality conditions, and the uniqueness and bifurcation of the path are related to eigenvalues and eigenvectors of the Jacobian of the governing equations. This way, local uniqueness and symmetry breaking process of the solution are rigorously investigated through the bifurcation of a solution path.     

Heat extraction characteristics by coaxial heat exchanger

This study was performed to investigate the heat extraction characteristics from shallow geothermal resources using a coaxial heat exchanger. First, a computer simulation program for a coaxial heat exchanger was checked and verified by laboratory experiments. After inspecting the effectiveness of the computer program described herein, a numerical simulation for a real scale model was conducted under the condition that the heat transfer mechanism in the stratum was heat conduction. Unsteady heat extraction characteristics are presented herein, and the effects of the tube material, inner diameter, and circular modes on the heat extraction rate are discussed. From the computer results it was found that the heat extraction performance using a coaxial heat exchanger greatly depended on the factors mentioned above in the range of the parameters covered in this study. © 2005 Wiley Periodicals, Inc. Heat Trans Asian Res, 34(7): 496–513, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/htj.20083     

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.     

Effects of winding connections on characteristics of a five‐phase stepping motor

A method for calculating the single‐step response of five‐phase hybrid stepping motors is obtained. The effects of winding connecting methods—(1) star‐bipolar SB, (2) pentagon PD, and (3) new pentagon NP—on the single‐step response are investigated. By application of the above calculation method, the continuous rotating characteristics are studied. It is found that the maximum slewing pulse rate of NP is higher than that of SB and PD connections, and that the variation of the rotor speed at high speed with the SB and PD connections is larger than that with the NP connection. The effects of the current waveform on the oscillation characteristics and relations between the current waveform and the winding connections are investigated. © 2001 Scripta Technica, Electr Eng Jpn, 136(1): 47–56, 2001     

Thermal Diffusion of Si Atoms at the Interface of Mo／Si Bilayers Studied with a Soft X-ray Emission Microscope

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