Development of large-scale stacked-type electrostatic actuators for use as artificial muscles

Electrostatic actuators have the advantages of light weight, flexibility, and high energy efficiency, which make them suitable for use as artificial muscles. However, a traditional electrostatic actuator cannot generate long strokes and a high force density at the same time because such actuator would excessively widen the gap between the electrodes because of its structure. This paper presents a newly developed large-scale stacked-type electrostatic actuator (LSEA) intended for use as an artificial muscle for robots. LSEA is a multi-stacked electrostatic actuator that can be linearly contracted by the application of a voltage. It has a unique structure that prevents overextension of the gap between the electrodes. It can therefore generate a large force. The spring characteristics and the relationship between the contractive force and the stroke were experimentally determined. The findings showed that LSEA prevents the overextension of the gap between the electrodes and has a high contraction ratio that is equivalent to that of a mammalian skeletal muscle.     

Fate of the chlorine and fluorine in a sub-bituminous coal during pyrolysis and gasification

The fate of the chlorine and fluorine present in a sub-bituminous coal from Indonesia during pyrolysis and gasification has been studied with fixed and entrained bed reactors. The rate profile for HCl evolved in the temperature programmed pyrolysis exhibits the main and shoulder peaks at 480 and 600 °C, respectively. Model experiments and subsequent Cl 2p XPS measurements show that HCl reacts with metal impurities and carbon active sites at 500 °C to be retained as inorganic and organic chlorine forms, from which HCl evolves again at elevated temperatures. It is suggested that the HCl observed in the coal pyrolysis may originate from the above-mentioned chlorine functionalities formed by secondary reactions involving the nascent char. In the CO₂ gasification of the 900 °C char at 1000 °C and 2.5 MPa, any measurable amounts of HCl and HF could not be detected even at a high conversion of 75 wt% (daf), suggesting the accumulation of these halogens in the residual char. When the coal is injected into an O₂-blown, entrained bed gasifier at 1200-1400 °C under 2.6 MPa, the partial oxidation proceeds to a larger extent at a higher O₂/coal ratio, whereas the chlorine and fluorine are enriched in the remaining char, and the extent of the enrichment at the latter stage of gasification is larger with the fluorine. The XPS measurements of the chars reveal the presence of the broad F 1 s peak, which can cover a wide range of binding energies attributable to inorganic and organic fluorine. The halogen enrichment during gasification is discussed in terms of secondary reactions of HCl and HF with char.     

Influence of ash composition on heavy metal emissions in ash melting process

Two kinds of fly ash, discharged in the combustion of either refused derived fuel (RDF) or car shredder dust (SD), were examined for the emission of heavy metals in melting process under oxidizing and reducing conditions. The residual fractions of heavy metal in slag were experimentally estimated. As a result, it was confirmed that several volatile heavy metals were readily emitted during melting process. The type of atmosphere provided for the melting process was found to affect the emission of some volatile metals in RDF ash, but not in SD ash. The emission of volatile heavy metals in RDF ash under oxidizing conditions was lower than under any other conditions in this study. The emission behavior of iron and heavy metals in RDF ash under reducing conditions was similar to that in SD ash. These facts indicated that phosphorous in RDF ash had the property of fixing the volatile metals in the slag only under oxidizing conditions. Then the mixture of SD ash with phosphorous oxide powder was also tested in a melting process, and the result was consistent with the above inference of the effect of phosphorous.     

Iodine reaction of vinyl acetate/vinyl propionate copolymers. III. Iodine affinities of the radically polymerized copolymers and the copolymers derived from partially saponified polyvinyl acetate

The minimum sequence lengths (n_c) of vinyl acetate (VAc) units necessary to form a colored iodine complex were determined to be 4 and 17 for radically polymerized VAc/vinyl propionate (VPr) and VAc/isopropenyl acetate (IPAc) copolymers, respectively. The iodine affinities (I/VAc) of VAc/VPr copolymers (SP-series) obtained by propionylation of partially saponified polyvinyl acetate (PVAc) were remarkably affected by the saponification conditions. An increase of the water content in acetone/water mixture as saponification solvent brought about a decrease of the iodine affinities of the SP-series. The dependence of the iodine affinity on the saponification of monomer units in the SP-series was compared with that in the radically polymerized VAc/VPr copolymers by taking the sequence probability as the measure of monomer unit distribution. The results strongly supported an occurence of the slide fastener reaction at high degrees of saponification, which was well-known in the saponification of PVAc. Furthermore, it was found that the saponification mode of PVAc at low degrees of saponification was influenced uniquely by the water content in saponification solvents and the saponification temperature.     

Preparation of superacid of iron-supported zirconia for reaction of butane to isobutane

A highly active superacid of 2 wt% Fe-supported ZrO₂ for the skeletal isomerization of butane to isobutane was obtained by sfexposing Fe₂O₃/ZrO₂ to 1 N H₂SO₄ followed by calcining in air at 700°C for more than 24 h; the Fe₂O₃/ZrO₂ was prepared by impregnating zirconia gel with a solution of Fe(NO₃)₃ followed by drying at 300°C (2 wt% Fe). A much lower activity was observed with the opposite procedure, where the first impregnation was sulfation of the gel, followed by a second impregnation with the iron compound. It was proved from analysis of the sulfur content in the catalysts that residual sulfur species were not related with generation of the superacidic sites. XPS showed the catalyst to be Fe₂O₃ supported on ZrO₂.Superacids by metal oxides, VIII. For previous publications VI and VII in this series see refs. [10,11].     

Chaos in parametric resonance flow at water-mercury interface

In the electrochemical system with liquid-liquid interface, intense local convections by the resonance with potential pulses take place. Therefore, with laser beam scattering, temporal movement of the water-mercury interface was observed. As a result, the scattering efficiency showed non-linear oscillation.

Such non-linear response could be controlled by potential pulse height. As the potential height was increased, new scattering peaks in the oscillation emerged, which was expected of a kind of bifurcation phenomenon. From these results, phase portrait, Poincarè section, correlation dimension of the strange attractor and the largest Lyapunov exponent of the trajectories were obtained. Consequently, it was concluded that all the parameters indicate chaotic behavior of the resonance flow.     

Cationic copolymerization behavior of a bicyclic orthoester having hydroxy group with glycidyl phenyl ether and volume change on their copolymerization

This article describes cationic ring‐opening copolymerization of a bicyclic orthoester having hydroxy group (BOE‐OH) and glycidyl phenyl ether (GPE), and the volume shrinkage behavior during the copolymerization. THF soluble polyethers [poly(BOE‐OH‐co‐GPE)] were obtained by the copolymerizations at 80–180°C, while crosslinked poly(BOE‐OH‐co‐GPE) was obtained by the copolymerizations at 220–250°C. This crosslinking reaction may originate from the dehydration of methylol groups in the side chain of poly(BOE‐OH‐co‐GPE). The volume shrinkage during the cationic copolymerization reduced as the increase of the BOE‐OH feed ratio. By contrast, the volume shrinkage on the crosslinking polymerization was almost independent on the BOE‐OH feed ratio. Poly(BOE‐OH‐co‐GPE)s with higher BOE‐OH composition showed lower thermal weight loss temperature owing to the release of H₂O by dehydration of methylol groups. The BOE‐OH component in the THF soluble poly(BOE‐OH‐co‐GPE)s lowered the glass transition temperature (T_g), while that in the crosslinked poly(BOE‐OH‐co‐GPE) increased the T_g probably because of the higher crosslinking density. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 101: 1356–1361, 2006     

The Failure of the Strong Pumping Lemma for Multiple Context-Free Languages

Seki et al. (Theor. Comput. Sci. 88(2):191–229, 1991) showed that every m-multiple context-free language L is weakly 2m-iterative in the sense that either L is finite or L contains a subset of the form \(\{ u_{0} w_{1}^{i} u_{1} \cdots w_{2m}^{i} u_{2m} \mid i \in \mathbb {N}\}\) , where w ₁?w _2n ≠ε. Whether every m-multiple context-free language L is 2m-iterative, that is to say, whether all but finitely many elements z of L can be written as z=u ₀ w ₁ u ₁?w _2m u _2m with w ₁?w _2m ≠ε and \(\{ u_{0} w_{1}^{i} u_{1} \cdots w_{2m}^{i} u_{2m} \mid i \in \mathbb {N}\} \subseteq L\) , has been open. We show that there is a 3-multiple context-free language that is not k-iterative for any k.