Microprocessor-Based Decoupled Control of Manipulator Using Modified Model-Following Method with Sliding Mode

A methodology of discontinuous feedback and continuous feedforward control is developed to achieve accurate decoupled tracking in a class of nonlinear, time varying systems in the presence of disturbances, parameter variations and nonlinear dynamic interactions. The method is based on an improved variable structure control with a sliding mode.     

Evaluation of the Fatigue Characteristics of Laser-processed Hot Work Tool Steel Based on Reliability

It is reported that laser-processing is effective to repair the heat checks, which are fine shallow cracks on a surfaceof die-casting dies.     

Reliability aspects of man-machine interface

Issues related to the reliability of man-machine interfaces (MMIs) are discussed from a multi-faceted point of view. Reliability concerning the human operator, the user of MMIs, is discussed using the stimulator data obtained under abnormal plant conditions. Based on the analysis, requirements for MMI design are derived. Cognitive task analysis is also performed to derive design requirements related to human problem solving.Reliability of software, one of the major components of the MMI, is then discussed from the viewpoint of software diversity. Other issues are also discussed to reduce design and implementation errors in the software development process.An experience in carrying out the evaluation of MMIs, one of the critical issues in developing dependable MMIs, is presented to clarify the methodological issues to be solved in the future.The discussions included in this paper show the necessity for a multi-faceted approach to the reliability of MMI both as an integrated object and as a component in a complex human-machine system.     

Evaporation-induced pattern formation in polymer films via secondary phase separation

The ordered necklace-like or cellular pattern formation has been investigated for ternary polymer solutions in which primary and secondary phase separations were induced by the solvent evaporation. The patterns consisted of regular droplet arrays of various diameters, which arose in the pre-existing polymer phases via the secondary phase separation. The pattern formation was enhanced with increasing air velocity and ambient humidity, while it was suppressed with decreasing initial film thickness. The regular pattern was independent of surface wettability of the solid substrate. We ascribe the morphology change to the evaporation-induced surface tension driven convection, which re-arranged the droplet distributions from disordered to flow-induced ordered patterns.     

Discharge properties of Purkinje cells in the oculomotor vermis during visually guided saccades in the macaque monkey

1. We previously described discharge properties of cerebellar output cells in the fastigial nucleus during ipsilateral and contralateral saccades. Fastigial cells exhibited unique responses depending on the direction of saccades and were involved in execution of accurate targeting saccades. Purkinje cells in the oculomotor vermis (lobules VIc and VII) are thought to modulate these discharges of fastigial cells. In this study we reexamine discharge properties of Purkinje cells on the basis of this hypothesis. 2. Initially we physiologically identified the right and left sides of the oculomotor vermis. Saccade-related discharges of 79 Purkinje cells were recorded from both sides of the vermis during visually guided saccades toward the sides ipsilateral and contralateral to the recording side in two trained macaque monkeys. To clarify the correlation of Purkinje cell discharge with burst activities in the fastigial nucleus during saccadic eye movements, we analyzed our data by employing methods used in the study of fastigial neurons. 3. Among the 79 cells, 56 (71%) showed burst discharges during saccades (saccadic burst cells). Of the 56 cells, 29 exhibited a peak of burst discharges in both the contralateral and ipsilateral directions (bidirectional cells). The remaining 27 saccadic burst cells showed a peak of burst discharges during either contralateral or ipsilateral saccades (unidirectional cells). Among the 79 cells, 14 (18%) exhibited a pause of discharges during contralateral saccades (pause cells). Among the 79 cells, 9 (11%) showed burst discharge during contralateral saccades followed by tonic discharge that was correlated with eye position (burst tonic cells). 4. The timing of bursts in bidirectional cells with respect to saccade onset was dependent on the direction of saccade. During ipsilateral saccades, Purkinje cells exhibited a long lead burst that built up gradually, peaked near the onset of the saccade, and terminated sharply near midsaccade. The mean lead time relative to saccade onset was 29.3 +/- 24.5 (SD) ms. During contralateral saccades, Purkinje cells exhibited a short lead/late burst that built up sharply, peaked near midsaccade, and terminated gradually after the end of the saccade. The mean lead time relative to saccade onset was 10.7 +/- 20.8 ms. The burst onset time during contralateral saccades and the burst offset time during ipsilateral saccades preceded the saccade offset time by about the same interval regardless of the saccade amplitude. 5. In pause cells the pause preceded saccade onset by 17.5 +/- 10.6 ms. The duration of the pause was not correlated with the duration of saccades. There was little trial-to-trial variability in the onset time of the pause with respect to the onset of saccades, whereas there was large trial-to-trial variability in the offset time of the pause with respect to the offset of saccades. In addition, the mean onset time of the pause for each cell had a relatively narrow distribution. 6. The burst lead time of burst tonic cells relative to saccade onset was 9.5 +/- 3.9 ms. The tonic discharge rate of burst tonic cells was a nonlinear function of eye position. The regression of each cell was fit to two lines. The regression coefficient ranged from 0.95 to 0.99 (mean = 0.97). 7. Axons of Purkinje cells in the oculomotor vermis are thought to project exclusively to saccadic burst cells in the fastigial oculomotor region (FOR), which is located in the caudal portion of the fastigial nucleus. Our previous studies indicated that FOR cells provide temporal signals for controlling targeting saccades. The present results suggest that Purkinje cells in the oculomotor vermis modify the temporal signals of FOR cells for saccades in different directions and amplitudes. The modification of FOR cell activity by Purkinje cells is thought to be essential for the function of the cerebellum in the control of saccadic eye movements.     

Molecular dynamics simulation of dislocation nucleation and motion at γ/γ′ interface in Ni-based superalloy

Molecular dynamics simulations are conducted on the dislocation behavior at the apices and edges of cuboidal Ni₃Al precipitate in a pure Ni matrix, or the idealized γ/γ′ microstructure in a Ni-based superalloy. A tensile simulation of the [001] direction is implemented with a periodic cell that has eight cubic precipitates in order to investigate the nucleation site of dislocation in the idealized microstructure with no defects other than the γ/γ′ interfaces. The effect of residual internal stresses on the stability of the interfaces is also discussed. Other simulations are conducted on the behavior of edge dislocations nucleated from a free surface and proceeding in the γ matrix toward γ′ precipitates under shear force. Dislocation pinning at γ′ precipitates, bowing-out in the γ channel, pile-up and nucleation of superdislocation in the γ′ precipitate are simulated and inspected in detail. Discussions on the size of the γ/γ′ microstructure and the sharpness of the edge of the γ′ precipitate are also presented.     

Plasma concentrations of antipsychotic drugs in psychiatric inpatients

We surveyed a random sample (n = 75) of doctors and dentists at University College Hospital, Ibadan, Nigeria. They were offered anonymous testing for hepatitis B surface antigen (HBsAg), hepatitis Be antigen (HBeAG), antibodies to hepatitis B core antigen (anti-HBc) and to hepatitis C virus (anti-HCV), by enzyme immunoassay. The results suggest a high prevalence of hepatitis B virus (HBV) with a high potential of transmissibility, as well as a high prevalence of HCV infection. The majority of the doctors and dentists use universal precaution for protection against viral hepatitis on < 50% of the occasions when they carry out procedures on their patients. Infection with HBV was associated with type of specialty (surgeons, dentists) and lack of HBV vaccination (p < 0.05). After logistic regression, these factors were independently associated with HBV infection (p < 0.05). Sixty (80%) had not received prior HBV vaccination. Unvaccinated personnel were more likely to be surgeons, dentists, < 37 years of age, and have fewer years of professional activity (p < 0.05). After logistic regression, only fewer years of professional activity remained independently associated with lack of vaccination (p < 0.05). To reduce the occupational exposure of HBV, universal precautions must be rigorously adhered to when the doctors and dentists carry out procedures on their patients, and all health-care workers should be vaccinated with HBV vaccine and the HCV vaccine, when it becomes available.     

Vibrational Spectroscopic Study of Structural Evolution in the Coprecipitated Precursors to La2Sn2O7 and La2Ti2O7

Structural evolution in the X-ray amorphous precursors to La₂Sn₂O₇ and La₂Ti₂O₇ is examined using IR and Raman spectroscopy. These precursors are prepared by rapid coprecipitation from mixed aqueous solutions of the corresponding metal chlorides. Rapid coprecipitation from an SnCl²⁻₆ and La³⁺-containing aqueous solution yields microcrystalline particles of SnO₂· n H₂O and La(OH)₃, which instantaneously interconnect to form an ultimate, complex colloid particle. The Ti(OH)²⁺₂ and La³⁺ in the other solution system coprecipitate into a different, complex colloid (an unidentified phase), which is definitely not a mixed dispersion of single-component colloids. A comparative examination of the vibrational spectra of the coprecipitates heated to various temperatures indicates that the SnO₂ and anatase phases develop in the respective precursors before crystallization of the desired double oxides. Crystallization itself can be attributed to a solid-state reaction among the various microcrystallites of each single-metal oxide in a gel particle of the precursor.     

Hemolysis test of a centrifugal pump in a pulsatile mode: the effect of pulse rate and RPM variance

Centrifugal pumps are generally employed as nonpulsatile blood flow pumps; however, these pumps can produce pulsatile flow by periodically alternating the impeller rotation speed. This study investigates blood trauma due to the effect of pulse frequency and various ranges of pump speed. The hemolysis tests were conducted using the Gyro C1E3 pump. The study was divided into the following categories: Group 1 in a nonpulsatile mode; Group 2 operated at 40 bpm with 30% of speed variance; Group 3, 60 bpm with 30% of speed variance; Group 4, 40 bpm with 70% of speed variance; and Group 5, 60 bpm with 70% of speed variance. A flow rate of 3 L/min and a total pressure head of 200 mm Hg were employed in all groups to simulate a percutaneous cardiopulmonary support condition. There were no significant differences in the hemolysis levels among Groups 1, 2, and 3. However, Groups 4 and 5 exhibited a significantly higher hemolysis rate compared to the other groups. These results indicate that a high rate of speed variance increases hemolysis; however, a range of less than 30% does not affect hemolysis. The pulse rate has no significant effect on hemolysis. In conclusion, the higher speed variance increases the hemolysis level when a pulsatile mode is applied with a centrifugal pump at the given test conditions. However, a speed variance of less than 30% or a pulse rate of less than 60 bpm does not affect hemolysis.     

Influences of nonuniformity in metal concentration in gate dielectric silicate on CMIS inverters'' propagation delay time

It is shown that propagation delay time in CMIS (complementary metal insulator semiconductor field effect transistor) inverters is strongly affected by dielectric constant nonuniformity in gate dielectrics caused by the phase separation in silicate films. Influences of such nonuniformity on load capacitance are studied by analytical calculations based on a physical model which takes polarization into account. It is newly found that load capacitances are affected by the phase separation in qualitatively different ways, depending on the average metal concentration of their dielectric films. An experimental result is compared with those calculations. Influences of such nonuniformity on current drivability are studied by 3-dimensional device simulations. It is also newly found that such nonuniformity affects load capacitance and current drivability in different ways, resulting in an increase in propagation delay time of CMIS inverters for all metal concentrations studied. An explanation of this phenomenon is given with physical considerations.