Marked particle size and support effect of Pd catalysts upon the direct decomposition of nitric oxide

The catalytic behavior of beryllia-supported Pd catalyst for the direct decomposition of NO was compared with that of silica supported one. The TOF of NO decomposition was one order of magnitude larger in the case of Pd/BeO. Over Pd/SiO₂, the TOF was increased with the increase of the Pd particle size. On the contrary, over Pd/BeO smaller Pd particles exhibited higher TOF for NO decomposition suggesting some strong electronic or structural interaction between Pd and beryllia. TPD spectra of NO(a) over reduced catalysts indicated that NO was adsorbed on Pd/SiO₂ more strongly than on Pd/BeO, and dissociation of NO(a) was easier on the former catalyst. FT-IR spectra of adsorbed NO at room temperature followed by the evacuation at elevated temperatures confirmed this. TPD spectra of O₂ desorbed from oxidized surface indicated that adsorption strength of O(a) is one of the most important factors to determine the catalytic activity of NO decomposition over supported Pd catalysts.     

"Crushed glass" appearance of particles observed in roentgenograms after hysterosalpingography as an indicator of pelvic abnormalities

OBJECTIVE: To evaluate the diagnostic value of the crushed glass appearance of particles observed on roentgenogram after hysterosalpingography in patients with pelvic abnormalities. DESIGN: Retrospective study of 32 patients whose roentgenogram had particles with a crushed glass appearance and 16 patients without crushed glass appearance, with laparoscopy conducted to determine the location and severity of the pelvic disease. SETTING: Fujita Health University Hospital, Aichi, Japan. PATIENT(S): A total of 240 patients underwent hysterosalpingography to determine the cause of infertility. MAIN OUTCOME MEASURE(S): We compared the location of the pelvic endometriosis and/or inflammation that was observed on roentgenogram as the crushed glass appearance versus definitive findings at laparoscopy. RESULT(S): A total of 30 of the 32 cases (93.8%) with the crushed glass appearance were confirmed as having pelvic abnormalities, such as endometriosis (73.3%) and pelvic inflammation (26.7%). The rate of the concurrence of the location of the crushed glass appearance observed on the film and that of the lesions verified by laparoscopy was 66.7%. Histopathological examination showed that specimens taken from endometriosis or inflammatory lesions that comprised the crushed glass appearance were lacking in epithelium in proportion to the size of the particles. CONCLUSION(S): Identification of the crushed glass appearance of particles was a useful noninvasive method of detecting pelvic abnormalities, such as pelvic endometriosis and inflammation, in infertile women.     

The use of free rectus abdominis myocutaneous flap to close the empyema space with alveolar fistula--a case report

A 59-year-old man, who had had right middle and lower lobectomy for pulmonary tuberculosis, admitted for the treatment of empyema with fistula. Closure of empyema space with free rectus abdominis myocutaneous flap was performed following open window thoracotomy and thoracoplasty. As he previously underwent two major operation, lobectomy by posterolateral approach and gastrectomy for gastric ulcer, free rectus abdominis flap was chosen instead of omental flap or latissimus dorsi myocutaneous flap. Postoperative CT film showed that this flap was filled up in all interstices of the empyema cavity. The pedicle vessels to this flap are large enough to provide long stalks, so microsurgical anastomosis can be accomplished safely. The use of free rectus abdominis myocutaneous flap is one of a useful maneuver for chronic empyema with fistula.     

Effect of fluid motion on radiation-induced polymerization of ethylene in a tubular reactor

The influence of the turbulence of reactant on the radiation-induced polymerization of ethylene in 40 mole-% Freon-114 (C₂Cl₂F₄) was studied using a tubular reactor at 400 kg/cm² and 25°C with a dose rate of 1.3 × 10⁵ rad/hr. At constant linear velocity and tube diameter, the polymer concentration was shown to increase linearly with the reactor tube length. This indicates that the polymerization is in a stationary state. By changing the linear velocity from 3.5 to 42.7 cm/sec and the tube diameter from 5 to 14 mm, the space time yield and the molecular weight of polymer were found to vary between 0.21 and 0.46 mole ethylene/1.-hr and from 5.0×10³ to 10.5×10³, respectively. The space time yield and molecular weight decreased sharply to about one half those in the static polymerization with increasing fluid turbulence and then slowly increased in the highly turbulent state. Similar effects were observed in a tank reactor when the stirring speed was changed.     

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

We have been proposing a new planetary rover system named SMC Rover. This system consists of one main body and detachable units, which can work as child rovers, and also become driving units of the main body. Each detachable unit named Uni-Rover consists of a single manipulator mounted on a wheel. Prototype models of the Uni-Rover and the SMC Rover have been already developed. This paper describes a new method of trajectory modeling for the Uni-Rover using the relation between arm posture and turning radius. At first, an intuitively recognizable model which uses zero slip angle is introduced. However, because this intuitive model has some problems, a new solution which considers the loss of friction on the wheel and on the caster is also discussed. The validity of the presented method is verified by experiments with an actual mechanical model. Moreover, an effective steering method which considers the margin of the energy stability is introduced.Kazuhiro Motomura is a Ph.D candidate at the Tokyo Institute of Technology (Tokyo Tech). In 2001 he was admitted to skip the fourth grade of the bachelor course in the Department of Mechano-Aerospace engineering at Tokyo Tech to enterthe master course in the Department of Mechanical and Aerospace Engineering at the same Institute. He received the B.E. degree in National Institution for Academic Degrees an University Evaluation in 2002, and received the M.E. degree in the Department of Mechanical and Aerospace Engineering at Tokyo Tech in 2003. He has been a research fellow of the Japan Society for the Promotion of Science from 2004. He awarded the Incentive Award for the presentation in the 17th RSJ Annual Conference in 2001, and the Finalists for the Best Video Award in the IEEE International Conference on Robotics and Automation in 2003. His research interests include design of robotic mechanisms and control of mobile robots. He studies about the development of planetary rovers.Atsushi Kawakami awarded the chance to skip fourth gradein the bachelor course of Department of Mechano-Aerospace engineering in Tokyo Institute of Technology, and entered the master course in 1997. He received the M.E. and Dr. E. degrees in Department of Mechanical Engineering Science in Tokyo Institute of Technology in 1999 and 2003, respectively. From 2003, he is a post-doctoral researcher. His research interest is in design of robotic mechanisms. He studies about the development of planetary rover. He awarded the Incentive Award for the presentation in the 17th RSJ Annual Conference in 2001, and the Finalists for the Best Video Award in the IEEE International Conference on Robotics and Automation in 2003. He also acts as an organizer and lecturerin several hands on robots competitions that aim at the promotion and education for the beginners.Shigeo Hirose was born in Tokyo in 1947. He received the B. E. degree with first class honors in Mechanical Engineering from Yokohama National University in 1971, and the M. E. and Dr. E. degrees in Control Engineering from the Tokyo Institute of Technology in 1973 and 1976, respectively. From 1976 to 1979 he was a Research Associate, from 1979 to 1992 an Associate Professor and since 1992 he has been a Professor in the Department of Mechanical and Aerospace Engineering at the Tokyo Institute of Technology. He is the Fellow of both IEEE and Japanese Society of Mechanical Engineers. His research interest is in design of novel robotic mechanisms and its control. He awarded more than 30 prizes from academic societies; these include the first Pioneer in Robotics and Automation Award in 1999 and Best Conference Paper Award in 1995 both from IEEE Robotics & Automation Society. Prof. Hirose has published more than 200 academic papers as well as several books, including Snake Inspired Robots (Kogyo-chosakai Publishing Co. Ltd, 1987, in Japanese), Robotics (Shokabo Publishing Co. Ltd., 1987, in Japanese), and Biologically Inspired Robots (Oxford University Press,1993).     

Development of anthropomorphic multi-D.O.F. master-slave arm for mutual telexistence

We developed a robotic arm for a master-slave system to support "mutual telexistence", which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operator's arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system.