Adaptive Control For Robotic Manipulators Executing Multilateral Constrained Task

This paper presents a model‐based adaptive control in task coordinates for robotic manipulators executing multilateral constrained tasks The controller works based on the concept of orthogonality between force and motion in the subspaces derived from the constraints. The control gains are independently adjustable in each subspace. The friction force, depending on the contact force, is compensated adaptively. Asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov‐Like Lemma. Experimental results obtained using a 3 D.O.F. robot are given.     

Photoluminescence and doping mechanism of theranostic Eu3+/Fe3+ dual-doped hydroxyapatite nanoparticles

Theranostic nanoparticles currently have been regarded as an emerging concept of ‘personalized medicine’ with diagnostic and therapeutic dual-functions. Eu³⁺ doped hydroxyapatite (HAp) has been regarded as a promising fluorescent probe for in vivo imaging applications. Additionally, substitution of Ca²⁺ with Fe³⁺ in HAp crystal may endow the capability of producing heat upon exposure to a magnetic field. Here we report a preliminary study of doping mechanism and photoluminescence of Eu³⁺ and Fe³⁺ doped HAp nanoparticles (Eu/Fe:HAp). HAp with varied concentration of Eu³⁺ and Fe³⁺ doping are presented as Eu(10 mol%):HAp, Eu(7 mol%)-Fe(3 mol%):HAp, Eu(5 mol%)-Fe(5 mol%):HAp, Eu(3 mol%)-Fe(7 mol%):HAp, and Fe(10 mol%):HAp in the study. The results showed that the HAp particles, in nano-size with rod-like morphology, were successfully doped with Eu³⁺ and Fe³⁺, and the particles can be well suspended in cell culture medium. Photoluminescence analysis revealed that particles have prominent emissions at 536 nm, 590 nm, 615 nm, 650 nm and 695 nm upon excitation at a wavelength of 397 nm. Moreover, these Eu/Fe:HAp nanoparticles belonged to B-type carbonated HAp, which has been considered an effective biodegradable and biocompatible drug/gene carrier in biological applications.     

Out‐of‐Plane Strain Induced in a Moiré Superstructure of Monolayer MoS2 and MoSe2 on Au(111)

Making contact of transition metal dichalcogenides (TMDCs) with a metal surface is essential for fabricating and designing electronic devices and catalytic systems. It also generates strain in the TMDCs that plays significant role in both electronic and phonon structures. Therefore, detailed understanding of mechanism of the strain generation is important to fully comprehend the modulation effect for the electronic and phonon properties. Here, MoS₂ and MoSe₂ monolayers are grown on Au surface by chemical vapor deposition and it is demonstrated that the contact with a crystalline Au(111) surface gives rise to only out‐of‐plane strain in both MoS₂ and MoSe₂ layers, whereas no strain generation is observed on polycrystalline Au or SiO₂/Si surfaces. Scanning tunneling microscopy analysis provides information regarding consequent specific adsorption sites between lower S (Se) atoms in the S? Mo? S (Se? Mo? Se) structure and Au atoms via unique moiré superstructure formation for MoS₂ and MoSe₂ layers on Au(111). This observation indicates that the specific adsorption sites give rise to out‐of‐plane strain in the TMDC layers. Furthermore, it also leads to effective modulation of the electronic structure of the MoS₂ or MoSe₂ layer.     

Interactions between nano-spacing flying head sliders and ultra-thin liquid lubricant films with non-uniform distribution in hard disk drives

This paper describes the effect of ultra-thin liquid lubricant films on air bearing dynamics and flyability of less than 10 nm spacing flying head sliders in hard disk drives. In particular, the effect of non-uniform lubricant film distributions on head/disk interface dynamics are studied. The disks with lubricant on one half of disk surface thicker than the other half were used in this study. The dynamics of sliders is monitored using acoustic emission (AE) and the interactions between the slider and disk are investigated experimentally. The disks were also examined with a scanning micro-ellipsometer before and after each test. Complicated slider responses were observed and clarified. In addition, it was found that the periodic lubricant film thickness modulations or non-uniformity caused by the slider-disk contact interactions could be observed. It is suggested that this lubricant film thickness non-uniformity will be one of the technical issues in order to achieve ultra-low head/disk contact interface of less than 10 nm.     

Gene subset selection using an iterative approach based on genetic algorithms

Microarray data are expected to be useful for cancer classification. However, the process of gene selection for the classification contains a major problem due to properties of the data such as the small number of samples compared with the huge number of genes (higher-dimensional data), irrelevant genes, and noisy data. Hence, this article aims to select a near-optimal (small) subset of informative genes that is most relevant for the cancer classification. To achieve this aim, an iterative approach based on genetic algorithms has been proposed. Experimental results show that the performance of the proposed approach is superior to other previous related work, as well as to four methods tried in this work. In addition, a list of informative genes in the best gene subsets is also presented for biological usage.     

A three-dimensional microfluidic tumor cell migration assay to screen the effect of anti-migratory drugs and interstitial flow

Most anti-cancer drug screening assays are currently performed in two dimensions, on flat, rigid surfaces. However, there are increasing indications that three-dimensional (3D) platforms provide a more realistic setting to investigate accurate morphology, growth, and sensitivity of tumor cells to chemical factors. Moreover, interstitial flow plays a pivotal role in tumor growth. Here, we present a microfluidic 3D platform to investigate behaviors of tumor cells in flow conditions with anti-migratory compounds. Our results show that interstitial flow and its direction have significant impact on migration and growth of hepatocellular carcinoma cell lines such as HepG2 and HLE. In particular, HepG2/HLE cells tend to migrate against interstitial flow, and their growth increases in interstitial flow conditions regardless of the flow direction. Furthermore, this migratory activity of HepG2 cells is enhanced when they are co-cultured with human umbilical vein endothelial cells. We also found that migration activity of HepG2 cells attenuates under hypoxic conditions. In addition, the effect of Artemisinin, an anti-migratory compound, on HepG2 cells was quantitatively analyzed. The microfluidic 3D platform described here is useful to investigate more accurately the effect of anti-migratory drugs on tumor cells and the critical influence of interstitial flow than 2D culture models.     

Competitive adsorption of fibronectin and albumin on hydroxyapatite nanocrystals

Competitive adsorption of two-component solutions containing fibronectin (Fn) and albumin (Ab) on hydroxyapatite (HAp) nanocrystals was analyzed in situ using the quartz crystal microbalance with dissipation (QCM-D) technique. Adsorption of the one-component protein (Fn or Ab) and the two-component proteins adjusted to different molar ratios of Fn to Ab at a fixed Fn concentration was investigated. The frequency shift (Δf; Hz) and the dissipation energy shift (ΔD) were measured with the QCM-D technique, and the viscoelastic changes of adlayers were evaluated by the saturated ΔD/Δf value and the Voigt-based viscoelastic model. For the adsorption of the one-component protein, the Fn adlayer showed a larger mass and higher viscoelasticity than the Ab adlayer, indicating the higher affinity of Fn on HAp. For the adsorption of the two-component proteins, the viscoelastic properties of the adlayers became elastic with increase in Ab concentration, whereas the adsorption mass was similar to that of Fn in the one-component solution regardless of the Ab concentration. The specific binding mass of the Ab antibody to the adlayers increased with increase in Ab concentration, whereas that of the Fn antibody decreased. Therefore, Fn preferentially adsorbs on HAp and Ab subsequently interacts with the adlayers, indicating that the interfacial viscoelasticity of the adlayers was dominated by the interaction between Fn and Ab.     

Improvement of Stainless Steel Making Operation Adapting Instable Raw Material Price

Sumikin Iron and Steel Corporation (SISC) is the main manufacturing base of seamless tube materials in Sumitomo Metals group, and stainless steel making plant is in charge of semi‐manufactured special steel products such as stainless and high alloy steel. Total manufacturing costs of these special steels are heavily dependent on the price of raw material. Therefore, reduction of its usage and optimizing operation process in order to absorb influence of its unstable price are important issues. In this report, we introduce three cases as following: yield improvement in order to reduce raw material usage, optimization of the steel dust usage, and active use of low‐price raw material through dividing refining process.     

Transient phenomena of current and field distortion due to dynamics of packet‐like charges in LDPE films

Simultaneous measurements of space charge and external current were carried out using a PEA measurement system with an electrometer on the back of a grounding electrode in order to clarify the physical situation of a huge packet of positive space charges in LDPE films. A large number of positive charges from a semiconducting anode were accumulated at the interface between LDPE and an Al‐cathode at a mean applied field of 1.5 MV/cm and then finally disappeared. The results of simultaneous measurements showed that the external current kept a relatively high value during charge accumulation and further increased when the charges disappeared. Both the charge dynamics and the external current were restricted by addition of a low‐molecular‐weight paraffin wax, indicating that carrier transport was influenced by the microstructure of the polymer. The dynamics of the residual charges after short‐circuiting is also discussed. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 179(4): 10–17, 2012; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21256