Development of a whole‐body haptic sensor with multiple supporting points and its application to a manipulator

This paper proposes a whole‐body haptic sensing system that has multiple supporting points between the body frame and the end‐effector. The system consists of an end‐effector and multiple force sensors. Using this mechanism, the position of a contact force on the surface can be calculated without any sensor array. A haptic sensing system with a single supporting point structure has previously been developed by the present authors. However, the system has drawbacks such as low stiffness and low strength. Therefore, in this study, a mechanism with multiple supporting points was proposed and its performance was verified. In this paper, the basic concept of the mechanism is first introduced. Next, an evaluation of the proposed method, performed by conducting some experiments, is presented. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 182(1): 48‐56, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22310     

Trends in research foci in life science fields over the last 30 years monitored by emerging topics

We report here a simple method to identify the ‘emerging topics’ in life sciences. First, the keywords selected from MeSH terms on PubMed by filtering the terms based on their increment rate of the appearance, and, then, were sorted into groups dealing with the same topics by ‘co-word’ analysis. These topics were defined as ‘emerging topics’. The survey of the emerging keywords with high increment rates of appearance between 1972 to 2006 showed that emerging topics changed dramatically year by year, and that the major shift of the topics occurred in the late 90s; the topics that cover technical and conceptual aspects in molecular biology to the more systematic ‘-omics’-related and nanoscience-related aspects. We further investigated trends in emerging topics within various sub-fields in the life sciences.     

Ex Vivo Expanded and Activated Natural Killer Cells Prolong the Overall Survival of Mice with Glioblastoma-like Cell-Derived Tumors

Glioblastoma (GBM) is the leading malignant intracranial tumor and is associated with a poor prognosis. Highly purified, activated natural killer (NK) cells, designated as genuine induced NK cells (GiNKs), represent a promising immunotherapy for GBM. We evaluated the anti-tumor effect of GiNKs in association with the programmed death 1(PD-1)/PD-ligand 1 (PD-L1) immune checkpoint pathway. We determined the level of PD-1 expression, a receptor known to down-regulate the immune response against malignancy, on GiNKs. PD-L1 expression on glioma cell lines (GBM-like cell line U87MG, and GBM cell line T98G) was also determined. To evaluate the anti-tumor activity of GiNKs in vivo, we used a xenograft model of subcutaneously implanted U87MG cells in immunocompromised NOG mice. The GiNKs expressed very low levels of PD-1. Although PD-L1 was expressed on U87MG and T98G cells, the expression levels were highly variable. Our xenograft model revealed that the retro-orbital administration of GiNKs and interleukin-2 (IL-2) prolonged the survival of NOG mice bearing subcutaneous U87MG-derived tumors. PD-1 blocking antibodies did not have an additive effect with GiNKs for prolonging survival. GiNKs may represent a promising cell-based immunotherapy for patients with GBM and are minimally affected by the PD-1/PD-L1 immune evasion axis in GBM.     

Multipoint cure monitoring of CFRP laminates using a flexible matrix sensor

Since a carbon fiber reinforced plastic (CFRP) structure is complicated in the adoption of integral molding, local molding faults such as under curing and dry spots are liable to occur. To solve this problem, the distribution of the degree of curing for the entire composite structure must be measured. In the present study, we propose a patch-type flexible matrix sensor based on permittivity measurements. Multiple electrodes and wirings are readily fabricated simultaneously using a photolithographic process. Moreover, the sensor has only m + n wirings for m × n sensors, and is thereby suitable for multipoint cure monitoring. We also constructed a method for estimating the degree of curing considering the effect of frequency dependence of the permittivity of resin and viscosity variation due to temperature change. Experiments of multipoint cure monitoring are carried out using a CFRP plate and an actual aircraft structure. As a result, we confirmed the effectiveness of this method by comparing with results using a conventional differential scanning calorimeter.     

Size distribution measurement and separation of ethanol cluster ion beams

The distributions of the number of molecules per cluster (cluster size) of ethanol cluster ion beams were measured by the time-of-flight method. The cluster sizes at the peak and minimum tail (minimum size) of the distribution increased with increase of the retarding voltage. A difference appeared between the measured minimum size and the calculated values using a formula based on the early measurements on the velocity distributions of gas clusters.     

Fe-Ni-Si基奥氏体时效合金的马氏体相变和形状记忆效应

It is well known that the morphologies of the α martensite formed from the γ phase in ferrous alloys are classified into five types of lath, butterfly, (225)A type plate,lenticular and thin-plate. Among those α martensites, onlythe thinplate martensite, which is characterized by containing a high density of transformation twins, has a potential of exhibiting a perfect shape memory (SM) effect.Recently the present authors found in Fe-Ni-Si alloys that the thin-plate martensite is formed by the introduction of fine and coherent γ-(Ni,Fe)3Si particles with a L12 ordered structure in the austenite matrix due to ausaging. In the present study, the SM properties of the ausaged Fe-Ni-Si alloys with the thin-plate martensite are investigated by a conventional bending-test. The effects of the addition of Co to the Fe-Ni-Si alloys on the martensitic transformation and the SM properties are also investigated. It is shown that while the ausaged Fe-Ni-Si ternary alloys exhibit an imperfect SM effect due to reverse transformation from stress-induced thin-plate martensite to austenite, the SM properties are improved by the addition of Co. An almost perfect SM effect is confirmed in the Fe-Ni-Si-Co alloys by heating to 1 100 ℃ after deformation at -196 ℃.     

Large Magnetovolume Effect Induced by Embedding Ferromagnetic Clusters into Antiferromagnetic Matrix of Cobaltite Perovskite

Materials that show negative thermal expansion (NTE) have significant industrial merit because they can be used to fabricate composites whose dimensions remain invariant upon heating. In some materials, NTE is concomitant with the spontaneous magnetization due to the magnetovolume effect (MVE). Here the authors report a new class of MVE material; namely, a layered perovskite PrBaCo₂O_5.5+x (0 ≤ x ≤ 0.41), in which strong NTE [β ≈ ?3.6 × 10^?5 K^?1 (90–110 K) at x = 0.24] is triggered by embedding ferromagnetic (F) clusters into the antiferromagnetic (AF) matrix. The strongest MVE is found near the boundary between F and AF phases in the phase diagram, indicating the essential role of competition between the F‐clusters and the AF‐matrix. Furthermore, the MVE is not limited to the PrBaCo₂O_5.5+x but is also observed in the NdBaCo₂O_5.5+x . The present study provides a new approach to obtaining MVE and offers a path to the design of NTE materials.     

Interaction among a row of ellipsoidal inclusions

In this paper the interaction among a row of N ellipsoidal inclusions of revolution is considered. Inclusions in a body under both (A) asymmetric uniaxial tension in the x-direction and (B) axisymmetric uniaxial tension in the z-direction are treated in terms of singular integral equations resulting from the body force method. These problems are formulated as a system of singular integral equations with Cauchy-type or logarithmic-type singularities, where unknowns are densities of body forces distributed in the r,,z directions. In order to satisfy the boundary conditions along the ellipsoidal boundaries, the unknown functions are approximated by a linear combination of fundamental density functions and polynomials. The present method is found to yield rapidly converging numerical results for interface stresses. When the elastic ratio E ₁E _I/E _M>1, the primary feature of the interaction is a large compressive or tensile stress _n on the interface =0. When E ₁E _I/E _M<1, a large tensile stress or _t on the interface =1/2 is of interest. If the spacing b/d and the elastic ratio E _I/E _M are fixed, the interaction effects are dominant when the shape ratio a/b is large. For any fixed shape and spacing of inclusions, the maximum stress is shown to be linear with the reciprocal of the squared number of inclusions.     

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.