Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid

In previous studies, various stabilizing control methods for humanoids during the stance phase while hopping and running were proposed. Although these methods contribute to stability while hopping and running, it is possibility that the control during the flight phase could also affect the stability. In this study, we investigated whether the control during the flight phase can affect the stability of a humanoid while running. To achieve stable hopping, we developed a control system that accounts for the angular momentum of the whole body during the flight phase. In this system, the angular momentum generated by the motion of the lower body in each time interval is calculated during the flight phase, and the trunk joints are controlled to generate the angular momentum necessary to compensate for the deviation of the waist posture, which is used as the reference point for the motion coordinate system of the robot. Once the proposed control system was developed and simulated, we found that the hopping duration in the unconstrained state was extended.     

Pore-scale visualization of gas trapping in porous media by X-ray CT scanning

Entrapment of the non-wetting phase in porous media has been observed in a variety of fields such as petroleum engineering, geological storage of carbon dioxide, and remediation of ground water. We investigated gas trapping in porous media from a microscopic point of view. High-resolution, three-dimensional images of pore structure and trapped gas bubbles in Berea sandstones were obtained using a micro-focused X-ray CT scanner. We used vertical and horizontal Berea sandstone cores, 8 mm in diameter and 15 mm long. Based on the three-dimensional image analysis, the statistical distribution of the trapped gas volume was estimated. Trapped bubbles have a pore-network scale size and distribute over several pores. In the case of the vertical core, the porosity fluctuates along the flow direction due to the layered structure. The residual gas saturation also fluctuates with porosity along the flow direction. The higher gas saturation in porous layers at the end of gas injection results in a higher trapped gas saturation compared to dense layers. On the other hand, in dense layers the gas saturation at the end of gas injection is almost the same as residual gas saturation. Therefore, most of the gas injected into the dense layers would be trapped. In the case of the horizontal core, the gas saturation at the irreducible water condition is lower than that for the vertical core, because the injected gas selectively passes through the more permeable layers. However, the residual gas saturation is 29.2% for the horizontal core, which is comparable with that for the vertical core (30.9%). Finally, the effect of capillary number on stability of trapped gas bubbles has been estimated. Trapped gas bubbles are stable against the increased flow rate up to a capillary number of 1.0×10^?5.     

Co-continuous monolithic titania prepared by organic polymer monolith as pore template

We achieved preparation of co-continuous titania based monolithic materials using several organic polymer monoliths as pore templates. Firstly, the organic polymer monoliths that had well controlled structures were prepared, and filled the pores of polymer monolith with tetra-n-butyl titanate (titan monomer). The following hydrolysis of the titan monomer resulted in titanium dioxide. The polymer monolith was removed by calcination at elevated temperature. We carefully studied the utility of polymer monolithic template, filling method of the titan monomer, and calcination conditions to realize co-continuous titania monolith. In addition, by the change of domain size (size of a skeleton + size of through a pore) of template, we were able to control domain size of the resulting titania monoliths.     

Preparation of SrBi 2 Ta 2 O 9 Thin Films by Liquid-Delivery MOCVD Without Additional Solvents

SrBi 2 Ta 2 O 9 thin films were prepared by ECR plasma enhanced metalorganic chemical vapor deposition (ECR-MOCVD) with a liquid-delivery system using one cocktail source without an additional solvent. The strontium-tantalum double alkoxide, Sr{Ta[OC 2 H 4 H(CH 3 ) 2 ](OC 2 H 5 ) 5 } 2 , was dissolved in stabilized trimethyl bismuth, Bi(CH 3 ) 3 / dioxane. This source system has been used in a conventional bubbling system. Deposition rate and the composition of the films were strictly controlled by the concentration and the composition of the cocktail source. Therefore, high reproducibility was realized by using this system. The constituent phase of the stoichiometric SBT film as-deposited at 500 C on a (111)Pt/TiO 2 /SiO 2 /Si substrate was a fluorite phase and transformed to the single phase of SBT by the post annealing at 800 C. It showed almost the same ferroelectricity as the stoichiometric composition film.     

Research on some basic deformations in free forging with robot and servo-press

Due to the disadvantages in casting or hot forging of Ti alloy artificial bones, such as low strength and high energy cost, this paper prompted an alternative method to manufacture individuated artificial bones. Free forging with a 6-axis freedom robot and servo-press could be very economical in the forming of complex shape parts because of its high flexibility and simple die-setting. Based on this system, the authors studied deformations of some basic elements, which could be assembled to artificial bones with complex shape. Firstly, the compression limit and effect of compression parameters on the roundness during reducing diameter process were declared for Al alloy and pure Ti. Secondly, an approximate theoretical equation of bending angle or curvature radius was proposed, and it matches experimental results well. Finally, a dimension prediction equation was presented by considering effect of material anisotropy, and then the ladder part without width spread was manufactured accordingly.     

Improved Filtration Performance of Continuous Alumina-fiber-reinforced Mullite Composites for Hot-Gas Cleaning

The effect of filtration layer morphology on filtration performance at 673 K was investigated for continuous alumina-fiber-reinforced mullite composite filters that capture fly ash on their outer surfaces. Two types of filtration layers were prepared on the outer surfaces: a mono-layer consisting of mullite agglomerated particulates and a bi-layer, with mullite whiskers formed by a vapor-phase reaction and strongly adhered to the particulates exposed on the outer surfaces. For filters with mono-filtration layers, the filtration efficiency was improved slightly by increasing the filtration layer thickness. However, the maximum differential pressure increased during the filtration tests. Adhesion of whiskers to the outer surface decreased the maximum differential pressure to about one-third less than that with the mono-filtration layer. This low differential pressure remained constant throughout the duration of the test, with corresponding increases in filtration efficiency.     

Single molecule fluorescence autocorrelation measurement on anisotropic molecular diffusion in nematic liquid crystal

Diffusion kinetics of three dyes in nematic liquid crystals are studied with single-molecule fluorescence autocorrelation spectroscopy. Markedly large anisotropy was observed in the diffusion coefficient and structure of diffusion molecules showed no marked effect on the anisotropy.     

Synthesis and thermal cure of high molecular weight polybenzoxazine precursors and the properties of the thermosets

High molecular weight polybenzoxazine precursors have been synthesized from aromatic or aliphatic diamine and bisphenol-A with paraformaldehyde. The precursors were obtained as soluble white powder. Molecular weight was estimated from the size exclusion chromatography to be several thousands. The structure of the precursors was confirmed by IR, ¹H NMR and elemental analysis, indicating the presence of cyclic benzoxazine structure. The ratio of the ring-closed benzoxazine structure and the ring-opened structure in the high molecular weight precursor was estimated from ¹H NMR spectrum and also from the exotherm of DSC, showing that the ratio of the ring-closed benzoxazine structure was 77–98%. The precursor solution was cast on glass plate, giving transparent and self-standing precursor films, which was thermally cured up to 240 °C to give brown transparent polybenzoxazine films. The toughness of the crosslinked polybenzoxazine films from the high molecular weight precursors was greatly enhanced compared with the cured film from the typical low molecular weight monomer. Tensile measurement of the polybenzoxazine films revealed that polybenzoxazine from aromatic diamine exhibited the highest strength and modulus. While, polybenzoxazine from longer aliphatic diamine had higher elongation at break. The viscoelastic analyses showed that the glass transition temperature of the polybenzoxazines derived from the high molecular weight precursors were as high as 238–260 °C. Additionally, these novel polybenzoxazine thermosets showed excellent thermal stability.     

Water vapor solubility of poly(lactic acid) films modified the surface by vacuum ultraviolet irradiation

Surface modification of poly(lactic acid) (PLA) film is performed via 172 nm excimer lamp irradiation. Effects on water vapor solubility and physical properties via vacuum ultraviolet (VUV) irradiation are studied systematically. After VUV irradiation, water vapor solubility increases approximately 11–43% in the low‐pressure region and approximately 20–38% in the high‐pressure region as surface hydrophilicity increased. The increase is attributed to hydrogen bonding with the carboxyl groups because of VUV radiation. The modified layer is significantly swelling after water vapor sorption. The hydrophilic layer forms a thickness of 2–3 μm from the irradiated surface via VUV radiation, but no changes are observed inside the irradiated film. Therefore, PLA film solubility after irradiation is enhanced by hydrophilicity and the swelling effect of the surface. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015 , 132, 42200.