Dynamic Modeling and Inverse Optimal PID with Feed-forward Control in <Emphasis Type="Italic">H</Emphasis><Subscript>∞</Subscript> Framework for a Novel 3D Pantograph Manipulator

This paper affords dynamic modeling and control for a new 3D pantograph manipulator. The new manipulator possesses pure decoupled translational motions and it is characterized by large workspace to size ratio, high speed, rigidity, and accuracy. Euler-Lagrange first type method is used to get the dynamic model. However, the resulted dynamic model is too complex to be used in model-based control techniques. Therefore, a simplified nominal plant is proposed. It allows the inverse dynamic solution efficiently. However, an explicit form of the nominal Coriolis and centrifugal matrix cannot be obtained due to the complicated kinematic terms. Considering these dynamic characteristics as well as the required robust trajectory tracking performance of the manipulator, a new controller is proposed. The new controller is called inverse optimal PID with Feed-Forward Control which is designed in H_∞ framework. The new controller has the following merits; robustness, optimality, simple implementation, and efficient execution without the need of explicit forms of dynamic matrices. The extended disturbance in the proposed controller is smaller than that in the inverse optimal PID control (IPID) and contains one type of error contrary to the nonlinear robust motion controller (NRIC). The performance of the proposed controller is compared with those of IPID and NRIC controllers for different trajectories and payloads. The dynamic simulation results via co-simulation of MSC-ADAMS® and MATLAB®/Simulink software prove the robustness of the proposed controller against speed/payload variations. The proposed controller is found to have higher performance compared with IPID and NRIC controllers. These results assure the feasibility of the 3D pantograph manipulator with the proposed controller for pure translational tracking applications.     

Adsorption characteristics of superplasticizers on cement component minerals

Adsorption characteristics of various superplasticizers on portland cement component minerals were investigated. Adsorption isotherms of various types of superplasticizers and ζ-potentials of cement component minerals at the maximum adsorption of the superplasticizers were measured. The value of the adsorption isotherm was calculated from the amount of the superplasticizer adsorbed on a cement component mineral in an equilibrated solution. The maximum amounts of adsorption and the adsorption isotherms varied with types of component mineral and superplasticizer. For all types of superplasticizers, a larger amount of superplasticizer was adsorbed on C₃A and C₄AF than C₃S and C₂S. However, the equilibrated concentration of each superplasticizer at the maximum adsorption was not influenced by types of superplasticizer. Without superplasticizer, C₃S and C₂S had negative ζ-potential. On the contrary, C₃A and C₄AF had positive ζ-potential. Therefore, accelerated coagulation of cement particles might occur due to their electrostatic potentials that are opposite each other. However, all component minerals of cement had negative ζ-potential when they were mixed with any superplasticizer. Fluidity of fresh cement paste is improved due to electrostatic repulsion acting between particles.     

Prevention of catalyst deactivation caused by coke formation in the methanation of carbon oxides

Prevention of catalyst deactivation in carbon monoxide methanation on a highly active Ni-based composite catalyst has been investigated. The composite catalyst, Ni-La₂O₃-Ru supported on silica, has greater activity than that of a Ni catalyst, but the decrease of the catalyst activity with reaction time is greater than that of the Ni catalyst, especially when the CO conversion is low. The reason for this behaviour is found in the relation between the amount of surface-carbon species and the degree of deactivation. When the CO methanation reaction is operated at above the temperature of complete CO conversion, catalyst deactivation is avoided. At such high temperatures the amount of surface-carbon species is small. The catalyst deactivation is considerably suppressed with a low concentration, e.g. 1–3 kPa, of additional CO₂ or CO₂ + H₂O. The cause of this suppression is considered to be the renewal of the covered surface with the carbon-species by the competitive adsorption of these additives.     

A case-control study of the association between urinary cadmium concentration and endometriosis in infertile Japanese women

Cadmium may act like an estrogen and be a potential risk factor for estrogen-related diseases such as breast cancer and endometriosis. Here, we tested the hypothesis that higher cadmium exposure is associated with endometriosis among infertile Japanese women in a hospital-based case-control study. We recruited consecutive female patients aged 20-45 years who had complained of infertility and presented to a university hospital in Tokyo. The subjects were interviewed and provided a urine sample prior to a laparoscopic diagnosis of endometriosis between January 2000 and December 2001. The severity of endometriosis was then dichotomized into controls (stage 0 and I) and cases (stage II-IV). We finally measured urinary total cadmium concentration in 54 cases and 74 controls as a biomarker of long-term cumulative exposure. Odds ratios were adjusted for average menstrual cycle length, body-mass index and smoking status using unconditional logistic regression. Results showed no association between endometriosis and urinary cadmium concentration. Medians (interquartile ranges) of urinary cadmium concentration in cases and controls were 0.53 (0.40-0.73) and 0.54 (0.34-0.76) microg/g creatinine, respectively (P for difference=0.88). Adjusted odds ratio (95% confidence interval) for the highest versus lowest tertile of urinary creatinine-adjusted cadmium concentration was 0.86 (0.30 to 2.49, P for trend=0.79). Our results do not support the hypothesis that higher urinary cadmium concentration is associated with the risk of endometriosis.     

Distribution, diversity and regulation of alcohol oxidase isozymes, and phylogenetic relationships of methylotrophic yeasts

In this study, we attempted to classify the methylotrophic yeasts based on diversities of alcohol oxidase (AOD), i.e. zymogram patterns and partial amino acid sequences. According to zymogram patterns for AOD, members of the methylotrophic yeasts separate into two major lineages, one group involving strains having a single AOD and the other group, including Pichia methanolica, Candida pignaliae and C. sonorensis, showing nine AOD isozymes. Based on partial amino acid sequences of AOD, the methylotrophic yeasts could be divided into five groups, and this classification agrees mostly with grouping based on 26S domain D1/D2 rDNA nucleotide sequences, except for some strains. Moreover, the strains having AOD isozymes constitute one group with P. trehalophila, P. glucozyma and Pichia sp. strain BZ159, although these strains are divided into two types, based on amino acid sequences of second AODs. On the other hand, these AOD isozymes consist of two subunits; the first subunits are induced not only by methanol but also by glycerol and pectin, although the second subunits are mainly induced by methanol. These data indicate that AOD isozymes and second AOD genes distribute widely in several methylotrophic yeasts in the natural environment, and second AOD genes may have evolved as methylotrophic genes that can adapt to the environmental conditions of higher methanol concentrations.     

Recent advance in catalysis for solving energy and environmental problems

Recent advances in catalysis for solving the energy and environmental problems are summarized. For these purposes, rapid conversion and selective reaction even under conditions deviating extremely from reaction stoichiometry must be indispensable requisites. In order to realize these requisites, changes in the state of catalyst surface during the reaction were studied, and the catalyst structures on which the optimum reaction performance occurs were determined. An ultra-rapid reforming of methane to syngas with a space–time yield (STY) of 25 000 mol/l h was achieved by using a Rh-modified Ni–Ce₂O₃–Pt catalyst in which the Rh played the role of portholes for hydrogen spillover and prevents coke deposition on the catalyst surface. As a result, a stable state of the catalyst and the high reaction rate were exhibited. A new catalyst composed of Cu–Zn–Cr–Al–Ga oxides modified with supported Pd exerted a high activity with a high STY of methanol, 6700 g/l h. The catalyst components, Pd and Ga, controlled the reduction state of the catalyst surface by their role on normal and inverse spillover of hydrogen, respectively. The methanol thus produced was then totally converted selectively on a metallosilicate catalyst containing Ga or Fe into an aromatics-lean gasoline using an STY of 1860 g/l h. Finally, non-linear reaction mechanism is used to explain the elimination of NO on metallosilicate catalysts under O₂-excess conditions.     

Acceptor recognition of kojibiose phosphorylase from Thermoanaerobacter brockii: syntheses of glycosyl glycerol and myo-inositol

The glucosyl transfer reaction of kojibiose phosphorylase (KP; EC 2.4.1.230) was examined using glycerol or myo-inositol as an acceptor. In the case of glycerol, KP produced two main transfer products: saccharides A and B. The structure of saccharide A was O-alpha-D-glucopyranosyl-(1-->1)-glycerol and that of saccharide B was O-alpha-D-glucopyranosyl-(1-->2)-O-alpha-D-glucopyranosyl-(1-->1)-glycerol. These results show that KP transferred a glucose residue to the hydroxyl group at position 1 of glycerol. On the other hand, when myo-inositol was used as an acceptor, KP produced four transfer products: saccharides 1-4. The structures of saccharides 1 and 2 were O-alpha-D-glucopyranosyl-(1-->1)- and O-alpha-D-glucopyranosyl-(1-->5)-myo-inositol, respectively; those of saccharides 3 and 4 were O-alpha-D-glucopyranosyl-(1-->2)-O-alpha-D-glucopyranosyl-(1-->1)- and O-alpha-D-glucopyranosyl-(1-->2)-O-alpha-D-glucopyranosyl-(1-->5)-myo-inositol, respectively. KP transferred a glucose residue to the hydroxyl group at position 1 or 5 of myo-inositol. On the basis of the structures of their glucosyl transfer products, glycerol and myo-inositol were found to have a common structure with three hydroxyl groups corresponding to the hydroxyl group of the glucose molecule at positions 2, 3 and 4. The conformation of these three hydroxyl groups in the structure is equatorial. This structure is the substrate recognition site of KP. It has been suggested that KP strictly recognizes the structures of glycerol and myo-inositol, and catalyzes the transfer reaction of a glucose residue to the hydroxyl group at position 1 in glycerol, and at position 1 or 5 in myo-inositol, corresponding to position 2 in glucose.     

Grain growth prediction with inclination dependence of 〈1 1 0〉 tilt grain boundary using multi-phase-field model with penalty for multiple junctions

Multi-phase-field (MPF) model with a higher-order term representing energetic penalty for multiple junctions was proposed to predict the grain growth accompanying the inclination dependence of grain boundary (GB) energy and mobility. The inclination effect was introduced on the basis of GB energy obtained from molecular dynamics (MD) simulations. The preliminary grain growth simulation of an isolated grain surrounded by Σ3 GB certified that the analytical equilibrium shape was well reproduced. The augmented higher-order term added to conventional MPF model could improve convergence and stability of numerical calculations around triple junction (TJ) region even if there exists the large GB energy gap at the TJ. Moreover, the present MPF model can realize well the Young’s relation with no GB inclination effect and further extend to the case with that effect. For the polycrystalline grain growth simulations with the GB energy distribution according to the misorientation angle of Al 〈1 1 0〉 tilt GB, Σ3 GB inclination lead the weak anisotropy characterized by Σ3{111} twin boundary. Besides, the inclination dependence can effectively drive the GBs with low GB energy like the low-angle GB during grain growth.     

Si thin platelets as high-capacity negative electrode for Li-ion batteries

Pure Si platelets and Ni or Cu layer-laminated Si platelets with difference thickness were prepared, and their charge/discharge properties were examined in 1 M LiClO₄/EC + DEC (1:1 by volume) as alternative negative electrode materials to graphite for Li-ion batteries. The shape of thin platelets and lamination with Ni layer are significantly effective to improve the cycleability in Li-Si alloy system by relieving the stress during the alloying/de-alloying processes, reinforcing the mechanical strength and reducing the Li⁺ ion diffusion length. Moreover, the first irreversible capacity is minimized by reduction of the amount of Ketjen Black (KB) in the composite electrode because of electrolyte decomposition on the surface of KB. Consequently, the Si/Ni/Si-LP30 (30/30/30 nm) composite electrode with 5 wt% KB also exhibits over 700 mAh g⁻¹ even after 50 cycles in 1 M LiPF₆/EC + DEC (1:1).     

Suppression of Martensitic Transformation in Co<Subscript>2</Subscript>Cr(Ga,Si) Heusler Alloys by Thermal Cycling

We have investigated the influence of thermal cycles on martensitic transformation of a Co₂Cr(Ga,Si) ferromagnetic Heusler alloy. The as-quenched specimen exhibits successive L2₁(L)–D0₂₂–L2₁(H) martensitic transformation in the cooling process, which is known as reentrant martensitic transformation. However, heating to 800 K (527 °C) for reverse D0₂₂–L2₁ transformation with a rate of 10 K/min (10 °C/min) stabilizes the parent phase, meaning that the martensitic transformation is suppressed by the thermal cycles. We found precipitate after thermal cycles, and it will be the reason for the stabilization of parent phase.