Human-sized anthropomorphic robot hand with detachable mechanism at the wrist

In this paper, we proposed a human-sized multi-fingered robot hand with detachable mechanism at the wrist. The fingers are tendon-driven by wires and the actuators are embedded in the arm part. The driving forces from the arm part are transmitted to the hand part by a gear mechanism at the wrist. The gear mechanism makes the hand part and the arm part splittable. The detachable mechanism enables separate maintenance of the hand and arm parts. To avoid undesired joint mutual interferences due to the tendon-driven mechanism, a joint motion correction control is implemented in that counteracting motions are ordered to actuators. The correction coefficient can be calculated based on the mechanical configuration. The developed robot hand has the size of 200[mm](length) × 78[mm](width) × 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the developed robot hand was shown by a motion control experiment.     

Synthesis and optical properties of the [2.2]paracyclophane-containing π-conjugated polymer with a diacetylene unit

Summary Novel through-spaceπ-conjugated polymer based on poly(p-henyleneethynylene)/poly(p-phenylenebutadiynylene) hybrids containing a [2.2]paracyclophane unit in the main chain was synthesized by copper-catalyzed alkyne coupling reaction. The structure of the polymer was supported by ¹H NMR and IR spectra. The obtained polymer was soluble in common organic solvents such as THF, CH₂C1₂, CHC1₃ and toluene. The number-average of molecular weight of the polymer was estimated to be 63000 by GPC. The polymer emitted a bluish green light in solution and in the solid state. Received:24 September 2002/Revised version: 19 November 2002/Accepted: 19 November 2002 Correspondence to Yoshiki Chujo     

Re-evaluation of Radiation-Energy Transfer to an Extraction Solvent in a Minor-Actinide-Separation Process Based on Consideration of Radiation Permeability

ABSTRACT

Absorbed-dose estimation is essential for evaluation of the radiation tolerance of minor-actinide-separation processes. We propose a dose-evaluation method based on radiation permeability, with comparisons of heterogeneous structures seen in the solvent-extraction process, such as emulsions forming in the mixture of the organic and aqueous phases. A demonstration of radiation-energy-transfer simulation is performed with a focus on the minor-actinide-recovery process from high-level liquid waste with the aid of the Monte Carlo radiation-transport code PHITS. The simulation results indicate that the dose absorbed by the extraction solvent from alpha radiation depends upon the emulsion structure, and that from beta and gamma radiation depends upon the mixer-settler-apparatus size. Non-negligible contributions of well-permeable gamma rays were indicated in terms of the plant operation of the minor-actinide-separation process.     

Desorption of carbon dioxide from supersaturated water in an agitated vessel

The rates of desorption of carbon dioxide from supersaturated water solutions into pure carbon dioxide or nitrogen gas stream were measured at 15,25, and 35°C in a baffled agitated vessel with a flat gas-liquid interface operated in a continuous manner. The volumetric liquid-phase mass transfer coefficients for the bubbles generated in the agitated liquid and the enhancement factors of the volumetric liquid-phase mass transfer coefficient for the free liquid surface due to the bubbling were calculated from the measured desorption rates and correlated as functions of the relative supersaturation of the solution and the liquid-phase Reynolds number.     

Relation between crystal structure and lattice oxygen content of sintered reaction-bonded silicon nitride

When reaction-bonded silicon nitride containing MgO/Y₂O₃ additives is sintered at three different temperatures to form sintered reaction-bonded silicon nitride (SRBSN), the thermal conductivity increases with sintering temperature. The β-Si₃N₄ (silicon nitride) crystals of SRBSN ceramics were synthesized and characterized to investigate the relation between the crystal structure and the lattice oxygen content. The hot-gas extraction measurement result and the crystal structure obtained using Rietveld analysis suggested that the unit cell size of the β-Si₃N₄ crystal increases with the decrease in the lattice oxygen content. This result is reasonable considering that the lattice oxygen with the smaller covalent radius substitutes nitrogen with the larger one in the β-Si₃N₄ crystals. The lattice oxygen content decreased with increasing sintering temperature which also correlated with increase in thermal conductivity. Moreover, it is noteworthy from the viewpoint that it may be possible to apply the lattice constant analysis for the nondestructive and simple measurement of the lattice oxygen content that deteriorates the thermal conductivity of the β-Si₃N₄ ceramics.     

Strain selection and scale-up fermentation for FR901379 acylase production by Streptomyces sp. no. 6907

Micafungin (FK463) is a widely used treatment for life-threatening, deep-seated fungal infections. It is an echinocandin-like lipopeptide derived from the chemical modification of deacylated FR901379, a type of lipopeptide antibiotic produced by Coleophoma empetri F-11899. The palmitoyl moiety of FR901379 is deacylated by FR901379 acylase produced by Streptomyces sp. no. 6907. In this study, our goal was to generate an improved strain of Streptomyces sp. no. 6907 capable of hyperproducing the FR901379-acylase enzyme. To accomplish this goal, modified strains of Streptomyces sp. no. 6907 were generated using UV-irradiation mutagenesis, and strain selection was performed using an agar-plate screening method to efficiently select an acylase-hyperproducing strain. Three marker indices were shown to correlate with elevated acylase production: decreased candidacidal activity of FR901379, decreased proteolytic activity on skim milk, and phenotypic characteristics. Cloning and subsequent sequencing of the acylase gene from the hyperproducing mutant revealed no mutations in either the acylase structural gene or the 5'-flanking region required for gene expression. The growth medium was also modified to maximize acylase production. We successfully increased acylase activity approximately 65-fold, compared with the original growth conditions (wild strain cultured in the original unmodified medium). To minimize formation of excess foam during the fermentation process, we optimized the parameters of agitation speed, as calculated from the discharge flow rate. Using our improved strain and the optimized medium and growth conditions, we have developed an improved and highly reproducible method for stable large-scale production of FR901379-acylase.     

Molded micro- and mesoporous carbon/silica composite from rice husk and beet sugar

A molded carbon/silica composite with high micro- and mesoporosity, as well as a high bulk density, was fabricated by activating a disk-molded precursor made from carbonized rice husk (RH) and beet sugar (BS) at 875 °C in CO₂. The pore structure of the RH- and BS-based carbon/silica composite (RBC) was analysed in relation to the bulk density. An activation time of 2.0 h provided the largest BET specific surface area (1027 m²/g) and total pore volume (0.68 cm³/g) and a low bulk density (0.54 g/cm³). An RBC that was first activated for 1 h was immersed again in BS syrup and then activated in CO₂ for 1 h. This two-step activation process provided both a high bulk density (0.69 g/cm³) and a highly textured structure (BET specific surface area, 943 m²/g; total pore volume, 0.56 cm³/g). The immersion in BS syrup was useful for improving the texture without reducing the bulk density, in comparison to one-step activation for 1.0 h. The suspension of the RBCs was basic because of the residual inorganic compounds of potassium and calcium. However, the basicity of the suspension was alleviated by washing the RBCs with water.     

Structural and electrical characteristics of high-κ Er2O3 and Er2TiO5 gate dielectrics for a-IGZO thin-film transistors

In this letter, we investigated the structural and electrical characteristics of high-κ Er₂O₃ and Er₂TiO₅ gate dielectrics on the amorphous indium-gallium-zinc-oxide (a-IGZO) thin-film transistor (TFT) devices. Compared with the Er₂O₃ dielectric, the a-IGZO TFT device incorporating an Er₂TiO₅ gate dielectric exhibited a low threshold voltage of 0.39 V, a high field-effect mobility of 8.8 cm²/Vs, a small subthreshold swing of 143 mV/decade, and a high I_on/I_off current ratio of 4.23 × 10⁷, presumably because of the reduction in the oxygen vacancies and the formation of the smooth surface roughness as a result of the incorporation of Ti into the Er₂TiO₅ film. Furthermore, the reliability of voltage stress can be improved using an Er₂TiO₅ gate dielectric.