A neural network compensator for uncertainties of roboticsmanipulators

A neural network controller for trajectory control of robotic manipulators that is used not to internalize the inverse dynamic model of the controlled object but to compensate only the uncertainties of the robotic manipulator is presented. Its performance is compared with that of the conventional adaptive scheme. The results show the ability of the neural network controller to adapt to unstructured effects. A learning method for the neural network compensator with true teaching signals is shown. The tracking error of the robotic manipulator was greatly reduced when this controller was used     

Phenotypic diversity and kinetics of proliferating microglia and astrocytes following cortical stab wounds

Brain injury induces reactive gliosis, characterized by increased expression of glial fibrillary acidic protein (GFAP), astrocyte hypertrophy, and hyperplasia of astrocytes and microglia. One hypothesis tested in this study was whether ganglioside GD3+ glial precursor cells would contribute to macroglial proliferation following injury. Adult rats received a cortical stab wound. Proliferating cells were identified by immunostaining for proliferating cell nuclear antigen (PCNA) and by [3H]-thymidine autoradiography, and cell phenotypes by immunocytochemical staining for GD3, GFAP, ED1 (for reactive microglia) and for Bandeiraea Simplicifolia isolectin-B4 binding (all microglia). Animals were labeled with thymidine at 1,2,3, and 4 days postlesion (dpl) and sacrificed at various times thereafter. Proliferating cells of each phenotype were quantified. A dramatic upregulation of GD3 on ramified microglia was seen in the ipsilateral hemisphere by 2 dpl. Proliferating cells consisted of microglia and fewer astrocytes. Microglia proliferated maximally at 2-3 dpl and one third to one half were GD3+. Astrocytes proliferated maximally at 3-4 dpl, and some were also GD3+. Both ramified and ameboid forms of microglia proliferated and by 4 dpl all GD3+ microglia were ED1+ and vice versa. In the contralateral cortex microglia expressed neither GD3 nor ED1. Thus they acquired these antigens when activated. Neither microglia nor astrocytes that were thymidine-labeled at 2, 3, or 4 dpl changed in number in subsequent days. Most thymidine+ astrocytes were large GFAP+ reactive cells that clearly arose from pre-existing astrocytes, not from GD3+ glial precursors. In this model of injury microglia proliferate earlier and to a much greater extent than astrocytes, they can divide when in ramified form, and GD3 is up-regulated in most reactive microglia and in a subset of reactive astrocytes. We also conclude that microglial proliferation precedes proliferation of invading blood-borne macrophages.     

Free primary alcohols in oils and waxes from germs,kernels and other components of nuts,seeds, fruits and cereals

The composition of free primary alcohols in oils and waxes obtained from the germ, kernel, seed coat, shell and skin (peel) of various nuts, seeds, fruits and cereals and from the chrysalis of silkworm was examined. These alcohols are usually present in small amounts, along with large quantities of hydrocarbons, esters and glycerides in oils and waxes. Thus, it is necessary to remove hydrocarbons, esters and glycerides to analyze the alcohols. We found that preparative reverse-phase thin-layer chromatography (TLC) was the best way to isolate alcohols from oils and waxes. Gas liquid chromatography (GLC) then detected hexacosanol, octacosanol and triacontanol in the oils and waxes. Octacosanol usually was the predominant alcohol. Relationships between the organs from nuts, seeds, fruits and cereals and the contents of octacosanol are suggested. For example, degermed kernels contained two times more octacosanol than the germ, and the skin coat and shell contained one-half and one-fortieth the octacosanol of the germ, respectively.     

W-band waveguide photomixer using a uni-traveling-carrier photodiode with 2-mW output

Developed a W-band (75-110 GHz) waveguide photomixer with a uni-traveling carrier photodiode, which can be driven by two 1.5-/spl mu/m lasers. It generates an output power of 2.2/spl plusmn/0.2 mW at 100 GHz with a laser power of less than 100 mW, and its relative power variation is as small as 3 dB across the entire frequency range of the W-band. A 100-GHz superconductor-insulator-superconductor receiver driven by this photomixer shows the same noise temperature around 26 K as that driven by a conventional Gunn oscillator.     

Impact of Dynamic Interlayer Interactions on Thermal Conductivity of Ca3Co4O9

The phonon thermal conductivity of misfit-layered Ca₃Co₄O₉ has been calculated by perturbed molecular dynamics using a classical force field. Detailed numerical analyses reveal that, in spite of its smaller cross-sectional area, the CoO₂ layer transports more heat than the thicker rock salt (RS) layer, although its local thermal conduction is more suppressed than in another layered cobaltite, Na _x CoO₂. The origins of these differences have been elucidated through careful examination of the atomic arrangements in each layer. Since thermal conduction in the RS layer can be reduced without deteriorating electronic properties for which the CoO₂ layer is responsible, it is suggested that the RS layer should be modified to further suppress the overall in-plane thermal conductivity. Computational experiments with increasing number of Ca–O planes in the RS layer showed the opposite trend to what can be predicted based on the misfit between two dissimilar layers. Further analyses to reveal the origin of these unexpected results provide yet another strategy to further decrease the thermal conductivity, namely to control the dynamic interference between atoms across the interface between two layers.     

Detection and visualization method of dynamic state transition for biological spatio-temporal imaging data

In the statistical analysis of functional brain imaging data, regression analysis and cross correlation analysis between time series data on each grid point have been widely used. The results can be graphically represented as an activation map on an anatomical image, but only activation signal, whose temporal pattern resembles the predefined reference function, can be detected. In the present study, we propose a fusion method comprising innovation approach in time series analysis and statistical test. Autoregressive (AR) models were fitted to time series data of each pixel for the range sufficiently before or after the state transition. Then, the remaining time series data were filtered using these AR parameters to obtain its innovation (filter output). The proposed method could extract brain neural activation as a phase transition of dynamics in the system without employing external information such as the reference function. The activation could be detected as temporal transitions of statistical test values. We evaluated this method by applying to optical imaging data obtained from the mammalian brain and the cardiac sino-atrial node (SAN), and demonstrated that our method can precisely detect spatio-temporal activation profiles in the brain or SAN.     

Study on shock wave and turbulent boundary layer interactions in a square duct at Mach 2 and 4

In this paper, the outline of the Mach 4 supersonic wind tunnel for the investigation of the supersonic internal flows in ducts was firstly described. Secondly, the location, structure and characteristics of the Mach 2 and Mach 4 pseudo-shock waves in a square duct were investigated by color schlieren photographs and duct wall pressure fluctuation measurements. Finally, the wall shear stress distributions on the side, top and bottom walls of the square duct with the Mach 4 pseudo-shock wave were investigated qualitatively by the shear stress-sensitive liquid crystal visualization method. The side wall boundary layer separation region under the first shock is narrow near the top wall, while the side wall boundary layer separation region under the first shock is very wide near the bottom wall.     

Fabricating high performance a-Si solar cells by alternately repeating deposition and hydrogen plasma treatment method

The performance of a p-i buffer layer in pin amorphous silicon solar cell was improved by the “alternately repeating deposition and hydrogen plasma treatment method (ADHT)”. The optical bandgap of the a-Si film was increased by hydrogen plasma treatement. The wide optical bandgap and the high photoconductive a-Si:H films without carbon could be fabricated by the ADHT method. The conversion efficiency of the solar cell with a-Si:H buffer layer was almost the same as that using an a-SiC:H buffer layer. Second, the a-Si (ADHT) films were applied to the n-i buffer layer. The insertion of a-Si (ADHT) films between the i-layer and the n-layer was effective to improve the cell performance, especially the fill factor. With the use of high performance a-Si p-i and n-i buffer layer deposited by ADHT method, a cell conversion efficiency of 12.9% was obtained.     

Growth condition of iodine-doped n+-CdTe layers in metal-organic vapor phase epitaxy

Iodine doping of CdTe layers grown on (100) GaAs by metal-organic vapor phase epitaxy (MOVPE) was studied using diethyltelluride (DETe) and diisopropyltelluride (DiPTe) as tellurium precursors and ethyliodine (EI) as a dopant. Electron densities of doped layers increased gradually with decreasing the growth temperature from 425°C to 325°C. Doped layers grown with DETe had higher electron densities than those grown with DiPTe. When the hot-wall temperature was increased from 200°C to 250°C at the growth temperature of 325°C, doped layers grown with DETe showed an increase of the electron density from 3.7×10¹⁶ cm⁻³ to 2.6×10¹⁸ cm⁻³. On the other hand, such an increase of the electron density was not observed for layers grown with DiPTe. The mechanisms for different doping properties for DETe and DiPTe were studied on the basis of the growth characteristics for these precursors. Higher thermal stability of DETe than that of DiPTe was considered to cause the difference of doping properties. With increasing the hot-wall temperature from 200°C to 250°C, the effective ratio of Cd to Te species on the growth surface became larger for layers grown with DETe than those grown with DiPTe. This was considered to decrease the compensation of doped iodine and to increase the electron density of layers grown with DETe. The effective ratio of Cd to Te species on the growth surface also increased with decreasing growth temperature. This was considered to increase the electron density with decreasing growth temperature.     

Studies on Effective Utilization of SOFC Exhaust Heat Using Thermoelectric Power Generation Technology

Solid oxide fuel cells (SOFCs) are being researched around the world. In Japan, a compact SOFC system with rated alternative current (AC) power of 700 W has become available on the market, since the base load electricity demand for a standard home is said to be less than 700 W AC. To improve the generating efficiency of SOFC systems in the 700-W class, we focused on thermoelectric generation (TEG) technology, since there are a lot of temperature gradients in the system. Analysis based on simulations indicated the possibility of introducing thermoelectric generation at the air preheater, steam generator, and exhaust outlet. Among these options, incorporating a TEG heat exchanger comprising multiple CoSb₃/SiGe-based TEG modules into the air preheater had potential to produce additional output of 37.5 W and an improvement in generating efficiency from 46% to 48.5%. Furthermore, by introducing thermoelectric generation at the other two locations, an increase in maximum output of more than 50 W and generating efficiency of 50% can be anticipated.