Force control of twisted and coiled polymer actuators via active control of electrical heating and forced convective liquid cooling

For decades, numerous artificial muscles have been proposed in order to implement beneficial features of biological muscles into robotics. Unfortunately, traditional artificial muscles experienced difficulties in imitating properties of the biological muscles due to mechanical and control issues. Recently, twisted and coiled polymer actuators (TCP) have been shown to produce large mechanical power via thermal stimulations and strong linearity. In this paper, a high-performance TCP thermally cycled by electrical heating and forced convective liquid cooling is designed and associated control algorithms are presented. We elaborate the model of the TCP that is simple, yet provides insight into how the electrical heating and the forced convective liquid cooling contribute to the TCP actuation. The proposed model is verified by experimental studies. Based on the proposed model, we design a feedforward–feedback controller and switching laws, which actively control the TCP in both the heating and cooling cycles. Furthermore, we extend our control methodology to agonist–antagonist TCPs. From the experimental studies, the proposed method is shown to be effective in both single TCP and antagonistic TCPs.     

Evaluation of standing‐sitting support system with passive rotational seat mechanism in standing motion

Since a decrease in muscle mass of elderly people, the physical burden of them in standing‐sitting motion of a seat are increasing than young people. For this problem, several standing‐sitting support systems have been developed, and evaluations of these systems focusing on a reduction of physical load have been discussed. However, these evaluations are of support systems with an active actuators or of support systems when they use a handrail and a standing aid. Thus, an evaluation of a support system with only passive actuators has not been reported. In this paper, in standing motion with using a standing‐sitting support system with passive rotational seat mechanism which our group proposes, we objectively evaluate an effectiveness of the passive rotational seat mechanism by statistical analysis.     

Hydrophobic Tagged Dihydrofolate Reductase for Creating Misfolded Glycoprotein Mimetics

In the endoplasmic reticulum (ER), nascent glycoproteins that have not acquired the native conformation are either repaired or sorted for degradation by specific quality‐control systems composed by various proteins. Among them, UDP‐glucose:glycoprotein glucosyltransferase (UGGT) serves as a folding sensor in the ER. However, the molecular mechanism of its recognition remains obscure. This study used pseudo‐misfolded glycoproteins, comprising a modified dihydrofolate reductase with artificial pyrene–cysteine moiety on the protein surface (pDHFR) and Man₉GlcNAc₂‐methotrexate (M9‐MTX). All five M9‐MTX/pDHFR complexes, with a pyrene group at different positions, were found to be good substrates of UGGT, irrespective of the site of pyrene modification. These results suggest UGGT's mode of substrate recognition is fuzzy, thus allowing various glycoproteins to be accommodated in the folding cycle.     

Effects of water chemistry and potential distribution on electrochemical corrosion potential measurements in 553 K pure water

The effects of water chemistry distribution on the potential of a reference electrode and of the potential distribution on the measured potential should be known qualitatively to obtain accurate electrochemical corrosion potential (ECP) data in BWRs. First, the effects of oxygen on a platinum reference electrode were studied in 553 K pure water containing dissolved hydrogen (DH) concentration of 26–105 μg kg^?1 (ppb). The platinum electrode worked in the same way as the theoretical hydrogen electrode under the condition that the molar ratio of DH to dissolved oxygen (DO) was more than 10 and that DO was less than 100 ppb. Second, the effects of potential distribution on the measured potential were studied by using the ECP measurement part without platinum deposition on the surfaces connected to another ECP measurement part with platinum deposition on the surfaces in 553 K pure water containing 100–130 ppb of DH or 100–130 ppb of DH plus 400 ppb of hydrogen peroxide. Measured potentials for each ECP measurement part were in good agreement with literature data for each surface condition. The lead wire connecting point did not affect the measured potential. Potential should be measured at the nearest point from the reference electrode in which case it will be not affected by either the potential distribution or the connection point of the lead wire in pure water.     

A Two‐Stage Stochastic Mixed‐Integer Programming Approach to the Smart House Scheduling Problem

A “smart house” is a highly energy‐optimized house equipped with photovoltaic (PV) systems, electric battery systems, fuel cell (FC) cogeneration systems, electric vehicles (EVs), and so on. Smart houses are attracting much attention recently because of their enhanced ability to save energy by making full use of renewable energy and by achieving power grid stability despite an increased power draw for installed PV systems. Yet running a smart house's power system, with its multiple power sources and power storages, is no simple task. In this paper, we consider the problem of power scheduling for a smart house with a PV system, an FC cogeneration system, and an EV. We formulate the problem as a mixed‐integer programming problem, and then extend it to a stochastic programming problem involving recourse costs to cope with uncertain electricity demand, heat demand, and PV power generation. Using our method, we seek to achieve the optimal power schedule running at the minimum expected operation cost. We present some results of numerical experiments with data on real‐life demands and PV power generation to show the effectiveness of our method. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 48–58, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22336     

Homogeneous Strain Introduction Using Reciprocation Technique in High-Pressure Sliding

Metallurgical and Materials Transactions A - This study examines strain distribution occurring in the high-pressure sliding (HPS) processing for rods of pure Al and an AZ61 alloy. The strain...     

On-off switching properties of one-dimensional photonic crystals consisting of azo-functionalized polymer liquid crystals having different methylene spacers and polyvinyl alcohol

In this paper, photoresponsive behavior of multi-bilayered films having precisely controlled layer thickness prepared by stacking an azo-functionalized polymer liquid crystal, PMAzXAc, and polyvinyl alcohol alternatively, PVA, is described. The multi-bilayered films were found to reflect a light of specific wavelength depending on the layer thickness and refractive index, and showed the reversible change in the reflection intensity by irradiation with visible and UV lights. The change in the reflection intensity was brought about by change in the molecular orientation of PMAzXAc between an out-of-plane orientation and a photo-induced isotropic state, and was strongly dependent on the number of methylene spacer of PMAzXAc linking the azobenzene side group with the acrylate polymer main chain. PMAz6Ac with hexa-methylene spacer showed the largest change in the reflection intensity, while smaller change in the reflection intensity was observed for PMAzXAc having shorter or longer methylene spacer than 6. The effect of the methylene spacers on the photochemical change in the molecular orientation of azobenzene chromophores in the multi-bilayered films will be discussed.     

Relationship between electron sensitivity and chemical structures of polymers as electron beam resists. VI: Electron sensitivity of various acetalized poly(vinyl alcohol)s

Acetalized poly(vinyl alcohol)s which were synthesized from poly(vinyl alcohol) (PVA) and aldehyde or ketone were evaluated as electron beam (EB) resists, in order to investigate the relationship between EB sensitivity and chemical structures of the polymers. It was found that the acetalized PVAs were easily crosslinked by EB exposure. The main mechanism of crosslinking may be radical reaction at acetal group. The sensitivity of the acetalized PVA depended on the structure of the acetal group. Acetalized PVAs synthesized from benzaldehyde, in which the electron attracting group was substituted on the benzene ring and from linear aliphatic aldehyde having a long alkyl chain, had high sensitivity. A high sensitivity of 7.2 × 10⁻⁷ C/cm² was attained when the acetalized PVA synthesized from p-chloro-benzaldehyde was used. Acetalized PVAs synthesized from PVA and aldehyde having a cyclic structure had an excellent dry etching durability and were suitable as negative EB resists.