Cylindrical coils created with 3D X-ray lithography and metallization

The demand for microactuators is increasing recently. The key technology to realizing practical microactuators is microfabrication process. In the production of microminiature components, the technologies for processing high-aspect-ratio structures are essential. As one of these technologies, the LIGA process is widely known. Our laboratory researches the LIGA process to three-dimensional microfabrication and established the cylindrical-microcoil production process. In this paper, we have fabricated the cylindrical-microcoil for the solenoidal electromagnetic type microactuator. We designed and analyzed microactuators, and fabricated and evaluated microactuator coils produced by the combination of three-dimensional X-ray lithography and level copper plating. We succeeded in creating threaded groove-shaped structures with 10 μm line width, 20 μm pitch, and aspect ratio of 5 on the surface of an acrylic pipe by means of three-dimensional X-ray lithography. As a measure to suppress void generation, which is one of the shortcomings of electrolytic plating processes, the sputtering apparatus and plating equipment were improved, a pretreatment process was additionally provided, and the actual electrolytic plating method was improved. As a result, a void-free metallic deposit could be formed on a thin coil line. The processing technology enables the formation of thin-wire coil lines whose current paths feature a large allowable current-carrying capacity, enabling the production of miniature, high-output microactuators.     

Effect of continuous-cooling transformation structure on mechanical properties of 0.4C-Cr-Mo-Ni steel

Commercially available 0.4C-Cr-Mo-Ni steel was studied to determine the effects on its mechanical properties of various microstructures produced by continuous-cooling transformation after austenitization. A good combination of strength and notch toughness was obtained independently of test temperatures (293 and 193 K) when the steel was austenitized at 1173 K and then continuously cooled at an average rate of 3.1 K s^–1 (expressed as the average cooling rate from 823 to 573 K) before final rapid cooling. The microstructure of the steel consisted of a mixed structure of martensite and 10–15 vol% lower bainite, which appeared in acicular form in association with the martensite. Slower cooling had a detrimental effect on the mechanical properties of the steel; the microstructure of this steel consisted of a mixed structure of martensite and upper bainite, which appeared as masses in the matrix. As the average cooling rate increased, the lath size and internal stringer-carbide size in the upper bainite were larger, and retained a somewhat increased austenite content.     

Physiologic effects of cisapride on gastric emptying after pylorus-preserving gastrectomy for early gastric cancer

Pylorus-preserving gastrectomy (PPG) has been considered reasonable reduction surgery. However, even patients in whom more than 1 year passed after surgery frequently have a feeling of gastric fullness after meals and long-term retention of foods in the residual stomach. To treat this syndrome, cisapride has been administered. We studied the emptying time of a semisolid diet (radioisotope method using 99mTc-tin colloid-labeled rice gruel) and the emptying time of a fluid diet (acetaminophen method with orange juice) before and after oral administration of cisapride (15 mg/day for 1 month) in 14 patients (10 men, 4 women; 32-70 years old, average 60.6 years) who underwent PPG (Billroth I procedure, D2 lymph node dissection, curability A) for treatment of early gastric cancer. Ten healthy volunteers without gastrointestinal symptoms and digestive diseases (7 men, 3 women; 28-61 years old, average 49.8 years) were enrolled as controls. The results showed obviously delayed emptying time of the semisolid diet before administration of cisapride in patients with PPG compared with that of the control group, whereas the emptying curves for the fluid diet showed an almost normal pattern. One month after the start of cisapride administration the emptying time of the semisolid diet was improved, and the emptying curves were close to the patterns in the control group. Emptying of the fluid diet was slightly accelerated compared with that before administration of cisapride, and the emptying curves showed almost the same pattern as in the control group. A postgastrectomy symptom, "gastric fullness," after PPG was alleviated by cisapride. These results showed that cisapride improved delayed emptying of a semisolid diet after PPG and prevented the feeling of gastric fullness after meals due to retention in the residual stomach.     

Development of a pulse control-type MEMS microrobot with a hardware neural network

This article presents the micro-electro-mechanical systems (MEMS) microrobot which demonstrates locomotion controlled by hardware neural networks (HNN). The size of the microrobot fabricated by the MEMS technology is 4 × 4 × 3.5 mm. The frame of the robot is made of silicon wafer, and it is equipped with a rotary-type actuator, a link mechanism, and six legs. The rotary-type actuator generates rotational movement by applying an electrical current to artificial muscle wires. The locomotion of the microrobot is obtained by the rotation of the rotary-type actuator. As in a living organism, the HNN realized robot control without using any software programs, A/D converters, or additional driving circuits. A central pattern generator (CPG) model was implemented as an HNN system to emulate the locomotion pattern. The MEMS microrobot emulated the locomotion method and the neural networks of an insect with the rotary-type actuator, the link mechanism, and the HNN. The microrobot performed forward and backward locomotion, and also changed direction by inputting an external trigger pulse. The locomotion speed was 0.325 mm/s and the step width was 1.3 mm.     

Human motion database with a binary tree and node transition graphs

Database of human motion has been widely used for recognizing human motion and synthesizing humanoid motions. In this paper, we propose a data structure for storing and extracting human motion data and demonstrate that the database can be applied to the recognition and motion synthesis problems in robotics. We develop an efficient method for building a human motion database from a collection of continuous, multi-dimensional motion clips. The database consists of a binary tree representing the hierarchical clustering of the states observed in the motion clips, as well as node transition graphs representing the possible transitions among the nodes in the binary tree. Using databases constructed from real human motion data, we demonstrate that the proposed data structure can be used for human motion recognition, state estimation and prediction, and robot motion planning.     

Replica Exchange Light Transport

We solve the light transport problem by introducing a novel unbiased Monte Carlo algorithm called replica exchange light transport, inspired by the replica exchange Monte Carlo method in the fields of computational physics and statistical information processing. The replica exchange Monte Carlo method is a sampling technique whose operation resembles simulated annealing in optimization algorithms using a set of sampling distributions. We apply it to the solution of light transport integration by extending the probability density function of an integrand of the integration to a set of distributions. That set of distributions is composed of combinations of the path densities of different path generation types: uniform distributions in the integral domain, explicit and implicit paths in light (particle/photon) tracing, indirect paths in bidirectional path tracing, explicit and implicit paths in path tracing, and implicit caustics paths seen through specular surfaces including the delta function in path tracing. The replica‐exchange light transport algorithm generates a sequence of path samples from each distribution and samples the simultaneous distribution of those distributions as a stationary distribution by using the Markov chain Monte Carlo method. Then the algorithm combines the obtained path samples from each distribution using multiple importance sampling. We compare the images generated with our algorithm to those generated with bidirectional path tracing and Metropolis light transport based on the primary sample space. Our proposing algorithm has better convergence property than bidirectional path tracing and the Metropolis light transport, and it is easy to implement by extending the Metropolis light transport.     

Hydroboration polymerization of dicyano compounds

Summary Hydroboration polymerization of various ,-dicyanoalkanes with thexylborane produced the corresponding poly(cyclodiborazane)s, that consist of boron-nitrogen four-membered rings. The structures of the obtained polymers were confirmed by spectroscopic analyses such as ¹H-, ¹¹B-NMR and IR spectra. From the result of thermogravimetric analysis of the polymer prepared from adiponitrile and thexylborane, 12% of the inorganic materials remained after heating at 900°C. *** DIRECT SUPPORT *** AEB03051 00003     

Proton conduction at the surface of Y-doped BaCeO3 and its application to an air/fuel sensor

25 mol% Y³⁺-doped BaCeO₃ (BCY25) showed an extremely low activation energy of 0.3 eV for proton conduction at the surface. The resulting overall conductivity at the surface reached 8.24 × 10^–3 S cm^–1 at 400°C, which was 3, 8, and 28 times higher than those in the bulk of BCY25, 20 mol% Sm³⁺-doped ceria, and 8 mol% yttria-stabilized zirconia, respectively. Such fast proton conduction enabled an air/fuel (A/F ) sensor using BCY25 as the solid electrolyte to work above 150°C for H₂ and above 250°C for C₂H₄.