Torque sensorless control in multidegree-of-freedom manipulator

A torque sensorless control for a multi-degree-of-freedom manipulator is described. In the method, two disturbance observers are applied to each joint. One is used to realize a robust motion controller. The other is used to obtain a sensorless torque controller. A robust acceleration controller based on the disturbance observer is shown. To obtain the sensorless torque control, it is necessary to calculate the reaction torque when the mechanical system performs a force task. The calculation method for the reaction torque is explained. Then the method is expanded to workspace force control in the multi-degree-of-freedom manipulator. Several experimental results are shown to confirm the validity of the proposed sensorless force controller     

Effect of feedback from peripheral movements on neuron activity in the aplysia abdominal ganglion

We have made reasonably comprehensive measurements of action potential activity in the Aplysia californica abdominal ganglion to determine the amount of feedback the central nervous system (CNS) receives from a movement which it initiates. Voltage-sensitive dye measurements of action potential activity of cells in the ganglion were made during the gill-withdrawal reflex elicited by siphon stimulation. We compared recordings in two situations which differed dramatically in the amount the gill moved. In the control sea water, the gill withdrawal was normal; in low-Ca2+, high-Mg2+ sea water, the gill movement was blocked. Both the timing and the number of spikes of the individual neurons were similar in the two situations. Histograms of the summed spike activity versus time and histograms of the number of active neurons versus time in the two conditions were also similar. Finally, two numerical measures of trial-to-trial differences, a paired t-test and a measure we named fractional similarity, did not indicate larger differences between two trials in the different sea waters than two trials in the same sea water. Feedback from sensory neurons activated by the gill movement itself does not make a large contribution to the spike activity in the abdominal ganglion. Apparently the Aplysia CNS issues the command for the withdrawal and does not make adjustments for the magnitude of the actual withdrawal. It may not even receive the information necessary for such adjustments to be made. A second motivation for these experiments was to test whether removing the feedback might simplify the neuronal activity that occurs during the gill-withdrawal reflex. This did not occur.     

固载杂多酸催化剂气相催化合成乙酸丁酯的研究

在气固相反应体系中研究了酸处理膨润士固载的具有 Keggin结构的四种杂多酸在乙酸丁酯合成中的催化性能。实验结果表明 :同一载体负载不同杂多酸催化活性相似 ;不同载体负载的同一种杂多酸的催化活性与催化剂的表面酸性呈顺变关系。同时考察了反应温度 ,空速 ,酸 /醇比对催化活性的影响。在酸 /醇比为 1 ,温度为 1 2 0℃ ,空速为 3～ 5h- 1时 ,正丁醇和乙酸有较高的转化率 ,选择性接近 1 0 0 %。     

Numerical simulation and error analysis for thermal diffusivity measurements using laser-induced thermal grating technique

The laser-induced thermal grating technique has been used to determine the thermal diffusivity of liquids and liquid mixtures. But the dynamic behaviour of the transient thermal grating has not yet been thoroughly investigated, and the systematic errors, which result from the departures from one-dimensional heat conduction, have scarcely been studied quantitatively. In this paper. a three-dimensional numerical simulation and results of the transient thermal grating technique are presented, which enable a good understanding of the dynamic behaviour of the transient thermal grating. The results of this simulation are important for the proper design of the experimental setup to keep the systematic errors for the diffusivity measurement small. Based on the simulation method, the systematic errors were analyzed quantitatively. Here, the following effects were studied: (I) sample thickness, (2) intersection angle, (3) absorption, (4) Gaussian beam intensity distribution and focusing of heating laser beam, and (5) heating pulse duration and laser power. This error analysis makes it possible to specify the criteria for optimum measuring conditions, to correct the measured thermal-diffusivity values for systematic errors, and to estimate the accuracy of the measurements.     

Prognostic factors of primary liver cancer

To investigate the prognostic factors of primary liver cancer (PLC) and improve the long-term results, 1,248 cases of PLC were analysed. Univariate analysis demonstrated that discovery approach, staging of PLC, original gamma-GPT, resection, radical resection, original AFP, tumor size, tumor number, and tumor capsule have very significant effects on prognosis of PLC (all P < 0.001); cirrhosis, HBsAg, local resection, and tumor embolus in portal vein were also significant difference (all P < 0.05); age, sex, original AFP, hepatitis, and differentiation of PLC cells were no significant difference (all P > 0.05). Multivariate analysis demonstrated that original gamma-GPT, radical resection, tumor size, and tumor number were the most significant prognostic factors (all P < 0.001). Some aspects improving long-term survival were discussed.     

连续运转的掺钛蓝宝石激光器

本文报导一种连续波氩离子激光泵浦的掺钛蓝宝石激光器。在氩离子激光功率(全谱线)为10.45瓦且仅用一组腔镜时,获得最大平均功率超过1000mW、调谐范围750～850nm的掺钛蓝宝石激光输出。     

IBM—PC系列机中的定时功能

本文介绍 IBM-PC 系列机中的定时信息。进而介绍利用这些信息实现各类长、短定时间隔的编程技巧,并以实例说明之。     

Optimization of parameters of recirculating apparatus for obtaining liquid nitrogen using mixtures

Translated from Khimicheskoe i Neftyanoe Mashinostroenie, No. 12, pp. 20–23, December, 1993.