Electrodeposition of amorphous gold alloy films

The process for electroplating amorphous gold-nickel-tungsten alloy that we developed previously based on the addition of a gold salt to a known amorphous Ni-W electroplating solution was investigated further using the X-ray diffraction (XRD) method for the purpose of quickly surveying the effects of various experimental variables on the microstructure of the alloy. In this system the gold concentration in the plating bath was found to be critical; i.e., when it is either very low or very high, the deposit becomes crystalline to XRD. The deposit composition varies linearly with the mole ratio of Au to Ni in solution, and the alloy deposit is amorphous to XRD when the atomic ratio of Au/Ni in the deposit is between 0.5 and 1.5. At suitable concentrations of the metal ions, the deposit contains essentially no tungsten. By extending the work on the Au-Ni-W system, an amorphous Au-Co alloy plating process was also developed.     

Poly(p‐phenylene sulfide) nanofibers prepared by CO2 laser supersonic drawing

Poly(p‐phenylene sulfide) (PPS) nanofibers are prepared by irradiating a PPS fiber with a carbon dioxide (CO₂) laser while drawing it at supersonic speeds. A supersonic jet is generated by blowing air into a vacuum chamber through the fiber injection orifice. Nanofibers obtained at a laser power of 30 W and chamber pressure of 10 kPa exhibit an average diameter of 600 nm and a draw ratio of 110,000. Scanning electron microscopy, differential scanning calorimetry, and wide‐angle X‐ray diffraction analyses are employed to investigate the relationships among the chamber pressure, fiber morphology, and crystallization behavior. The nanofibers exhibit two melting temperatures (T_m): approximately 280°C and 320°C. The endothermic peak at T_m = 280°C is ascribable to lamellar crystals and that at T_m = 320°C to the highly complete crystals, since the polymer molecular chain is highly oriented. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2014 , 131, 40922.     

Effect of Poly(vinyl alcohol) Adsorption on Binder Segregation during Drying

The effect of poly(vinyl alcohol) adsorption on segregation was quantitatively studied by a model experiment of one–dimension drying and simulated by a mathematical model. It was clear that the adsorption of PVA on alumina particle was a slow process, and the adsorbed binder was not desorbed at higher temperature. PVA segregation can significantly be limited by fully adsorbing the binder before drying. The simulation and experiments agreed very well. The effects of drying temperature, initial concentration of the binder, and thickness of specimen on the surface segregation are discussed quantitatively. Mathematical simulation has a great potential for predicting the segregation of soluble components during drying, especially for such cases as thin films and small granules where it is difficult to determine the distribution of the component directly.     

Exploring the Minimal RNA Substrate of Flexizymes

Flexizymes are tRNA acylation ribozymes that have been successfully used to facilitate genetic code reprogramming. They are capable of charging acid substrates onto various tRNAs and tRNA analogues. However, their minimal RNA substrate has not been investigated. Here we have designed fluorescently labeled short RNAs corresponding to the four, three, and two bases (4bRNA, 3bRNA, 2bRNA) at the tRNA 3′-end and explored the minimal RNA substrate of flexizymes, dFx and eFx. 3bRNA was the observed minimal RNA substrate of the flexizymes, but the efficiency of acylation of this short RNA was two to three times lower than that of 4bRNA. The efficiency of acylation of 4bRNA was comparable with that of the microhelix, a 22-base RNA conventionally used as a tRNA analogue for analyzing acylation efficiency. We also compared the efficiencies of acylation of the microhelix and 4bRNA with various acid substrates. Thanks to the short length of 4bRNA, its acyl-4bRNA products exhibited larger mobility shifts in gel electrophoresis than those exhibited by acyl-microhelix products with every substrate tested. This indicated that 4bRNA was an ideal RNA substrate for analyzing the efficiency of acylation by flexizymes.     

Practical Continuous‐Flow Controlled/Living Anionic Polymerization

A continuous‐flow reaction system was developed, allowing flow conditions of the entire system to be maintained at a predetermined constant level, which is one of the most significant factors for successful industrial application. Controlled/living anionic polymerization was selected as a model reaction since the characteristics of its polymer products, molecular weights, and molecular weight distributions are highly susceptible to changes in the relative flow rates of a monomer and initiator solutions. In flow microreactors, controlled/living anionic polymerization of styrene in tetrahydrofuran (THF)/hexane initiated by THF‐diluted n‐butyllithium (n‐BuLi) was examined. Poly(styrenes) of larger molecule sizes such as Mn > 15 000 were successfully synthesized. After continuous operation for four hours, ca. 0.5 kg of the polymer was readily produced with narrow molecular weight distribution, demonstrating the applicability of this continuous‐flow system for controlled/living anionic polymerization on considerably large scale with a view to its industrial usage in the future.     

Thermal and mechanical properties of bio-based polymer networks by thiol-ene photopolymerizations of gallic acid and pyrogallol derivatives

Allylated pyrogallol (A3PG) and acrylated pyrogallol (Ac3PG) as bio-based trienes, and allylated gallic acid (A4GA) and acrylated allyl gallate (Ac3A1GA) as bio-based tetraenes were synthesized from pyrogallol and gallic acid, respectively. Thiol-ene photopolymerizations of the bio-based polyenes and a pentaerythritol-based primary tetrathiol (pS4P) at the allyl/SH ratio of 1/1 produced photo-cured resins (A3PG-pS4P, Ac3PG-pS4P, A4GA-pS4P and Ac3A1GA-pS4P). The FT-IR spectral analysis revealed that thiol-ene reactions of thiol/allyl and thiol/acryloyl groups smoothly proceeded. Gel fractions of acryl-based cured resins were a little higher than those of allyl-based cured resins. The swelling test and dynamic mechanical analysis revealed that GA- and acryl-based cured resins exhibited higher crosslinking densities than PG- and allyl-based cured resins, respectively. A higher order of tan δ peak temperature was Ac3PG-pS4P (48.3 ° C) > Ac3A1GA-pS4P (24.1 ° C) > A4GA-pS4P (22.1 ° C) > A3PG-pS4P (?7.8 ° C). Ac3PG-pS4P displayed the highest 5 % weight loss temperature, tensile strength and tensile modulus among all of the cured resins.     

A solution to SLAM problems by simultaneous estimation of kinematic parameters including sensor mounting offset with an augmented UKF

Accurate localization is required for autonomous robots to navigate in cluttered environments safely. Therefore, Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), which incorporate probabilistic concepts as localization methods, have been researched up to now. It should be noted, however, that the errors of kinematic parameters such as wheel diameter, tread, and mounting sensor offset are not enough considered in conventional works. We propose an Augmented UKF-SLAM (AUKF-SLAM), which is an extension of the UKF-SLAM and can estimate the kinematic parameters including a sensor mounting offset together with the localization and mapping. The UKF-SLAM and the AUKF-SLAM are compared through some simulations to show that the proposed AUKF-SLAM is more accurate than the UKF-SLAM. Furthermore, localization experiments with only odometry are conducted using a real robot. The experimental results show to demonstrate that the localization using kinematic parameters estimated by the AUKF-SLAM is more accurate than that using values measured by hand in advance. Through some experimental verifications in an elevator hall, cluttered rooms, and a long distance corridor, it is confirmed that the proposed AUKF-SLAM which simultaneously estimates the effective kinematic parameters largely contributes to the total accuracy improvement of SLAM.     

Data-driven dual-rate cascade control and application to pitch angle control of UAV

A data-driven design method for a cascade control system is proposed. The cascade control system consists of inner and outer loops, where the control interval of the outer loop is an integer multiple of the inner loop; hence, the system is a dual-rate system. In the proposed method, controllers in the inner and outer loops are designed based on one-shot data. In such a dual-rate cascade system, since the controllers are designed using different data-rate signals, the lifting technique is applied to align the dual-rate data. To show its effectiveness, the proposed method is compared with a conventional single-rate cascade control method, and numerical simulations and experiments are presented to examine servo and regulation performance.     

A new approach to fuzzy modeling of nonlinear dynamic systems with noise: relevance vector learning mechanism

This paper presents a new fuzzy inference system for modeling of nonlinear dynamic systems based on input and output data with measurement noise. The proposed fuzzy system has a number of fuzzy rules and parameter values of membership functions which are automatically generated using the extended relevance vector machine (RVM). The RVM has a probabilistic Bayesian learning framework and has good generalization capability. The RVM consists of the sum of product of weight and kernel function which projects input space into high dimensional feature space. The structure of proposed fuzzy system is same as that of the Takagi-Sugeno fuzzy model. However, in the proposed method, the number of fuzzy rules can be reduced under the process of optimizing a marginal likelihood by adjusting parameter values of kernel functions using the gradient ascent method. After a fuzzy system is determined, coefficients in consequent part are found by the least square method. Examples illustrate effectiveness of the proposed new fuzzy inference system.