Predictive control method for a redundant robot using a non-parametric predictor

A bio-inspired robot with many degrees of freedom (DOFs) might be beneficial in coping with various situations that occur in a real environment, because its physical structure resembles that of an animal it is modeled after. However, because of its complicated structure, it is difficult to explicitly model the dynamics and to design the control rules. In this study, we propose a predictive control method based on a non-parametric method. Instead of conducting parameter estimation for a certain parametric model, system identification is performed by collecting data. We apply our method to the control of a robot with a complicated structure. Experimental results show that the control of a robot with many DOFs can be achieved by the proposed method.     

Emission from Silica Hybrid Containing RGB Fluorescent Conjugated Polymers

Summary Red, green and blue fluorescent poly(arylene vinylene)s were prepared by Wittig reaction. Polycondensation of tetraethoxysilane (TEOS) was carried out in the presence of a mixed solution of these polymers to give a silica hybrid in which RGB fluorescent polymers were immobilized without phase separation. White light emission was observed from the ternary polymer blend/silica hybrid.     

Catalytic performance and QXAFS analysis of Ni catalysts modified with Pd for oxidative steam reforming of methane

Pd–Ni bimetallic catalysts prepared by co-impregnation and sequential impregnation methods were compared in the catalytic performance in oxidative steam reforming of methane. The sequential impregnation was more effective to the suppression of hot spot formation. According to the structural analysis by in situ quick-scanning X-ray absorption fine structure (QXAFS) during the temperature programmed reduction, the sequential impregnation method gave the bimetallic particles with higher Pd surface composition because of the low possibility of the Pd–Ni bond formation. Higher surface composition of Pd with higher reducibility than Ni is connected to the enhancement of the catalyst reducibility and the suppression of the hot spot formation.     

Effect of reaction temperature on Fe–Al analcime formation

The effects of reaction period, temperature, and iron species on the zeolite framework type were studied in this work. Gismondine (GIS) is usually synthesized by hydrothermal method at 80°C from sodium metasilicate and aluminum nitrate as starting materials preferentially independent of the presence/absence of iron source. However, the present work revealed that pure analcime (ANA) could be formed at temperatures more than 120°C. A large polyhedral ANA crystal with a diameter of 180 μm was obtained even at a comparatively low temperature such as 150°C at a short reaction period of 1 week. The presence of iron source promoted the formation of pure ANA. Infrared spectroscopy, X-ray diffraction, and ICP-OES analysis suggested that the iron component added as a reactant was incorporated into the ANA framework through the isomorphous substitution for Al.     

Analysis of interaction between mechanical force and chemical effect in cleaning phenomenon by probability density functional method

Probability density functional method was used to determine whether interaction between mechanical force and chemical action in cleaning was an additive effect, a synergistic effect, or an offsetting effect. As a soiled sample, iron (III) oxide soiled fabric, Sudan IV soiled fabric, commercially available artificial soiled fabric containing mixed stains, etc. were used and washed with a tergotometer. Mean value μ_rl and standard deviation σ_rl of the cleaning force distribution were calculated by using probability density functional method, and the interaction was judged using Δμ_rl which is the difference between μ_rl obtained under the two conditions. As results, additive effects between the mechanical force and the pH effect were confirmed in the cleaning of iron (III) oxide soiled fabric and commercially available artificially soiled fabric, and an additive effect between the mechanical force and the effect of the surfactant concentration was confirmed in the cleaning of Sudan IV soiled fabric. Therefore, it was presumed that an additive effect is often established between the mechanical action and the chemical action in cleaning, rather than a synergistic effect or an offsetting effect.     

Durability of the adhesive bond between continuous fibre sheet reinforcements and concrete in an outdoor environment

The authors set out to investigate the durability of the bond between carbon fibre (CF) sheet reinforcement and concrete. They conducted an outdoor exposure test in a moderate climate for 14 years and an immersion test for 6 months on CF sheet bonded to concrete, and then evaluated the adhesive bond properties using the pull-off and peel methods.The pull-off strength slightly decreased after 14 years of exposure, but residual values still indicate quite good adhesive properties. The failure modes for both the initial specimens and the specimens after 14 years of exposure consisted of concrete substrate failures in all cases. This result suggests that the slight decrease in pull-off strength does not necessarily indicate a change in the properties of the bond between CF sheet and concrete. On the other hand, results of the peel tests showed different types of failure modes and seemed more discriminant than those of the pull-off method.As regards specimens immersed in water, pull-off results were in few cases consistent with the peel characterizations, showing significant evolutions in the strength and failure mode. But for most specimens, the two methods provided divergent trends. In the end, this study suggested that the peel test could be relevant for evaluating the durability of the bond between CF sheet and concrete, while the representativeness of the pull-off test remains a matter of discussion.     

一种测定防辐射服装中金属纤维质量分数的方法

利用金属纤维不可燃烧的特性,提出了一种通过燃烧法测定防辐射服装中金属纤维质量分数的方法,并将其与溶解法进行对比以验证该方法的准确性。试验结果表明,采用燃烧法测试金属纤维的质量分数是可行的。