Multi-rigid-body dynamics and online model predictive control for transformable multi-links aerial robot*

Transformable multi-links aerial robots have great potentials in application relying on the transformable features to change its shape during the flight. Compared to traditional quadrotor robots, transformable multi-links robots are equipped with servo motor between links. To simplify the non-linear dynamic system, the previous work restricts the robot to transform in very slow speed so that the robot could be approximated as a quadrotor robot at each time point. However, tradeoff comes as the dynamic performance is given up. In this paper, we come up with a new framework combining of computationally efficient non-linear model predictive controller and motion primitive to optimize thrust force and joints trajectory of the multi-links aerial robot. Finally, we verify our framework with fast transformation motions and table tennis task which requires dynamic performance.     

Adsorption Desalination Quenches Global Thirst

The search for fresh or potable water remains a pressing concern throughout many regions of the world. Although most of the Earth's surface is covered by oceans, the effort to provide for the world's inhabitants with fresh or potable water seems to be insurmountable; at least one billion people do not have access to clean and fresh water. The World Health Organization (WHO) reported that about 41% of the Earth's population lives in water-stressed areas, and the number of people in the water scarce regions may climb to 3.5 billion by the year 2025. Thus, innovative and cost-effective desalination technologies for producing fresh water are needed to provide practical solutions.     

Size Measurement of Polystyrene Latex Particles Larger than 1 Micrometer using a Long Differential Mobility Analyzer

We describe a newly constructed annular-type differential mobility analyzer (DMA) with an effective electrode length of 60 cm, which is longer than that of our original DMA (40 cm length). This long DMA was developed to extend the classification size of particles measuring up to 1.5 μm. As an application of this DMA, the mean diameters and standard deviations were determined for six samples of monodisperse polystyrene latex (PSL) particles ranging from 0.94 to 1.27 μm in nominal diameter. These PSL particles suspended in double-distilled water were aerosolized by a glass nebulizer and then introduced into the DMA. The mean diameters and standard deviations of these PSL particles were calculated by Ehara's method and compared with the nominal diameters and uncertainties. There was good correlation between the nominal diameters of these samples—particularly for recently certified samples—and the measured diameters. Classification of aerosol particles more than 1 micrometer in diameter using this DMA will be useful for many purposes.     

A novel photoreactive amphiphile of nitrophenylazide for immobilization of bioactive proteins

Monolayers of an amphiphilic nitrophenylazide (ANPA) derivative were prepared and their ability to immobilize a protein molecule by a photochemical binding reaction was demonstrated as a novel means to constitute a biofunctional membrane. Molecular orientations and photoreactions in the ANPA monolayers were investigated by Fourier transform IR spectroscopy. Rapid photolysis of ANPA was observed which reflects decomposition of the azide group to a reactive nitrene radical intermediate. As an enzyme, glucose oxidase (GOD) was immobilized on a monomolecular film of ANPA, coated on a substrate, by means of enzyme adsorption at the solid-solution interface and subsequent photolysis of ANPA. Radioisotope labelling experiments revealed that the enzyme was immobilized at a high surface concentration which corresponds to a closely packed monolayer of GOD. The specific activity of the immobilized enzyme was estimated to be high compared with those of other systems involving the adsorption of this enzyme. The usefulness of the present technique for fabricating biofunctional monolayer assemblies is discussed.     

Ion-implanted and permalloy hybrid magnetic bubble memory devices

Hybrid bubble memory devices have been proposed and operated with the memory density of 4 Mbit/cm². In the hybrid bubble memory devices, minor loops are composed of ion-implanted tracks with 4-µm period, and major lines and functional parts including block-replicate and swap gates are composed of Permalloy tracks with a longer period of 12 µm. Passive junctions between ion-implanted and Permalloy tracks have been developed, introducing the tapered ion-implantation technique. Improving the characteristics of the functional parts composed of Permalloy tracks, the hybrid bubble memory devices with block-replicate and swap gates have been operated, and the feasibility of the devices has been confirmed. In addition, the possibility of higher memory density has been shown.     

GaInAs-GaInNAs-GaInAs intermediate layer structure for longwavelength lasers

Proposes two new structures, the GaInAs-GaInNAs intermediate layer (IML) and the GaInN_xAs graded wells, which show better optical properties than the commonly used GaInNAs-GaAs rectangular quantum-wells. A 1240-nm emitting IML laser has been achieved with a low-threshold current density (200 A/cm²/well) and a relatively high characteristic temperature (T_o=100 K). The IML structure is very promising for long wavelength GaAs-based laser applications     

In vivo immunological toxicity in mice of carbon nanotubes with impurities

The longstanding question as to whether carbon nanotubes are intrinsically toxic hinders their widespread industrial application. Here, we clarify the effect of impurities within such tubes through systemic studies of immunological responses in mice by monitoring and examining changes in peripheral T-cell subset and peripheral cytokine levels and histology. Contaminated and clean tubes were subcutaneously implanted in mice. The implanted tubes with impurities clearly induced immunological toxicity and localized alopecia, whereas extremely pure implanted tubes showed good biocompatibility. Our studies suggest that such high-temperature thermal treatment is an effective way to improve the biocompatibility of carbon nanotube.     

A 250-Mb/s/pin, 1-Gb double-data-rate SDRAM with a bidirectionaldelay and an interbank shared redundancy scheme

This paper describes three circuit technologies indispensable for high-bandwidth multibank DRAM's. (1) A clock generator based on a bidirectional delay (BDD) eliminates the output skew. The BDD measures the cycle time as the quantity charged or discharged of an analog quantity, and replicates it in the next cycle. This achieves a 0.18-mm ², two-cycle-lock clock generator operating from 25 to 167 MHz with a 30-ps resolution. (2) A quad-coupled receiver eliminates the internal skew caused by the difference between a rise input and a fall input by 40%. (3) An interbank shared redundancy scheme (ISR) with a variable unit redundancy (VUR) efficiently increases yield in multibank DRAM's. The ISR allows redundancy match circuits to be shared with two or more banks. The VUR allows the number of units replaced to be variable. These circuit technologies achieved a 250-Mb/s/pin, 8-bank, 1-Gb double-data-rate synchronous DRAM