Stick-slip motion control based on cutter location data for an orthogonal-type robot

In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool’s movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.     

New dissimilarity measure for recognizing noisy subsequence trees

Tree is a data structure used to express various objects such as semistructured data and genes. When objects are represented as trees, computing tree similarity is essential for pattern recognition and retrieval. This paper considers the noisy subsequence tree recognition problem whose purpose is to recognize the original tree, given its noisy subsequence tree. Previous research on this problem relied on constrained tree edit distance to measure the dissimilarity. However, the number of relabelings must be predetermined to compute it. This paper proposes a new dissimilarity measure for this problem. Our dissimilarity measure is obtained by counting the node edit operations included in the unit‐cost tree edit distance that contribute to the matching of node labels. The number of relabelings need not be specified to compute our dissimilarity measure. Moreover, our measure achieves more accurate recognition performance and faster execution speed than the constrained tree edit distance. Our measure is also useful to solve the tree inclusion problem which is the problem of deciding whether a tree includes another tree and shows the extent of approximate tree inclusion when a tree incompletely includes another tree. © 2011 Wiley Periodicals, Inc.     

Design and control of JAIST active robotic walker

This paper presents the design and control of a novel assistive robotic walker that we call “JAIST active robotic walker (JARoW)”. JARoW is developed to provide potential users with sufficient ambulatory capability in an efficient, cost-effective way. Specifically, our focus is placed on how to allow easier maneuverability by creating a natural interface between the user and JARoW. For the purpose, we develop a rotating infrared sensor to detect the user’s lower limb movement. The implementation details of the JARoW control algorithms based on the sensor measurements are explained, and the effectiveness of the proposed algorithms is verified through experiments. Our results confirmed that JARoW can autonomously adjust its motion direction and velocity according to the user’s walking behavior without requiring any additional user effort.     

Buoyancy engine developed for underwater gliders

A buoyancy engine with a swashplate-type axial piston pump was developed. Its oil extrusion and drawing properties under high hydraulic pressure were evaluated. This buoyancy engine is now installed in an underwater glider that will achieve long-term monitoring of ocean environments up to 2100 m depth in a designated area with lower operational costs. This bidirectionally functioning pump can control the amount of oil in extrusion and draw operations. When drawing oil under high pressure, the hydraulic pump and the electric motor, respectively, act as a hydraulic motor and an electric generator. The generated electric power is absorbed by a damping resistor. The oil-drawing and extrusion properties were measured using a large hyperbaric chamber that is able to produce an almost identical environment to that of actual operations. Results confirmed stable oil extrusion operations up to 21 MPa. Regarding oil-drawing properties, although it was measured only up to 10 MPa in the hyperbaric chamber, it can be inferred that the system can draw the oil and can control the buoyancy precisely up to 21 MPa by replacing the two-way ball valve with an electromagnetic latching solenoid valve.     

Accumulation of triosephosphate isomerase, with sequence homology to Beta amyloid peptides, in vessel walls of the newborn piglet hippocampus

We investigated whether beta-amyloid (Abeta)-like immunoreactivity was seen in the brains of newborn piglets. The immunoreactivity for Abeta(1-42) and Abeta(1-40) proteins, but not Abeta precursor protein, was present in CD68-positive perivascular cells of the hippocampus and in parts of the meninges. It was colocalized with immunoreactivity for receptor for advanced glycation end product and tumor necrosis factor-alpha. The protein with a molecular mass of 27 kDa, which was recognized by the Abeta antibodies, was identified as triosephosphate isomerase (TPI) with sequence homology to Abeta peptides by N-terminal amino acid sequencing, mass fingerprint analysis using matrix-associated laser desorption/ionization mass spectrometry, and Western blotting. Western blotting assay also revealed that detectable expression of Abeta proteins were not seen in the piglet brains. These findings indicate that TPI with sequence homology to Abeta peptides accumulates in perivascular cells of the microglia/macrophage lineage located around arterial vessels of the newborn piglet hippocampus.     

Logichart — Intelligible Program Diagram for Prolog and its Processing System

An intelligible program diagram called Logichart has been developed for Prolog visualization. Its syntax rules and layout rules are formalized in terms of an attribute graph grammar. This grammar is underlain by a context–free graph grammar whose productions are defined to formalize the graph–syntax rules of Logichart diagrams. Semantic rules attached to the productions are defined in such a way that they can extract the layout information needed to display a Logichart diagram as attributes. Our Prolog visualization system, which has been implemented based on the attribute graph grammar, can draw a Logichart diagram for any correct Prolog program (completeness), and any Logichart diagram displayed by the system is always valid for the grammar (soundness). The system can also display the execution of a Prolog program in real time; that is, the Logichart diagram is dynamically updated as the program runs.     

Agglomeration control of hydroxyapatite nano-crystals grown in phase-separated microenvironments

Materials synthesis processes that require high temperatures consume large quantities of energy that generate an environmental burden. We attempted to synthesize hydroxyapatite (HAp) nano-crystals without firing or melting. “Water in oil” (W/O) emulsions were employed as microreactors for HAp formation. The surfactant-bounded water mediated HAp crystal nucleation, and HAp nano-crystallites were obtained. The obtained particles were aggregates composed of plate-like nano-crystals and monodisperse tiny crystals. Utilization of the W/O emulsions resulted in tunable nucleation frequency and the reactant provision, and yielded HAp nano-crystals with characteristic agglomeration properties.     

Enhanced dielectric properties of bismuth titanate/silver composites

Bismuth titanate (BiT) based composites containing silver particles are fabricated by a solution chemical process. Incorporation of silver particles does not result in unwanted reaction phase. SEM micrographs reveal fine silver particles distribute at BiT grain boundaries and into larger BiT plate-like grains. With the addition of silver, the dielectric constant increases up to ∼10 times higher than that of pure BiT ceramic, which can be attributed to the effective electric fields developed around the dispersed metal particles and the percolation effect. Additionally, the dielectric losses are significantly reduced by incorporating silver particles, and the values of BiT/Ag composites are lower than 0.5%. The dielectric properties of BiT/Ag composites are nearly frequency independent in the measured frequency range (1 kHz to 1 MHz).     

Te concentration dependent photoemission and inverse-photoemission study of FeSe1?xTex

We have characterized the electronic structure of FeSe_1−xTe_x for various x values using soft x-ray photoemission spectroscopy (SXPES), high-resolution photoemission spectroscopy (HRPES) and inverse photoemission spectroscopy (IPES). The SXPES valence band spectral shape shows that the 2 eV feature in FeSe, which was ascribed to the lower Hubbard band in previous theoretical studies, becomes less prominent with increasing x. HRPES exhibits systematic x dependence of the structure near the Fermi level (E_F): its splitting near E_F and filling of the pseudogap in FeSe. IPES shows two features, near E_F and approximately 6 eV above E_F; the former may be related to the Fe 3d states hybridized with chalcogenide p states, while the latter may consist of plane-wave-like and Se d components. In the incident electron energy dependence of IPES, the density of states near E_F for FeSe and FeTe has the Fano lineshape characteristic of resonant behavior. These compounds exhibit different resonance profiles, which may reflect the differences in their electronic structures. By combining the PES and IPES data the on-site Coulomb energy was estimated at 3.5 eV for FeSe.