A Study on Hovering Control of Small Aerial Robot by Sensing Existing Floor Features

Since precise self-position estimation is required for autonomous flight of aerial robots, there has been some studies on self-position estimation of indoor aerial robots. In this study, we tackle the self-position estimation problem by mounting a small downward-facing camera on the chassis of an aerial robot. We obtain robot position by sensing the features on the indoor floor. In this work, we used the vertex points (tile corners) where four tiles on a typical tiled floor connected, as an existing feature of the floor. Furthermore, a small lightweight microcontroller is mounted on the robot to perform image processing for the on-board camera. A lightweight image processing algorithm is developed. So, the real-time image processing could be performed by the microcontroller alone which leads to conduct on-board real time tile corner detection. Furthermore, same microcontroller performs control value calculation for flight commanding. The flight commands are implemented based on the detected tile corner information. The above mentioned all devices are mounted on an actual machine, and the effectiveness of the system was investigated.      

Hydroboration of diene polymers

Diene polymers (i.e., polyisoprene, polybutadiene, and butadiene—styrene copolymers) were hydroxylated in tetrahydrofuran by hydroboration with diborane and subsequent alkaline oxidative hydrolysis. The strong, broad infrared absorption of the product at 3340 cm^?1 shows the introduction of hydroxyl group. The properties of hydroxylated diene polymers depend upon the extent of hydroxylation. The less hydroxylated polymers are rubbery. As the extent of hydroxylation increases, the product becomes a white thermoplastic which is soluble in alcohol. The hydroboration of diene polymers with diborane is very rapid. However, if the reaction is continued further, the extent of hydroxylation decreases because of side reactions. The results of acetylation and formylation of the hydroxylated products and the grafting of vinyl monomers onto hydroborated diene polymers are also presented.     

Real-time observation for the enzymatic reaction of phospholipid membrane: application of the time-resolved quasi-elastic laser scattering method

An analytical technique to measure reactions in biological membranes was developed and applied to monitoring the hydrolysis reaction of phospholipids (dipalmitoylphosphatidylcholine, DPPC) by phospholipase A(2). The technique uses the time-resolved quasi-elastic laser scattering (TR-QELS) method to measure an oil/phospholipid monolayer/water membrane system by monitoring the change of interfacial tension under a noncontact condition and in real time. When the TR-QELS method is used with the newly developed oil/phospholipid monolayer/water membrane system, measurement of the hydrolysis reaction of phospholipids with long alkyl chains (C >or=16), which are the major components in biological membranes, becomes possible. The reaction progress is monitored by the increase of interfacial tension at the oil/water interface caused by the decrease of surface-active DPPC molecules due to the reaction. The characteristic phases, namely, lag, burst, and equilibrium, are observed. The relationship between the duration of the lag phase (the rate-limiting step of the reaction) and the concentration of calcium ion (an essential cofactor of the reaction) is also investigated. Increase of calcium ion concentration in the subphase is found to shorten the duration of the lag phase. In addition, the real-time measurement simplifies the estimation process for the reaction activation energy.     

Thermoresponsive PEG‐Coated Nanotubes as Chiral Selectors of Amino Acids and Peptides

A series of nanotubes with a dense layer of short poly(ethylene glycol) (PEG) chains on the inner surface are prepared by means of a coassembly process using glycolipids and PEG derivatives. Dehydration of the PEG chains by heating increases the hydrophobicity of the nanotube channel and fluorescent‐dye‐labeled amino acids are extracted from bulk solution. Rehydration of the PEG chains by cooling results in back‐extraction of the amino acids into the bulk solution. Because of the supramolecular chirality of the nanotubes, amino acid enantiomers can be separated in the back‐extraction procedure, which is detectable with the naked eye as a change in fluorescence as the amino acids are released from the nanotubes. The efficiency and selectivity of the chiral separation are enhanced by tuning the chemical features and inner diameter of the nanotube channels. For example, compared with wide nanotube channels (8 nm), narrow nanotube channels (4 nm) provide more effective electrostatic attraction and hydrogen bond interaction environments for the transporting amino acids. Introduction of branched alkyl chains to the inner surface of the nanotubes enables chiral separation of peptides containing hydrophobic amino acids. The system described here provides a simple, quick, and on‐site chiral separation in biological and medical fields.     

Surface properties of polymer films including multiblock copolymer

B(AB)_n multiblock copolymers of which the A block and the B block are hydrophobic and hydrophilic, respectively, were blended into crosslinkable coating compositions for preparing a hydrophilic surface, and compared with the graft copolymers including A and B as the pendant groups. The main constituent of A was polydimethyl-siloxane and that of B was poly(ethylene oxide). While the block copolymer slightly increased the hydrophobicity of the surface, it quickly became hydrophilic on contact with water. On the contrary, the graft copolymer increased the hydrophobicity even after its contact with water. Elementary analysis with ESCA demonstrated that both the silicon atoms and ether groups were concentrated on the very top of the surface in the films including the block copolymers but only silicon atoms were concentrated on the film surface which included the graft copolymers. In spite of their propensity to remain in the bulk due to their high surface energy, hydrophilic poly(ethylene oxide) moieties in the block copolymers migrated onto the near surface accompanying the movement of the hydrophobic polydimethyl-siloxane. because their mobility would be restricted by the bonding of both sides. Inclusion of the block copolymers significantly improved soil resistance. The advantage of the block copolymers as a surface modifier was further developed as an adhesion promoter. The introduction of a larger amount of the hydroxyl group into the hydrophilic block was effective for this purpose. This was discussed with respect to the change in the γ_p parameter.     

Anti-allergic effect of strawberry extract

We examined the anti-allergic effect of strawberry extract on human peripheral blood mononuclear cells (PBMCs) and atopic dermatitis model mice NC/NgaTndCrlj. The addition of strawberry extract suppressed total IgE production in the cedar pollen antigen Cry j 1-stimulated PBMCs. Flow cytometric analysis showed that strawberry extract decreased the rate of CD3⁺CD4⁺ helper T cells by 17.3% and increased the rate of CD3⁺CD8⁺ cytotoxic T cells by 19.7% in PBMCs. Moreover, the extract inhibited the expression level of GATA3 that is the master regulator of type 2 helper T cells (Th2) in human primary pan T cells isolated from PBMCs. Oral administration of strawberry extract lowered dermatitis scores and serum IgE levels in mice. In addition, it also decreased the GATA3 expression level in mouse blood cells. These results revealed that strawberry extract suppressed the severity of atopic dermatitis through the down-regulation of serum IgE by inhibition of Th2 differentiation.     

Controlled DNA interpolyelectrolyte complex formation or dissociation via stimuli‐responsive poly(vinylamine‐co‐N‐vinylisobutylamide)

Poly(vinylamine‐co‐N‐vinylisobutylamide) or poly(VAm‐co‐NVIBA) was evaluated for its ability to stabilize double‐stranded DNA (dsDNA) with the controlled formation or dissociation of polyion complexes. The poly(VAm‐co‐NVIBA) copolymer consists of the cationic poly(vinylamine) (VAm) that electrostatically binds to the anionic DNA and the thermally responsive poly(N‐isobutylamide) (NVIBA) that helps limit the strength of the electrostatic interaction and prevents the alteration of the DNA helical structure. Agarose gel electrophoresis showed the successful complexation between dsDNA and poly(VAm‐co‐NVIBA). Moreover, DNA was released from the complex at 65 °C, but not at 25 °C. Thus, the NVIBA component in the copolymer played an important role in controlling the process of complex formation or dissociation according to the pH and temperature. The results showed that the molecular design of polycations with a thermoresponsive part is a potential strategy to allow the controllable formation and dissociation of the copolymer/dsDNA complex while avoiding changes to the DNA helical structure. © 2016 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 43852.     

Ar/O2 gas pressure dependences of a pulsed zirconium arc and extracted ion characteristics

A pulsed dc zirconium arc discharge is generated in an argon diluted oxygen gas by separating a pin electrode as an anode from the cathode. The arc is transiently generated, and its life time is approximately 3 ms for a series resistance of 1 Ω and a dc output of 33 V. The life is prolonged and the plasma becomes stable with increasing the arc current. A target with a diameter of 100 mm is set at 150 mm from the arc source, and is immersed in the plasma. A pulse voltage is applied to the target to extract ions from the plasma. The ion current is not detected after approximately 8 ms since the plasma initiation. When the plasma is generated in oxygen without argon, the plasma generation time is scattered, and the plasma is unstable. An ion density is estimated from the temporal behavior of the target voltage in the recovery region after the pulse voltage. The ion density at the target is approximately 2.5 × 10¹⁵ m^− 3 at a mixed gas pressure of 1.9 Pa, which corresponds to the plasma density of 1.1 × 10¹⁷ m^− 3 under an assumption of electron temperature of 1 eV.