Continual conversion of free fatty acid in rice bran oil to triacylglycerol by immobilized lipase

Rice bran oil containing 30–50% free fatty acid was continually converted to an oil containing more than 75% of triacylglycerol (TG) by means of immobilized lipase. The reaction was carried out at 60°C for 24 h with dehydration and reactant mixing by dry nitrogen flow under a positive nitrogen atmosphere. Enzymatic TG synthesis with evaporation by heating was not suitable because of the increasing peroxide value of the oil. Part of this article was presented at the annual meeting of the Japan Oil Chemists' Society at Sendai, Japan, October, 16, 1990.     

Uniformly Porous Composites with 3-D Network Structure (UPC-3D) for High-Temperature Filter Applications

Uniformly porous composites with 3-D network structure (UPC-3D) have been recently developed via a pyrolytic reactive sintering process, which takes advantage of the evolved CO₂ gas from a decomposing carbonate source (e.g., dolomite, CaMg(CO₃)₂) and does not require any additional pore-forming agent nor long-time burning-out process. Through liquid formation via LiF doping, strong necks are formed between constituent particles before completion of the pyrolysis of carbonate, resulting in the formation of a strong 3-D network structure. The pore size distribution is very narrow (with typical pore size: ∼1 μm), and the porosity was controllable (∼30–60%) by changing the sintering temperature. This article presents the development details of UPC-3D, and reports the recent findings in CaZrO₃/MgAl₂O₄ system, which will be one of the more promising systems for practical applications.     

Transient analysis of the release and reduction of NOx using a Pt/Ba/Al2O3 catalyst

The release and reduction of NO_x in a NO_x storage-reduction (NSR) catalyst were studied with a transient reaction analysis in the millisecond range, which was made possible by the combination of pulsed injection of gases and time resolved time-of-flight mass spectrometry. After an O₂ pulse and a subsequent NO pulse were injected into a pellet of the Pt/Ba/Al₂O₃ catalyst, the time profiles of several gas products, NO, N₂, NH₃ and H₂O, were obtained as a result of the release and reduction of NO_x caused by H₂ injection. Comparing the time profiles in another analysis, which were obtained using a model catalyst consisting of a flat 5 nmPt/Ba(NO₃)₂/cordierite plate, the release and reduction of NO_x on Pt/Ba/Al₂O₃ catalyst that stored NO_x took the following two steps; in the first step NO molecules were released from Ba and in the second step the released NO was reduced into N₂ by H₂ pulse injection. When this H₂ pulse was injected in a large amount, NO was reduced to NH₃ instead of N₂.

A only small amount of H₂O was detected because of the strong affinity for alumina support. We can analyze the NO_x regeneration process to separate two steps of the NO_x release and reduction by a detailed analysis of the time profiles using a two-step reaction model. From the result of the analysis, it is found that the rate constant for NO_x release increased as temperature increase.     

Synthesis of High Density and Transparent Forsterite Ceramics Using Nano-Sized Precursors and Their Dielectric Properties

Forsterite (Mg₂SiO₄) ceramics were prepared using Mg(OH)₂ and SiO₂ as precursors, and the effect of powder characteristics of Mg(OH)₂ on calcination and sintering was investigated. The use of highly dispersed Mg(OH)₂ powder (HD powder) resulted in a lower calcination temperature. Forsterite powder of high homogeneity and small particle size prepared from the HD powder enabled synthesis of high-density forsterite ceramics by ordinary sintering without applying external pressure. Moreover, transparent forsterite ceramics were successfully synthesized through addition of excess Mg to the precursors to compensate for Mg evaporated during the sintering process. Subsequent dielectric measurements revealed that the transparent forsterite ceramics had a very low dielectric loss (tan δ<10⁻⁴).     

Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots

Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %.     

Generating function of color information detection using genetic programming

This article proposes a function for color information detection using genetic programming (GP). In image-processing, object detection is one of the important processes. In cases where the object has a complex color domain, detection becomes more difficult. We generated a detection function for a complex color domain by using GP. The detection function deals with one pixel of an input image, and it obtains an output image by processing for all pixels. We aimed at a reduction in the time taken by a human to consider an image-processing system design. We applied the generation of GP to detect a target color region in actual images. The results show that the detection function has sufficient ability for these detections.     

An optimum design of robotic food handling by using Burger model

This paper discusses an optimum design approach on robotic food handling by considering the characteristics of viscoelasticity of object. We pick up a traditional Japanese food, “Norimaki” as a typical example with the viscoelastic characteristics. We first show that the dynamic characteristics of Norimaki can be expressed by utilizing the Burger model. After testing the parameter sensitivity, we show an example of the optimum design for determining the combination of the hand stiffness and the operating velocity. We further show that the resultant plastic deformation can be formulated with the exact solution.