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.     

An application of the 2-nitrobenzenesulfenyl method to proteomic profiling of human colorectal carcinoma: A novel approach for biomarker discovery

In the development of novel biomarkers, the proteomic approach is advantageous because using it the cancer-associated proteins can be directly identified. We previously developed a 2-nitrobenzenesulfenyl (NBS) method to improve quantitative proteome analysis. Here, we applied this method to proteomic profiling of colorectal carcinoma (CRC) to identify novel proteins with altered expression in CRC. Each pair of tumor and normal tissue specimens from 12 CRC patients was analyzed, and approximately 5000 NBS-labeled paired peaks were quantified. Peaks with altered signal intensities (>1.5-fold) and occurring frequently in the samples (>70%) were selected, and 128 proteins were identified by MS/MS analyses as differentially expressed proteins in CRC tissues. Many proteins were newly revealed to be CRC related; 30 were reported in earlier studies of CRC. Six proteins that were up-regulated in CRC (ZYX, RAN, RCN1, AHCY, LGALS1, and VIM) were further characterized and validated by Western blot and immunohistochemistry. All six were found to be CRC-localized, either in cancer cells or in stroma cells near the cancer cells. These results indicate that the proteins identified in this study are novel candidates for CRC markers, and that the NBS method is useful in proteome mining to discover novel biomarkers.     

Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement

This work faces the redundancy problem, a central concern in robotics, in a particular force-producing task by using muscle synergies to simplify the control. We extracted muscle synergies from human electromyograph signals and interpreted the physical meaning of the identified muscle synergies. Based on the human analysis results, we hypothesized a novel control framework that can explain the mechanism of the human motor control. The framework was tested in controlling a pneumatic-driven robotic arm to perform a reaching task. This control method, which uses only two synergies as manipulated variables for driving antagonistic pneumatic artificial muscles to generate desired movements, would be useful to deal with the redundancy problem; thus, suggesting a simple but efficient control for human-like robots to work safely and compliantly with humans.     

Development of a high‐resolution RGBW flexible display using a white organic light‐emitting diode with microcavity structure and that of a side‐roll touch panel

In this study, white organic electroluminescent devices with microcavity structures were developed. A flexible high‐resolution active‐matrix organic light‐emitting diode display with low power consumption using red, green, blue, and white sub‐pixels formed by a color‐filter method was fabricated. In addition, a side‐roll touch display was developed in combination with a capacitive flexible touch screen.     

High-aspect-ratio through-hole array microfabricated in a PMMA plate for monodisperse emulsion production

Microchannel (MC) emulsification is a promising technique for producing monodisperse emulsions consisting of highly uniform droplets. The authors developed a high-aspect-ratio microstructure (HARMST) made of poly(methyl methacrylate) (PMMA) as a new MC emulsification device. A PMMA straight-through MC array plate consisting of 31,250 through-holes with a 7.3 × 22.9-μm oblong section and a 200-μm depth was fabricated by a process of synchrotron radiation (SR) lithography and etching. Oblong MCs fabricated in a PMMA straight-through MC array were highly uniform with a coefficient of variation of less than 2%. The fabricated PMMA straight-through MC array plate was used to produce water-in-oil (W/O) emulsions. Monodisperse W/O emulsions with average droplet diameters of approximately 25 μm and a minimum coefficient of variation of 3.2% were produced via a hydrophobic PMMA straight-through MC array. The PMMA straight-through MC array plate also produced monodisperse W/O emulsions at droplet production rates of up to 1.7 × 10⁴/s. The PMMA straight-through MC array plates developed in this work are expected to expand the application field of emulsification using straight-through MC array plates, which have previously been made of single-crystal silicon.     

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.     

The evaluation of the emotion by near-infrared spectroscopy

Our purpose is to develop the technology for evaluating emotion objectively from the oxygenated hemoglobin within a brain. Nowadays, Japan is an aging society. The elderly people who need care will increase from now on increasingly. In the case of the person requiring the care who lost the function to convey an intention especially, the objective judgment to a physical and mental pain is required. Persons requiring care will also increase in number with the increase in this population. We gave subject stimulus of a comfortable or an uncomfortable sound and measured concentration of the oxygenated hemoglobin of a frontal lobe part by near-infrared spectroscopy. Based on the experimental result, a comfortable state or an uncomfortable state was distinguished by concentration of the oxygenated hemoglobin using the bayesian network. As a result, we were able to estimate the subject’s psychological condition.     

The evaporation and carburization behavior of coated systems of niobium on molybdenum and niobium on titanium

The evaporation, carburization and diffusion behavior of Nb-coated Mo and of Nb-coated Ti were investigated in order to estimate the surface characteristics of the coated systems. Nb layers were formed on Mo by both chemical and physical vapor deposition and on Ti by just physical vapor deposition. From the diffusion behavior, interdiffusion coefficients were obtained at 1860°C, 1980°C and 2080°C for the chemically vapor-deposited Nb/Mo system. From evaporation experiments it was found that simultaneous evaporation of Nb and Mo occured at about 2300°C for thick films of Nb on Mo. For thin films of Nb on Mo, the evaporation of both Nb and Mo was confirmed at 1900°C by ion microprobe analysis of the condensate. For Nb/Ti, rapid diffusion of Nb into Ti and evaporation of Ti similar to the case of Nb-Ti alloys were observed. From the carburization study, it was found that an Nb coating appreciably retards the carburization of Ti and Mo.     

Modified quadratic discriminant functions and the application to chinese character recognition

Issues in the quadratic discriminant functions (QDF) are discussed and two types of modified quadratic disriminant functions (MQDF1, MQDF2) which are less sensitive to the estimation error of the covariance matrices are proposed. The MQDF1 is a function which employs a kind of a (pseudo) Bayesian estimate of the covariance matrix instead of the maximum likelihood estimate ordinarily used in the QDF. The MQDF2 is a variation of the MQDF1 to save the required computation time and storage. Two discriminant functions were applied to Chinese character recognition to evaluate their effectiveness, and remarkable improvement was observed in their performance.