Speed-accuracy characteristics of human-machine cooperative manipulation using virtual fixtures with variable admittance

This work explores the effect of virtual fixture admittance on the performance, defined by error and time, of task execution with a human-machine cooperative system. A desired path is obtained using computer vision, and virtual fixtures for assistance in planar path following were implemented on an admittance-controlled robot. The admittance controller uses a velocity gain, so that the speed of the robot is proportional to the force applied by the operator. The level of virtual fixture guidance is determined by the admittance ratio, which is the ratio of the admittance gain of the force components orthogonal to the path to the gain of the force components parallel to the path. In Experiment 1, we found a linear relationship between admittance ratio and performance. In Experiment 2, we examined the effect of admittance ratio on the performance of three tasks: path following, off-path targeting, and obstacle avoidance. An algorithm was developed to select an appropriate admittance ratio based on the nature of the task. Automatic admittance ratio tuning is recommended for next-generation virtual fixtures. Actual or potential applications of this research include surgery, assembly, and manipulation at the macro and micro scales.     

Fine silicon carbide fibers synthesized from polycarbosilane-polyvinylsilane polymer blend using electron beam curing

A fine SiC fiber is synthesized from a polymer blend of polycarbosilane (PCS) and polyvinylsilane (PVS) with electron beam curing under vacuum. The obtained SiC fiber from the PCS-PVS blend polymer has smaller average diameter of 8.5 m than that of 11.8 m from PCS, and shows higher average tensile strength of 3.2 GPa than that of 2.8 GPa from PCS after heat treatment at 1673 K in Ar gas atmosphere. However, the SiC fiber from the polymer blend decreases in tensile strength after heat treatment above 1773 K due to -SiC crystal growth near the fiber surface, because of a small amount of oxygen incorporated in the fiber.     

A light-transmitting two-dimensional photodetector array using a-Sipin photodiodes and poly-Si TFT's integrated on a transparent substrate

A light-transmitting two-dimensional photodetector array (32×32 cells) using amorphous silicon (a-Si) pin photodiodes and polysilicon (poly-Si) thin film transistors (TFT's) integrated on a transparent substrate has been developed for use in a free-space optical switching network. The fabrication and the characteristics of the photodetector array are discussed. With driving circuits and sensing amplifiers, this photodetector array shows a minimum detectable power of -25 dBm and an insertion loss of 0.4 dB for an incident optical beam with a diameter of 550 μm. By monitoring the positions and the states of input optical beams, this photodetector array can be used to control the optical paths in photonic switching systems, such as a 1024-input-port optical concentrator     

Effects of Solvents in the Polyethylene Glycol Series on the Bonding of Copper Joints Using Ag2O Paste

The effects of reducing solvents on the bonding process using silver oxide paste in a copper joint were investigated. Three solvent types were tested: diethylene glycol (DEG), triethylene glycol (TEG), and polyethylene glycol (PEG). The strength of the joints was assessed by fracturing, which occurred at the interface of the copper oxide layer and the copper substrate in DEG and TEG samples and at the bonded interface in the PEG sample. Analysis of the samples revealed that, in the DEG and TEG samples, the copper substrate was oxidized during the bonding process, which compromised the shear strength of the joints. In contrast, the PEG sample exhibited nonuniform sintering of the silver layer while retaining good shear strength. It was found that the combination of DEG and PEG produced optimum shear strength in the copper joint, as PEG suppressed the growth of copper oxide and DEG promoted the formation of a dense sintered silver layer. The bonding strength achieved was higher than that of the gold-to-gold joint made using standard Pb-5Sn solder.     

Crack growth characteristics of carbon nanotube-based polymer composites subjected to cyclic loading

This paper presents the characterization of crack growth in carbon nanotube (CNT)-based polymer composites under fatigue loading. Fatigue crack growth tests were performed on single-edge cracked plate specimens of CNT/polycarbonate composites at room temperature and liquid nitrogen temperature (77 K). An elastic–plastic finite element analysis was also conducted to determine the J-integral range. The crack growth rate data were expressed in terms of the J-integral range, and the effect of nanotube addition on the fatigue crack growth behavior was examined. In addition, possible mechanisms of the crack growth in the nanocomposites are discussed based on microscopic observations of the specimen fracture surfaces.     

Nonreciprocity in optical waveguide: experiment

We have demonstrated nonreciprocity in a magneto-optic waveguide by measuring the polarisation of the light emerging out of the channel waveguide, where a magnetic field was applied along the propagation direction. Nonreciprocity in an optical waveguide, in which the phase matching between the orthogonally polarised modes is not satisfied, leads to the opposite rotation of the major axis of the ellipse of the output light polarisation as reversing the propagation direction.     

Hydrocarbons with a homoconjugated polyene system and their monoepoxy derivatives: Sex attractants of geometrid and noctuid moths distributed in Japan

Although several sex pheromones of the family Geometridae have been characterized, investigations on Japanese species are limited. In order to obtain more information, screening using known sex pheromones and their analogs was carried out. The (Z,Z,Z)-3,6,9-triunsaturated and (Z,Z)-6,9-diunsaturated hydrocarbons with straight C¹⁹-C²¹ chains were synthesized by the Grignard coupling reaction as a key step starting from linolenic and linoleic acids, respectively. Oxidation of the homoconjugated trienes withm-chloroperoxybenzoic acid yielded a 111 mixture of three monoepoxy derivatives that could be separated by silica gel chromatography. The chemical structure of each positional isomer was confirmed using two-dimensional NMR techniques and MS measurements, which enabled characteristic fragment ions from the isomers to be identified. Field tests using lures incorporating only one of the above six hydrocarbons or nine epoxides were carried out in a forest in Tokyo. Consequently, attraction of male moths of 14 geometrid species in addition to four species in another family, the Noctuidae, was observed. It was concluded that hydrocarbons with a homoconjugated polyene system and the monoepoxy derivatives are important components of sex pheromones produced by Japanese lepidopterous insects, particularly the geometrid moths.     

Effect of Firing Temperature on the Thermal Stability of Low-Oxygen Silicon Carbide Fibers

Low-oxygen SiC fibers which were fabricated by curing with electron-beam irradiation and firing at 1273 and 1573 K (fiber-A and fiber-B) were exposed at 1673 to 1973 K. Significant differences in surface composition, crystallinity, specific resistivity, and tensile strength were found between fiber-A and fiber-B. On exposing the fibers to high temperatures, they both crystallized nearly completely into intermixed β-SiC and free carbon, and consequently the resistivity decreased markedly. Deep voids were formed at the surface of fiber-A as a result of rapid dehydrogenation at the earliest stage of high-temperature exposure. On the other hand, fiber-B, which decomposed mildly, had a dense pore-free structure. The fiber strength was proportional to the reciprocal square root of SiC crystal size. At the same crystal size, the strength of fiber-A was lower because of the surface flaws.