Multi-rigid-body dynamics and online model predictive control for transformable multi-links aerial robot*

Transformable multi-links aerial robots have great potentials in application relying on the transformable features to change its shape during the flight. Compared to traditional quadrotor robots, transformable multi-links robots are equipped with servo motor between links. To simplify the non-linear dynamic system, the previous work restricts the robot to transform in very slow speed so that the robot could be approximated as a quadrotor robot at each time point. However, tradeoff comes as the dynamic performance is given up. In this paper, we come up with a new framework combining of computationally efficient non-linear model predictive controller and motion primitive to optimize thrust force and joints trajectory of the multi-links aerial robot. Finally, we verify our framework with fast transformation motions and table tennis task which requires dynamic performance.     

Integration of photocatalysis and membrane distillation for removal of mono- and poly-azo dyes from water

The paper reports investigations on the application of anatase-phase TiO₂ for the removal of azo dyes in a hybrid system coupling photocatalysis with direct contact membrane distillation (DCMD, MD). The process was conducted in a laboratory-scale installation equipped with a PP capillary module. The influence of reaction temperature and initial concentration of azo dyes on the effectiveness of their photodegradation was especially investigated. Two mono-azo dyes: Acid Red 18 (AR18) and Acid Yellow 36 (AY36) and one poly-azo dye, Direct Green 99 (DG99) were applied as model compounds. The increase of the reaction temperature from 313 to 333 K resulted in an improvement of the efficiency of photodecomposition of the dyes, as was found on the basis of changes of their masses in the feed solution. The comparison of the results obtained during photocatalysis alone and hybrid photocatalysis-MD process revealed that the reduction of feed volume in MD did not affect the photodegradation rate of the azo dyes. An improvement of the effectiveness of the degradation of dyes was obtained by an application of solutions with lower initial concentration (10 instead of 30 mg/dm³). Regardless of the process parameters applied, the product (distillate) was almost pure water with conductivity lower than 0.3 mS/m and pH above 5.2.     

TiO2 thin films using organic liquid materials prepared by Hot-Wire CVD method

TiO₂ thin films prepared by Hot-Wire CVD method have been studied as a protecting material of transparent conducting oxide (TCO) against atomic hydrogen exposures for the fabrications of Si thin film solar cells. It was found that electrical conductivity of the films at room temperature reached a value of 0.4 S/cm. This value is 2-3 orders of magnitude higher than that of TiO₂ films prepared by RF magnetron sputtering and electron-beam evaporation methods in our previous works. The conductivity improvement seems to be partly due to the enlargement of TiO₂ crystallites.     

Crystal orientation of poly(?-caprolactone) blocks confined in crystallized polyethylene lamellar morphology of poly(?-caprolactone)-block-polyethylene copolymers

The crystal orientation of poly(?-caprolactone) (PCL) blocks in PCL-block-polyethylene (PE) copolymers has been investigated using two-dimensional small-angle X-ray scattering (2D-SAXS) and 2D wide-angle X-ray diffraction (2D-WAXD) as a function of crystallization temperature T_c and thickness of PCL layers d_PCL. The PCL blocks were spatially confined in the solid lamellar morphology formed by the crystallization of PE blocks (PE lamellar morphology), an alternating structure of crystallized PE lamellae and amorphous PCL layers. This confinement is expected to be intermediate between hard confinement by glassy lamellar microdomains and soft confinement by rubbery ones, because the crystallized PE lamellae consist of hard PE crystals covered with amorphous (or soft) PE blocks. The 2D-SAXS results showed uniaxial orientation of the PE lamellar morphology after applying the rotational shear to the sample. Therefore, it was possible to investigate crystal orientation of PCL blocks within the oriented PE lamellar morphology. The 2D-WAXD results revealed that the c axis of PCL crystals (i.e., stem direction of PCL chains) was parallel to the lamellar surface normal irrespective of T_c when 16.5 nm ≥ d_PCL ≥ 10.7 nm. However, it changed significantly with changing T_c when d_PCL = 8.8 nm; the c axis was perpendicular to the lamellar surface normal at 45 °C ≥ T_c ≥ 25 °C while it was almost random at 20 °C ≥ T_c ≥ 0 °C. These results suggest that the PE lamellar morphology plays a similar role to glassy lamellar microdomains regarding spatial confinement against subsequent PCL crystallization.     

Effect of Surface Treatment on the Selective Photocatalytic Oxidation of Benzyl Alcohol into Benzaldehyde by O2 on TiO2 Under Visible Light

The photocatalytic oxidation of benzyl alcohol into benzaldehyde proceeded with high conversion and selectivity on a TiO₂ photocatalyst by O₂ under visible light irradiation. Surface complex formed by the interaction of benzyl alcohol with the Ti sites and/or surface OH groups of TiO₂ play an important role in the absorption of visible light and unique selective photocatalytic reaction.     

Effect of Support Materials on the Selective Methanation of CO over Ru Catalysts

Selective methanation of CO in the reformate gas (CO/CO₂/H₂/H₂O = 0.175/17.9/70.9/11.1) proceeded over Ru catalysts supported on metal oxides and zeolites. CO was selectively methanated at wide temperature ranges (200–275 °C) over Ru/γ-Al₂O₃, Ru/TiO₂ Ru/H-Y and Ru/H-beta catalysts. Higher Ru contents in Ru/γ-Al₂O₃ improved the selective CO methanation rate.     

Automated single nucleotide polymorphism typing using bead array in capillary tube

A low-cost and simple on-site technique for genotyping single nucleotide polymorphisms (SNPs) was developed. The technique is based on allele-specific primer PCR and the recently developed bead arrays in a single tip technique. The performance of the method was verified by genotyping four SNPs that correlate with cardiovascular diseases.     

The use of a virtual city model for assessing equity in access to views

The development of virtual city models has provided novel possibilities for analyses that require consideration of building heights in urban areas. The study was undertaken to explore these possibilities by using the virtual Kyoto model to examine equity in access to views in the Japanese city. A sample of just over 5000 residences was selected by stratifying for population age and affluence. A series of viewsheds were computed to quantify the visibility of a range of environmental amenities (greenspaces, water bodies, historical buildings, mountains) and disamenities (factories and roads). Evidence of inequity in visual amenity was identified, whereby homes in areas with many old people were much less likely to have views of greenspaces and water bodies, although they were also less likely to see factories and roads and were more likely to view mountains. Homes in more affluent areas had better views of greenspaces, historical buildings, and mountains, and were less likely to see factories and water bodies. We discuss the potential of virtual city models for furthering analyses of the urban environment and raise some caveats regarding their use.     

Alternating copolymers of carbon dioxide with glycidyl ethers for novel ion-conductive polymer electrolytes

To overcome the low ionic conduction of existing poly(ethylene oxide)-based polymer electrolytes, we consider polycarbonates obtained from the copolymerization of CO₂ and epoxy monomers. We synthesized four types of polycarbonates possessing phenyl, n-butyl, t-butyl and methoxyethyl side groups using zinc glutarate, and measured the ionic conductivity of their electrolytes, including 10 mol% of LiTFSI. The electrolyte possessing methoxyethyl side groups had the highest conductivity, of the order of 10⁻⁶ S cm⁻¹ at room temperature. The activation energy (E_a) for ionic conduction in the polycarbonate electrolytes was estimated from the VTF equation, and the E_a of the electrolyte possessing n-butyl side groups was almost the same with the polyether-based electrolytes. An interesting feature of our study is that the polycarbonate is a unique candidate for ion-conductive polymers because of its flexible and hydrophobic properties.     

A 3.3-V 12-ns 16-Mb CMOS SRAM

A 16-Mb CMOS SRAM having an access time of 12 ns under a 3.3-V supply has been developed with a 0.4-μm process technology. An address access time of 12 ns has been achieved by an optimized architecture, the use of an automated transistor size optimizer, and a read-bus midlevel preset scheme (RBMIPS). For better yield and efficient testing, an on-chip test circuit with three test modes has been implemented