Dynamic viscoelastic behavior of cholesteric liquid crystalline side-chain copolymers

Summary The rheological behavior of the cholesteric side-chain copolysiloxane whose two kinds of mesogenic groups consist of cholesteryl units and biphenyl benzoate units was investigated for three different compositions: 31:69, 35:65, 37:63 (in mol%). On the frequency dependence diagram of G′ for the copolymers at various temperatures, G′ decreases with decreasing frequency. The slope of G′ in a higher frequency region at lower temperatures (110°–130°C) is similar to that in the flow region of amorphous polymer melts. However, the slope of G′ in a lower frequency region at higher temperatures (140°–160°C) is relatively small, and the G′ curves in this region can not be superposed on to a single master curve. This deviation seems to be due to change in stability of the domain structure of the cholesteric phase. Furthermore, on the temperature dependence curve of G′, G′ showed a maximum near T _c1 . This maximum of G′ curve seems to be caused by molecular organization of a blue phase.     

Structure and properties of biaxially stretched poly(ethylene terephthalate) sheets

Huge numbers of PET (poly[ethylene terephthalate]) bottles are produced in the world. Especially in Japan, the number of hot-fillable PET bottles used is extremely large and is still increasing. This type of bottle is generally manufactured by the heat-set method using hot molds after stretch-blow molding. Herein, we examined how the PET sheet stretching condition affects the PET heat-shrinkage behavior at 85°C, which is the hot-filling temperature. Sheets stretched at a higher temperature and higher speed had higher thermal stability for a wider range of draw ratios. This is because those sheets have a higher crystallinity and relaxed amorphous regions. The higher stretch speed gives the sheet a higher crystallinity with self heat generation during rapid deformation. A higher stretch temperature makes the molecular segments relaxed.     

A system for synchronizing the nods of a CG character and a human using thermal image processing and a moving-average model

The purpose of this study was to develop a system for communication between a human and a computer generated (CG) character to make him or her more peaceful and cheerful. Nonverbal communication using such things as facial expression, a nod, or a hand gesture is very important for reciprocal communication between humans. In this study, an image registered by infrared rays which describes the thermal distribution of the face and neck has been used to develop a system for communication between a human and a CG character. The CG character can synchronize its nod with a person’s nod by predicting his or her nod angle. The measured feature parameter is input to a fuzzy algorithm system to obtain the nod angle of a person in front of an infrared camera, and then a moving-average model is used to predict the nod angle of the person. The average error of the nod angle obtained by the system has been estimated as about 5°. The CG character nods its head, not only when the human nods his or her head, but also when the human shakes his or her head to the left or right.     

Progressive learning and its application to robot impedancelearning

An approach to learning control using an excitation scheduling technique is developed and applied to an impedance learning problem for fast robotic assembly. Traditional adaptive and learning controls incur instability depending on the reference inputs provided to the system. This technique avoids instability by progressively increasing the level of system excitation. Called progressive learning, it uses scheduled excitation inputs that allow the system to learn quasistatic parameters associated with slow input commands first, followed by the learning of dynamic parameters excited by fast input commands. As learning progresses, the system is exposed to a broader range of input excitation, which nonetheless does not incur instability and unwanted erratic responses. In robotic assembly, learning starts with a slow, quasistatic motion and goes to a fast, dynamic motion. During this process, the stiffness terms involved in the impedance controller are learned first, then the damping terms and finally by the inertial terms. The impedance learning problem is formulated as a model-based, gradient following reinforcement learning. The method allows the suppression of excessive parameter changes and thereby stabilizes learning. By gradually increasing the motion speed command, the internal model as well as the control parameters can be learned effectively within a focused, local area in the large parameter space, which is then gradually expanded as speed increases. Several strategies for motion speed scheduling are also addressed.     

Mathematical analysis of oxygen transfer through polydimethylsiloxane membrane between double layers of cell culture channel and gas chamber in microfluidic oxygenator

For successful cell culture in microfluidic devices, precise control of the microenvironment, including gas transfer between the cells and the surrounding medium, is exceptionally important. The work is motivated by a polydimethylsiloxane (PDMS) microfluidic oxygenator chip for mammalian cell culture suggesting that the speed of the oxygen transfer may vary depending on the thickness of a PDMS membrane or the height of a fluid channel. In this paper, a model is presented to describe the oxygen transfer dynamics in the PDMS microfluidic oxygenator chip for mammalian cell culture. Theoretical studies were carried out to evaluate the oxygen profile within the multilayer device, consisting of a gas reservoir, a PDMS membrane, a fluid channel containing growth media, and a cell culture layer. The corresponding semi-analytical solution was derived to evaluate dissolved oxygen concentration within the heterogeneous materials, and was found to be in good agreement with the numerical solution. In addition, a separate analytical solution was obtained to investigate the oxygen pressure drop (OPD) along the cell layer due to oxygen uptake of cells, with experimental validation of the OPD model carried out using human umbilical vein endothelial cells cultured in a PDMS microfluidic oxygenator. Within the theoretical framework, the effects of several microfluidic oxygenator design parameters were studied, including cell type and critical device dimensions.     

Hydroxyapatite crystal growth on calcium hydroxyapatite ceramics

Calcium hydroxyapatite (Ca-HAP) ceramics containing tricalcium phosphate (TCP) were soaked in three solutions: phosphate buffer, tris buffer, and simulated body fluid (SBF). Petal-like crystals of Ca-HAP were deposited on the Ca-HAP ceramics when (i) Ca-HAP ceramics contained -TCP, (ii) the soaking solution contained phosphate ion and (iii) the pH of soaking solution was higher than 7.3. These conditions facilitate the presence of HPO ₄ ^2– and Ca²⁺ ions, the latter from dissolution of -TCP. A well-defined X-ray diffraction pattern for the deposited Ca-HAP crystals indicates preferred growth of {002} planes. Slower crystal growth of Ca-HAP was found for SBF (pH=7.5) than in the phosphate buffer, due possibly to the lower phosphate ion content in SBF.     

Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly

A nonlinear feedback scheme for a gravity-assisted underactuated manipulator with second-order nonholonomic constraints is presented in this paper. The joints of the hyper articulated arm have no dedicated actuators but are activated by gravity. By tilting the base link appropriately, the gravitational torque drives the unactuated links to a desired angular position. With simple locking mechanisms, the hyperarticulated arm can change its configuration using only one actuator at the base. This underactuated arm design was motivated by the need for a compact snake-like robot that can go into aircraft wings and perform assembly operations using heavy end-effectors. The dynamics of the unactuated links are essentially second-order nonholonomic constraints for which there are no general methods to design closed-loop control. We propose a nonlinear closed-loop control law that is guaranteed to be stable in positioning one unactuated joint at a time. We synthesize a Lyapunov function to prove the convergence of this control scheme. The Lyapunov function also generates estimates of the domain of convergence of the control law for various control gains. The control algorithm is implemented on a prototype three-link system. Finally, we provide some experimental results to demonstrate the efficacy of the control scheme.     

Fermi surface of NbO

Studies of the dHvA effect have been made on NbO single crystals grown by a zone melting techniques and 13 separate frequency branches ranging from 5.2×10⁶ G to 1.2×10⁸G have been observed. To understand the origin of the dHvA frequencies, we have made a self-consistent band structure calculation. Most experimental frequencies are found to be assigned to the extremal orbits on the calculated Fermi surfaces. There is good qualitative agreement between experiment and calculation, but some quantitative discrepancies still exist. We also report some physical properties, i.e., electrical resistivity, superconducting transition temperature, and electronic specific heat, of this high-quality NbO crystal.     

A 2.5-GFLOPS, 6.5 million polygons per second, four-way VLIWgeometry processor with SIMD instructions and a software bypassmechanism

A four-way very long instruction word (VLIW), 312-MHz geometry processor with peripheral component interconnect/accelerated graphic port bus bridge was implemented in a 0.21-μm, 2.5-V, three-layer-metal CMOS process. We adopted (1) a software bypass mechanism, (2) single-instruction multiple-data stream instructions, (3) four sets of floating-point multiply add and accumulate execution units, (4) special condition code registers and a branch condition generator for a clipping operation, and (5) automatic clock delay tuning methodology. As a result of these features, we achieved a performance of 2.5 GFLOPS and 6.5 million polygons per second for a three-dimensional geometry processor, which is the highest published performance as a single geometry processor. The processor is applicable to computer-aided-design systems that require very high graphics performance     

A simple and efficient measurement method for characterizingcapacitance matrix of multilayer interconnection in VLSI

A compact new test structure for direct extraction of components of the capacitance matrix for multilayer interconnections is presented. In this new method, each capacitive component in integrated structures is separately and directly obtained from measurement, and the total pads are kept to eight, independent of the size of the target matrix. As a result of evaluation of measurement errors caused by the asymmetry of structures, this new method can measure components of capacitance matrix with a precision of femto-farad order