Exploration of unknown object by active touch of robot hand

This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.     

Design optimization of a laser printer cleaning blade for minimizing permanent set

When a cleaning blade in a laser printer is excessively deformed, immoderate permanent set can result, leading to weaker nip pressure between the cleaning blade and OPC drum that worsens its cleaning performance and printing quality. In this study, the correlation of the permanent set with stress and strain was investigated through tensile tests with rubber test specimens. Based on the experimental results, the maximum von-Mises stress value was used to quantify the permanent set. A design optimization problem was formulated to minimize the maximum von-Mises stress while satisfying the design constraints for maintaining appropriate contact between the cleaning blade and the OPC drum. We employed metamodel-based design optimization using design of experiments, metamodeling and an optimization algorithm to circumvent the difficulty of structural analyses at some design points. Using the proposed design approach, the optimal maximum von-Mises stress was reduced by 40.2 % compared to the initial stress value while all the design constraints were satisfied. In order to verify the validity of our design optimization result, we manufactured the cleaning blades according to the optimum design solution and performed permanent set and printer tests. The test results clearly showed the validity of our design optimization result.     

Efficient verifiably encrypted signatures from lattices

Verifiably encrypted signature schemes can convince a verifier that a given ciphertext is an encryption of an ordinary signature on a given message and the ordinary signature can be recovered by the third party, called adjudicator. In 2010, Rückert et al. proposed a general construction for the verifiably encrypted signatures, and then, they also showed that there exist the lattice-based verifiably encrypted signature schemes. Their constructions are very insightful, but their schemes need an extra adjudication setup phase and Merkle trees, so they have large parameters and keys, that is, they are inefficient. Also, their schemes provide only the limited signature capacity because the signing keys should be reissued after generating \(k\) th verifiably encrypted signatures. To overcome the weaknesses of Rückert et al.’s scheme, we construct a verifiably encrypted signature scheme based on the hard lattice problems. Our scheme provides the full functionality, i.e., the signatures can be generated without any limitations and does not need any extra adjudication setup phases. Moreover, the size of the secret keys in our scheme is constant. Our scheme provides unforgeability, opacity, extractability, and abuse-freeness in the random oracle model.     

Syntheses of new black dyes for ink-jet inks

Drop-on-demand ink-jet inks made from dyes generally show poor light and wet fastness. A number of studies have been carried out previously to improve the fastness of such inks by introducing novel dyes and new additives. Based on the research results, use of fast dyes could give ink-jet inks with good properties. This study describes new black dyes for aqueous ink-jet inks, which show better light and wet fastness and print quality, compared to an analogous ink formulated from CI Food Black 2.     

Synthesis and luminescence properties of new blue‐light‐emitting polyconjugated poly{1,1′‐biphenyl‐4,4′‐diyl‐[1‐(4‐t‐butylphenyl)]vinylene} polymers and copolymers

Three new soluble polyconjugated polymers, all of which emitted blue light in photoluminescence and electroluminescence, were synthesized, and their luminescence properties were studied. The polymers were poly{1,1′‐biphenyl‐4,4′‐diyl‐[1‐(4‐t‐butylphenyl)]vinylene}, poly((9,9‐dioctylfluorene‐2,7‐diyl)‐alt‐{1,4‐phenylene‐[1‐(4‐t‐butylphenyl)vinylene‐1,4‐phenylene]}) [P(DOF‐PVP)], and poly([N‐(2‐ethyl) hexylcarbazole‐3,6‐diyl]‐alt‐{1,4‐phenylene‐[1‐(4‐t‐butylphenyl)]vinylene‐1,4‐phenylene}). The last two polymers had alternating sequences of the two structural units. Among the three polymers, P(DOF‐PVP) performed best in the light‐emitting diode devices of indium–tin oxide/poly(ethylenedioxythiophene) doped with poly(styrene sulfonate) (30 nm)/polymer (150 nm)/Li:Al (100 nm). This might have been correlated with the balance in and magnitude of the mobility of the charge carriers, that is, positive holes and electrons, and also the electronic structure, that is, highest occupied molecular orbital (HOMO) and lowest unoccupied molecular orbital (LUMO) levels, of the polymers. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 100: 307–317, 2006     

Thermal and mechanical properties of the polymers synthesized by the sequential polymerization of propylene and 1‐hexadecene

The block copolymer of poly(1‐hexadecene) (PHD) and polypropylene (PP) was effectively synthesized by the sequential polymerization of propylene and 1‐hexadecene by using highly isospecific TiCl₃/Cp₂Ti(CH₃)₂ (Cp = cyclopentadienyl). The block copolymers had two separate melting temperatures of constituent blocks. The modulus of PHD–PP block copolymer was enhanced as the content of sequentially polymerized PP block was increased. The elongation at break showed positive deviation at the intermediate compositions from the simple additive values of constituent homopolymers. Shape memory effect which utilizes the crystalline PHD block as a reversible phase and the crystalline PP block as a fixed structure was examined. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 84: 1709–1715, 2002; DOI 10.1002/app.10551     

Preparation and characterizations of interpenetrating polymer network hydrogels of poly(ethylene oxide) and poly(methyl methacrylate)

Interpenetrating polymer network (IPN) hydrogels based on poly(ethylene oxide) and poly(methyl methacrylate) were prepared by radical polymerization using 2,2‐dimethyl‐2‐phenylacetophenone and ethylene glycol dimethacrylate as initiators and crosslinkers, respectively. The IPN hydrogels were analyzed for sorption behavior at 25°C and at a relative humidity of 95% using dynamic vapor sorption. The IPN hydrogels exhibited a relatively high equilibrium water content in the range of 13–68%. The state of water in the swollen IPN hydrogels was investigated using differential scanning calorimetry. The free water in the hydrogels increased as the hydrophilic content increased. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 89: 258–262, 2003     

Development of density distributions in injection molded amorphous engineering plastics. Part I

The gapwise density distributions of the injection molded specimens of two engineering thermoplastics, i.e., poly(phenylene ether) and poly(ether imide), were characterized employing the density gradient column technique. The samples were molded using a 40t Van Dorn injection molding machine. The effects of the thermal history on the density distribution of unconstrained quenched specimens were also investigated. In addition, various material properties, such as pressure-volume-temperature, isothermal contraction, and pressure induced densification behavior were characterized, for the two resins employed in this study. The moldings of the two resins exhibited different trends in their density distributions. These findings were explained in terms of the competing effects of cooling rate and the pressure history experienced by the engineering plastic resins during the molding cycle. The data collected were also used as input to mathematical modeling of density distributions in injection molded articles, which is reported in Part II of this article.     

Modeling and economic analysis of CO<Subscript>2</Subscript> separation process with hollow fiber membrane modules

The main purpose of the study was to develop a model using ASPEN and Excel simulation method to establish optimum CO₂ separation process utilizing hollow fiber membrane modules to treat exhaust gas from LNG combustion. During the simulation, optimum conditions of each CO₂ separation scenario were determined while operating parameters of CO₂ separation process were varied. The characteristics of hollow fibers membrane were assigned as 60 GPU of permeability and 25 of selectivity for the simulation. The simulation results illustrated that 4 stage connection of membrane module is required in order to achieve over 99% of CO₂ purity and 90% of recovery rate. The resulted optimum design and operation parameters throughout the simulation were also correlated with the experimental data from the actual CO₂ separation facility which has a capacity of 1,000 Nm³/day located in the Korea Research Institute of Chemical Technology. Throughout the simulation, the operating parameters of minimum energy consumption were evaluated. Economic analysis of pilot scale of CO₂ separation plant was done with the comparison of energy cost of CO₂ recovery and equipment cost of the plant based on the simulation model. This work was presented at the 6 ^th Korea-China Workshop on Clean Energy Technology held at Busan, Korea, July 4–7, 2006.     

Ce3+/Tb3+-coactived NaMgBO3 phosphors toward versatile applications in white LED,FED, and optical anti-counterfeiting

Ce³⁺/Tb³⁺ co-doped NaMgBO₃ phosphors were successfully synthesized by solid-state method. Under 381 nm excitation, the cyan emission owing to the 5d → 4f of Ce³⁺ ions and green emissions arising from the ⁵D₄ → ⁷F_J (J = 6, 5, 4, and 3) transitions of Tb³⁺ ions were seen in all the phosphors. Through theoretical analysis, one knows that the energy transfer from Ce³⁺ to Tb³⁺ ions with high efficiency of 83.74% was contributed by dipole–dipole transition. Furthermore, the internal quantum efficiency of NaMgBO₃:0.01Ce³⁺,0.03Tb³⁺ phosphor was 54.28%. Compared with that of at 303 K, the emission intensity of the developed products at 423 K still kept 73%, revealing the splendid thermal stability of the studied phosphors. Through utilizing the resultant phosphors as cyan-green components, the fabricated white-LED device exhibited an excellent correlated color temperature of 2785 K, high color-rendering index of 85.73, suitable luminance efficiency of 25.00 lm/W, and appropriate color coordinate of (0.4279, 0.3617). Aside from the superior photoluminescence, the synthesized phosphors also exhibited excellent cathode-luminescence properties which were sensitive to the current and accelerating voltage. Furthermore, the NaMgBO₃:0.01Ce³⁺,0.03Tb³⁺ phosphors with multi-mode emissions were promising candidates for optical anti-counterfeiting. All the results indicated that the Ce³⁺/Tb³⁺ co-doped NaMgBO₃ phosphors were potential multi-platforms toward white-LED, field emission displays, and optical anti-counterfeiting applications.