Nonlinear repetitive control with application to trajectory control of manipulators

In this article, a new control scheme named repetitive control is proposed for a class of nonlinear systems described by x(t) = Ax(t) + Bu(t) + n(x(t)) and y(t) = Cx(t), in which the controlled variables follow periodic reference commands. The stability condition is derived by applying the passivity theorem. We show how to apply the repetitive control scheme to the trajectory control of a manipulator. A simple repetitive control scheme is developed for the trajectory control of a manipulator by using nonlinear compensation and feedbacks of position and velocity signals. Experimental results for a three link manipulator verify that the proposed repetitive control reduces the tracking error to a very low level.     

Adaptive impedance control of a variable stiffness actuator

This paper proposes an optimal impedance control method for a variable stiffness actuator (VSA), in which a variable stiffness mechanism and an actuator are aligned in series. First, we introduce a circuit expression of the robotic system and provide a unified framework to determine an optimal index of robots driven by VSAs, irrespective of the presence or absence of the environment. Next, we design a torque controller for a one-degree-of-freedom (DOF) robot and find the optimal condition of the stiffness in the VSA for a given task. Then, we design a stiffness control law for the VSA exploiting the intrinsic indivisible property between motion and passive impedance. This stiffness control law adaptively tunes the passive stiffness to minimize the energy consumption without defining any explicit desired impedance, which is usually required in impedance controllers. The stability of the closed loop system is proved using Lyapunov’s analysis. Simulations and experimental results validate the effectiveness of the proposed method and the robustness in response to parameter changes.     

Effect of grain size on creep of Ti-53.4mol%Al intermetallics at 1100 K

Constant stress creep under compression stress, 100 to 316 MPa, at 1100 K was investigated on single-phase TiAl intermetallics. The material was ingot-cast, isothermally forged, and then annealed to produce stable equi-axed grain structures, whose average grain diameters were 25, 42 and 70m. Creep curves were very similar among the three specimens with different grain diameters and the creep rates at a given strain, as well as the minimum creep rates, depended little on grain size. Two regimes were observed on the stress dependence of the minimum creep rate. The stress exponent under high stresses was about 4.5, independent of grain size. Under stresses lower than about 150 MPa it became about 8.     

Development and applications of an analytical electron microscope with a field emission electron gun

An analytical electron microscope with a field emission electron gun has been developed in order to improve the function of material identification, in order to obtain higher resolution of images, sharper electron diffraction patterns, and purer x-ray spectra with no effects of contamination from smaller areas than in the conventional instruments so far utilized. The performance capabilities of this newly developed analytical electron microscope, the Model H-600FE, have been examined and found to be very useful for the material characterization of nanometer-size areas. Various attributes of the microscope became apparent with reference to the results of different studies. These include better convergence of the electron beam (demonstrated by examination of an MoS₂ thin film), high-resolution transmission electron microscopy (using a gold film), high-resolution scanning electron microscopy (with a carbon film containing nanometer-size holes), high-angle resolution electron diffraction (of an iron carbide film), and precision x-ray analysis of nanometer-size areas (using a pyroxene crystal and a Cu---Zn---Al shape memory alloy).     

Nanoindentation as a strength probe—a study on the hardness dependence of indent size for fine-grained and coarse-grained ferritic steel

A nanoindentation hardness testing system, including an atomic-force microscope (AFM)-based nanoindentation tester and a calibration method using electrolytically polished single-crystal metals as references, was proposed. This was applied to a study of the mechanical properties of fine-grained ferritic steel (grain size of 1.2 μm) and coarse-grained ferritic steel (30 μm). An empirical function giving the macroscopic hardness for all four reference metals from the nanoindentation force curves was established. The converted Vickers hardness (HV*) of the coarse-grained steel is almost independent of the indent size. The fine-grained steel shows only HV* 130 with an indent of only 100 nm, compared with a macroscopic hardness of HV 210. The difference, HV 80, is considered to reflect the amount of grain-boundary strengthening. The critical indent size for the hardness transition seems to be around 1 μm, comparable to the grain size of the specimen. This result supports the explanation of grainboundary strengthening. It is also consistent with Pickering’s work on low-carbon steel, as the estimated locking parameter (k of 2.6×10⁵ N/m^3/2) in the Hall-Petch relationship is in good agreement with his value of 2.4×10⁵ N/m^3/2.     

Immunohistochemical localization of a water channel, aquaporin 7 (AQP7), in the rat testis

Cell volume reduction is one of the most distinct morphological changes during spermiogenesis and may be largely attributable to water efflux from the cell. A strong candidate for a water efflux route, aquaporin 7 (AQP7), which is a water channel, was studied immunohistochemically in the rat testis. Immunoreactivity was restricted within the elongated spermatids, testicular spermatozoa, and residual bodies remaining in the seminiferous epithelium. Weak but distinct immunoreactivity was first observed in the cytoplasmic mass of the spermatid at step 8 of spermiogenesis. The Golgi-like apparatus became steadily immunoreactive at step 10. The plasma membrane covering the cytoplasmic mass showed strong immunoreactivity after step 16. At this step, the middle piece of the tail also showed immunoreactivity at the portion protruding into the lumen. The whole head and distal tail, where the elongated spermatid had only a limited amount of cytoplasm, showed no immunoreactivity throughout spermiogenesis. After spermiation, the immunoreactivity of AQP7 remained at the middle piece and in the cytoplasmic droplet in the testicular spermatozoon. The present observations suggest that AQP7 contributes to the volume reduction of spermatids, since this water channel protein is localized on the plasma membrane covering the condensing cytoplasmic mass of the elongated spermatid, and since the seminiferous tubule fluid is hypertonic.     

Effects of solid lubricants in backward extrusion

In the present paper, some solid lubricants were tested in backward extrusion friction tests with flat-headed punches using aluminium at room temperature. The results showed that anti-seizure ability was improved when wax was added to the solid lubricant samples. In addition, a water-based graphite lubricant and an ultrahigh molecular weight polyethylene (UHMW-PE) lubricant were tested using aluminium workpieces heated to 500°C. The lubricity of the UHMW-PE lubricant was found to be superior to that of the graphite lubricant.     

Experimental investigation on self-leveling behavior in debris beds

During a hypothetical core-disruptive accident in a sodium-cooled fast breeder reactor, degraded core materials can form debris beds on the core-support structure and/or in the lower inlet plenum of the reactor vessel from rapid quenching and fragmentation of core material pool. Coolant boiling may lead ultimately to leveling of the debris bed that is crucial to the relocation of molten core and heat-removal capability of the debris bed. In the present study, we elected to use depressurization boiling to simulate an axially increasing void distribution in the debris bed. Bottom-heating boiling was also chosen to confirm that characteristics of the self-leveling process do not depend on the boiling mode. Particle size (between 0.5 and 6 mm), shape (spherical and non-spherical), bed volume (between 5 and 8 l) and density (namely of alumina, zirconia, lead and stainless steel) along with boiling intensity and total volume were taken as experimental parameters to obtain the general characteristics of the self-leveling process. A series of experiments with simulant materials were conducted and analyzed in detail. The good concordance of the transient processes obtained from the different boiling methods sufficiently demonstrates that the present results obtained using the depressurization boiling method exhibit these general self-leveling characteristics. Detailed comparisons of deduced time variations of the inclination angle provides qualitative tendencies based on the experimental parameters considered influential to self-leveling behavior. The rationale behind the definition introduced for equivalent power density is also presented.     

Unbiased InP detectors in the submillimetre wave region

High sensitivity unbiased detectors employing Ni-nInP Schottky-barrier diodes have been developed in a submillimetre-wave region. The voltage sensitivities of 120 V/W at 300 GHz and 17 V/W at 450 GHz were obtained, which are about three times higher than those of the usually used unbiased Si point contact diode detectors.     

Analysis of Cs-adsorption behavior using a column filled with microcapsule beads of potassium copper hexacyanoferrate

Ash-washing technology is a crucially important technology for removing radioactive Cs from contaminated ash. For that technology, Cs⁺ removal from the ash-washing solution by the adsorbent is necessary. This study was conducted to establish rapid preparation of appropriate adsorption columns for Cs⁺ uptake. A one-site model was not used for analysis because the model cannot accommodate sites with different adsorption speed. Results demonstrated that the adsorption behavior of the column filled with the granules of potassium copper hexacyanoferrate was well reproduced by a two-site adsorption model with parameters chosen through analysis of batch adsorption test results.