VS‐CONTROL WITH TIME‐VARYING SLIDING SECTOR — DESIGN AND APPLICATION TO PENDULUM —

In general, a Variable Structure (VS) system is designed with a sliding mode. Recently a sliding sector, designed by an algebraic Riccati equation, has been proposed to replace the sliding mode for chattering‐free VS controllers. In this paper we extend the design algorithm for the sliding sector to a time‐varying sliding sector. The time‐varying sliding sector is defined by functions dependent on both state and time, hence time‐varying uncertainty can be considered. The VS controller is designed to stabilize an uncertain system, quadratically. The design procedure for real systems is introduced via an implementation to the control of “Furuta pendulum”. To enhance the stability it is necessary to compensate the time‐varying nonlinear static friction of the actuator adequately, hence this problem is a good example to demonstrate the performance of the proposed VS control method. In the experiment, it will be shown that the VS control with the time‐varying sliding sector is superior to an orthodox chattering‐free VS control.     

Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots

A pneumatic actuator is suitable and safe for in-pipe inspection robots in inflammable circumstances because of its ability to withstand explosions. However, ordinary pneumatic actuators limit driving speed because of their slow response. In this paper, we propose a novel pneumatic drive mechanism that can produce a high-impact force to move the in-pipe robot forward with sufficient speed by a catastrophic phenomenon using rapid release between a magnet and springs. We also introduce an anisotropic friction mechanism that uses a self-locking phenomenon to transmit the impact force to the pipe walls efficiently. A pin retraction mechanism that releases the self-locking condition is applied to retrieve the robot from the pipes. Optimizations of the proposed design were conducted based on a motion simulation model and verified in experiments. The experimental results obtained for maximum driving speeds in a straight pipe with different material types were approximately 90 and 50 mm/s for horizontal and vertical pipes, respectively. Stable strokes were also observed at different driving frequencies from 0.5 to 2.0 Hz.     

Multiagent reinforcement learning applied to a chase problem in a continuous world

Reinforcement learning (RL) is one of the methods of solving problems defined in multiagent systems. In the real world, the state is continuous, and agents take continuous actions. Since conventional RL schemes are often defined to deal with discrete worlds, there are difficulties such as the representation of an RL evaluation function. In this article, we intend to extend an RL algorithm so that it is applicable to continuous world problems. This extension is done by a combination of an RL algorithm and a function approximator. We employ Q-learning as the RL algorithm, and a neural network model called the normalized Gaussian network as the function approximator. The extended RL method is applied to a chase problem in a continuous world. The experimental result shows that our RL scheme was successful. This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28, 2000     

Elevated Expression of CCN3 in Articular Cartilage Induces Osteoarthritis in Hip Joints Irrespective of Age and Weight Bearing

Osteoarthritis (OA) occurs not only in the knee but also in peripheral joints throughout the whole body. Previously, we have shown that the expression of cellular communication network factor 3 (CCN3), a matricellular protein, increases with age in knee articular cartilage, and the misexpression of CCN3 in cartilage induces senescence-associated secretory phenotype (SASP) factors, indicating that CCN3 promotes cartilage senescence. Here, we investigated the correlation between CCN3 expression and OA degenerative changes, principally in human femoral head cartilage. Human femoral heads obtained from patients who received total hip arthroplasty were categorized into OA and femoral neck fracture (normal) groups without significant age differences. Gene expression analysis of RNA obtained from femoral head cartilage revealed that CCN3 and MMP-13 expression in the non-weight-bearing part was significantly higher in the OA group than in the normal group, whereas the weight-bearing OA parts and normal cartilage showed no significant differences in the expression of these genes. The expression of COL10A1, however, was significantly higher in weight-bearing OA parts compared with normal weight-bearing parts, and was also higher in weight-bearing parts compared with non-weight-bearing parts in the OA group. In contrast, OA primary chondrocytes from weight-bearing parts showed higher expression of CCN3, p16, ADAMTS4, and IL-1β than chondrocytes from the corresponding normal group, and higher ADAMTS4 and IL-1β in the non-weight-bearing part compared with the corresponding normal group. Acan expression was significantly lower in the non-weight-bearing group in OA primary chondrocytes than in the corresponding normal chondrocytes. The expression level of CCN3 did not show significant differences between the weight-bearing part and non-weight-bearing part in both OA and normal primary chondrocytes. Immunohistochemical analysis showed accumulated CCN3 and aggrecan neoepitope staining in both the weight-bearing part and non-weight-bearing part in the OA group compared with the normal group. The CCN3 expression level in cartilage had a positive correlation with the Mankin score. X-ray analysis of cartilage-specific CCN3 overexpression mice (Tg) revealed deformation of the femoral and humeral head in the early stage, and immunohistochemical analysis showed accumulated aggrecan neoepitope staining as well as CCN3 staining and the roughening of the joint surface in Tg femoral and humeral heads. Primary chondrocytes from the Tg femoral head showed enhanced expression of Ccn3, Adamts5, p16, Il-6, and Tnfα, and decreased expression of Col2a1 and -an. These findings indicate a correlation between OA degenerative changes and the expression of CCN3, irrespective of age and mechanical loading. Furthermore, the Mankin score indicates that the expression level of Ccn3 correlates with the progression of OA.     

ARSlice: Head-Mounted Display Augmented with Dynamic Tracking and Projection

Computed tomography (CT) generates cross-sectional images of the body. Visualizing CT images has been a challenging problem. The emergence of the augmented and virtual reality technology has provided promising solutions. However, existing solutions suffer from tethered display or wireless transmission latency. In this paper, we present ARSlice, a proof-of-concept prototype that can visualize CT images in an untethered manner without wireless transmission latency. Our ARSlice prototype consists of two parts, the user end and the projector end. By employing dynamic tracking and projection, the projector end can track the user-end equipment and project CT images onto it in real time. The user-end equipment is responsible for displaying these CT images into the 3D space. Its main feature is that the user-end equipment is a pure optical device with light weight, low cost, and no energy consumption. Our experiments demonstrate that our ARSlice prototype provides part of six degrees of freedom for the user, and a high frame rate. By interactively visualizing CT images into the 3D space, our ARSlice prototype can help untrained users better understand that CT images are slices of a body.     

Microorganisms in landfill bioreactors for accelerated stabilization of solid wastes

Landfill bioreactors (LBRs) with management of leachate and biogas have presented numerous advantages such as accelerated stabilization of solid wastes, reduced amount of leachate, and in situ leachate treatment. Such advantages have minimized environmental risks, have allowed extension of the useful life of the landfill site, and have fostered cost reduction. LBRs of three types have been developed using both anaerobic and aerobic modes: anaerobic, aerobic, and hybrid. Microorganisms in landfills cause various reactions related with organic fractions and heavy metals. Such functions have been stimulated in LBRs by recirculation of leachate with or without aeration. To date, most studies of microorganisms in LBRs have analyzed bacteria and archaea based on 16S rRNA genes and have analyzed fungi based on 18S rRNA genes from a taxonomical viewpoint. Indicator genes for specific functions in LBRs such as nitrification, denitrification, and methane production have also been monitored. The population dynamics of microorganisms in LBRs have been partially clarified, but the obtained data remain limited because of highly heterogeneous features of solid wastes inside LBRs. Systematic monitoring of microorganisms should be established to improve LBR performance.     

Compound-specific factors influencing sorption nonlinearity in natural organic matter

Nonlinear sorption by natural organic matter may have a significant impact on the behavior of organic contaminants in soils and sediments. This study presents a molecular probe approach based on linear solvation energy relationships (LSERs) to identify and quantify the molecular interactions causing concentration-dependent sorption and proposes estimation methods for sorption nonlinearities. Sorption isotherms ranging over concentrations of more than 4 orders of magnitude were determined in batch systems for 23 and 16 chemically diverse probe compounds in a lignite sample and a peat soil, respectively. Each sorbent showed characteristic nonlinear sorption with Freundlich exponents (1/n) being 0.7-1. The LSER-based analysis revealed that the strength of nonspecific interactions did not vary with concentration for both sorbents. In lignite, specific interactions did not affect sorption nonlinearity either, suggesting that compound-independent factors of lignite were responsible for the nonlinear sorption. In the peat soil, by contrast, the specific interactions related to the solute polarizability/dipolarity parameter (S) decreased with increasing concentration. Consequently, compounds of higher S values were more susceptible to nonlinear sorption in the peat soil. Phenol probes have shown that hydrogen bond donating properties of sorbate compounds have a substantial impact on the overall strength of sorption with organic matter, but no significant influence on sorption nonlinearity. Heterocyclic aromatic compounds appear to undergo additional interactions that are not accounted for by the LSER. These additional interactions considerably enhance both sorption capacity and nonlinearity.     

Elevated Alpha 1(I) to Alpha 2(I) Collagen Ratio in Dermal Fibroblasts Possibly Contributes to Fibrosis in Systemic Sclerosis

Systemic sclerosis (SSc) is characterized by excessive collagen deposition in the skin and internal organs. Activated fibroblasts are the key effector cells for the overproduction of type I collagen, which comprises the α1(I) and α2(I) chains encoded by COL1A1 and COL1A2, respectively. In this study, we examined the expression patterns of α1(I) and α2(I) collagen in SSc fibroblasts, as well as their co-regulation with each other. The relative expression ratio of COL1A1 to COL1A2 in SSc fibroblasts was significantly higher than that in control fibroblasts. The same result was observed for type I collagen protein levels, indicating that α2(I) collagen is more elevated than α2(I) collagen. Inhibition or overexpression of α1(I) collagen in control fibroblasts affected the α2(I) collagen levels, suggesting that α1(I) collagen might act as an upstream regulator of α2(I) collagen. The local injection of COL1A1 small interfering RNA in a bleomycin-induced SSc mouse model was found to attenuate skin fibrosis. Overall, our data indicate that α2(I) collagen is a potent regulator of type I collagen in SSc; further investigations of the overall regulatory mechanisms of type I collagen may help understand the aberrant collagen metabolism in SSc.     

Detonation propagation in narrow gaps with various configurations

In general all detonation waves have cellular structure formed by the trajectory of the triple points.This paperaims to investigate experimentally the propagation of detonation in narrow gaps for hydrogen-oxygen-argonmixtures in terms of various gap heights and gap widths.The gap of total length 1500 mm was constructed bythree pair of stainless plates,each of them was 500 mm in length,which were inserted in a detonation tube.Thegap heights were varied from 1.2 mm to 3.0 mm while the gap widths were varied from 10 mm to 40 mm.Variousargon dilution rates were tested in the present experiments to change the size of cellular structure.Attempts havebeen made by means of reaction front velocity,shock front velocity,and smoked foil to record variations of cel-lular structure inside the gaps.A combination probe composed of a pressure and an ion probe detected the arrivalof the shock and the reaction front individually at one measurement point.Experimental results show that thenumber of the triple points contained in detonation front decreases with decrease in the gap heights and gapwidths,which lead to larger cellular structures.For mixtures with low detonability,cell size is affected by a cer-tain gap width although conversely cell size is almost independent of gap width.From the present result it wasfound that detonation propagation inside the gaps is strongly governed by the gap height and effects of gap widthis dependent on detonability of mixtures.     

Additive effects of methyl ammonium bromide or formamidinium bromide in methylammonium lead iodide perovskite solar cells using decaphenylcyclopentasilane

Journal of Materials Science: Materials in Electronics - Fabrication and characterization of methylammonium lead iodide perovskite solar cells incorporated with methylammonium bromide (MABr),...