Modeling,Sensing, and Interpretation of Viscoelastic Contact Interface

Soft robotics is important in the next generation of robots because of the rapidly increasing need for robotics in biomedical applications and the advantages of providing a soft interface for interaction with the physical environment in service robots and other applications. It is indispensable to understand the fundamental behavior of such contact interface, typically viscoelastic, in order to accurately predict the actual elastic and temporal responses of the contact and to successfully control it. Viscoelasticity is a phenomenon of time-dependent strain and/or stress in soft materials. It is therefore important to model such behavior and to study the effects of such time-dependent strain and stress on stability and behavior at the contact interface. The contribution of this paper is the introduction of a novel latency model, which is a nonlinear model with differential equations that govern viscoelastic materials. Latency model describes various features of viscoelastic materials, such as stress relaxation and strain creep. The theoretical modeling was supported by experimental results in which we found two types of relaxation. Type I relaxation is well documented in existing literature but Type II relaxation has not been elaborated previously with the physical insights provided in this paper. The proposed theory can unify both types of time-dependent relaxation responses for modeling, sensing, and interpretation of viscoelastic contact interface.     

Radiation distribution sensing with normal optical fiber

The purpose of this study is to develop a radiation distribution monitor using a normal plastic optical fiber. The monitor has a long operating length and can obtain continuous radiation distributions. A principle of the position sensing is based on a time-of-flight technique. The monitor is sensitive to beta rays or charged particles, gamma rays, and fast neutrons. The spatial resolutions for beta-rays ( ⁹⁰Sr-⁹⁰Y), gamma-rays (¹³⁷Cs), and D-T neutrons are 30, 37, and 13 cm, respectively. The detection efficiencies for the beta-rays, gamma-rays, and D-T neutrons are 0.11%, 1.6×10 ^-5% and 1.2×10^-4%, respectively. The effective attenuation length of the detection efficiency is 18 m. In this paper, we describe the basic characteristics of this monitor     

草除灵乙酯的合成研究

报道了以邻氯苯胺、硫氰酸铵、硫酰氯、亚硝酸钠和氯乙酸乙酯为主要原料合成草除灵乙酯的方法。该工艺总收率为 69 8% ,产品纯度达 98%。     

A geometric method of sector decomposition

We propose a new geometric method of IR factorization in sector decomposition. The problem is converted into a set of problems in convex geometry. The latter problems are solved using algorithms in combinatorial geometry. This method provides a deterministic algorithm and never falls into an infinite loop. The number of resulting sectors depends on the algorithm of triangulation. Our test implementation shows smaller number of sectors comparing with other existing methods with iterations.     

Improvements of Transform Coding Algorithm for Motion-Compensated Interframe Prediction Errors-DCT/SQ Coding

A new hybrid coding method for transmitting videoconferencing images at a bit rate 384 kbits/s is proposed. Considering the characteristics of motion-compensated interframe prediction errors for typical videoconferencing scenes, a filter is introduced to separate pulsive components on which conventional discrete cosine transform (DCT) coding method does not work well. These separated pulsive components are coded by using scalar quantization (SQ). The remainder are DCT coded. For DCT coefficients, an adaptive coding method based on the classification of DCT coefficients is applied in order to improve the coding performance. Since the proposed method employs both DCT coding and SQ of prediction errors, it is named "DCT/SQ coding method." Experimental results show that the DCT/SQ coding method is effective to reduce so-called mosquito effects, and thus it can improve the quality of decoded images.     

Photoelectrochemical decomposition of bio-related compounds at a nanoporous semiconductor film photoanode and their photocurrent-photovoltage characteristics

Photoelectrochemical decomposition of bio-related compounds such as amino acids was investigated with a biophotochemical cell comprising a mesoporous TiO₂ thin film photoanode and an O₂-reducing cathode. It was concluded that a kind of Schottky junction formed at the surface of the TiO₂ (called as liquid junction) induced the photodecomposition followed by generation of photocurrent/photovoltage. Complete photodecomposition was investigated by the CO₂ formation yield. The photocurrent-photovoltage (J-V) characteristics of amino acids and other typical bio-related compounds were investigated, and the short circuit photocurrent (J_sc), open circuit photovoltage (V_oc), and Fill factor (ff) were exhibited. Effect of pH on the photodecomposition of phenylalanine and cysteine were studied; for cysteine alkaline conditions gave a high efficiency, which was interpreted by the high electron-donating ability of the dissociated -S⁻ group. The incident light-to-current conversion efficiency (IPCE) of cysteine was 25% at 350 nm. It was for the first time shown that organic acids gave high internal quantum efficiency (η′) over 8 (=800%) in the photodecomposition; for oxalic acid it was 9.3 (=930%) and for butyric acid 8.2. The alternating current impedance spectroscopy of glycine showed that the cell performance is determined by the chemical reactions at TiO₂ or Pt electrodes.     

Synthesis and hydrophilic property of polypropylene-graft-poly(polyethylene glycol-methacrylate) (PP-g-P(PEGMA))

Polypropylene-graft-poly(polyethylene glycol-methacrylate) (PP-g-P(PEGMA)), which is a hydrophobic-hydrophilic graft copolymer, was synthesized by a combination of an atom transfer radical polymerization (ATRP) of PEGMA with brominated polypropylene (PP-Br), which was synthesized from PP-OH prepared by metallocene-catalyzed copolymerization. Its structure was confirmed by ¹H NMR and GPC analyses. Transmission electron microscope (TEM) micrographs of PP-g-P(PEGMA) revealed the nanometer level microphase-separation morphology between the PP segment and the P(PEGMA) segment. The obtained PP-g-P(PEGMA) showed water-absorbing property as well as thermostability.     

Measurement of charge carrier's transportation in a large size self-standing CVD single crystal diamond film fabricated using lift-off method

Using lift-off method, we synthesized large self-standing plasma CVD diamond films on various substrates. Charge carrier transportation in diamond was measured using α particle measurements and TOF methods with a short-pulsed UV laser. The high-quality films were synthesized rapidly. We observed the maximum transit time of holes and electrons shorter than 5 ns. The lift-off method is useful to fabricate the high-quality diamond with excellent drift velocities of the charge carrier. The charge transport characteristics of our diamond films are comparable to those of a commercially available (Element Six Ltd.) electronics grade IIa diamond single crystal.     

Electrochemical performances of lithium ion battery using alkoxides of group 13 as electrolyte solvent

Tris(methoxy polyethylenglycol) borate ester (B-PEG) and aluminum tris(polyethylenglycoxide) (Al-PEG) were used as electrolyte solvent for lithium ion battery, and the electrochemical property of these electrolytes were investigated. These electrolytes, especially B-PEG, showed poor electrochemical stability, leading to insufficient discharge capacity and rapid degradation with cycling. These observations would be ascribed to the decomposition of electrolyte, causing formation of unstable passive layer on the surface of electrode in lithium ion battery at high voltage. However, significant improvement was observed by the addition of aluminum phosphate (AlPO₄) powder into electrolyte solvent. AC impedance technique revealed that the increase of interfacial resistance of electrode/electrolyte during cycling was suppressed by adding AlPO₄, and this suppression could enhance the cell capabilities. We infer that dissolved AlPO₄ components formed electrochemically stable layer on the surface of electrode.