Design method for a new control system for an autonomous underwater vehicle using linear matrix inequalities

The independent administrative corporation Japan Agency for Marine–Earth Science and Technology (JAMSTEC) has developed a small light autonomous underwater vehicle (AUV) named marine robot experimental 1 (MR-X1).¹ The motion control of MR-X1 is considered in this article. Since the dynamics of MR-X1 mainly depends on its own speed, the motion control is a nonlinear control system. We propose a new controller design method for this system using linear matrix inequalities (LMIs). This algorithm gives a solution as a linear matrix inequality, and can be adapted to solve many LMIs simultaneously. LMIs can be obtained by substituting several speeds into the dynamics of the MR-X1. The proposed controller, which can be derived from the solution of the LMIs, was adapted to MR-X1 and showed good performance in experiments. This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January 23–25, 2006     

New process for producing an extrusion laminated film without any chemical primer—non anchor coating extrusion laminating process

A new process, the Non Anchor Coating Extrusion Laminating Process for producing an extrusion laminated film without any chemical primer, was investigated. Good adhesive properties were obtained by combining an ozone treatment of a molten polyethylene (LDPE) web and an activation treatment of the polyamide (ONy) substrate film. The adhesion mechanism induced by the new process was studied by FT-IR, ESCA and extraction of unreacted polyamide from the laminated samples. The peel strength between the ONy and LDPE laminated films produced with this process was greater than that for laminated film made with a conventional lamination process using anchor coating agents. A model of the adhesive mechanism is proposed. Hydrogen and covalent bonds through oxygenated functional groups are responsible for the enhanced adhesion.     

Calcium channels in the GABAergic presynaptic nerve terminals projecting to meynert neurons of the rat

Effects of selective Ca2+ channel blockers on GABAergic inhibitory postsynaptic currents (IPSCs) were studied in the acutely dissociated rat nucleus basalis of Meynert (nBM) neurons attached with nerve endings, namely, the "synaptic bouton" preparation, and in the thin slices of nBM, using nystatin perforated and conventional whole-cell patch recording modes, respectively. In the synaptic bouton preparation, nicardipine (3 x 10(-6) M) and omega-conotoxin-MVIIC (3 x 10(-6) M) reduced the frequency of spontaneous postsynaptic currents by 37 and 22%, respectively, whereas omega-conotoxin-GVIA had no effect. After blockade of L- and P/Q-type Ca2+ channels, successive removal of Ca2+ from external solution had no significant effect on the residual spontaneous activities, indicating that N-, R-, and T-type Ca2+ channels are not involved in the spontaneous GABA release. Thapsigargin, but not ryanodine, increased the frequency of spontaneous IPSCs in both the synaptic bouton and slice preparations, suggesting the partial contribution of the intracellular Ca2+ storage site to the spontaneous GABA release. In contrast, omega-conotoxin-GVIA (3 x 10(-6) M) and omega-conotoxin-MVIIC (3 x 10(-6) M) suppressed the evoked IPSCs by 31 and 37%, respectively, but nicardipine produced no significant effect. The residual evoked currents were abolished in Ca2+-free external solution but not in the external solution containing 10(-5) M Ni2+, suggesting the involvement of N-, P/Q-, and R-type Ca2+ channels but not L- and T-type ones in the evoked IPSCs. Neither thapsigargin nor ryanodine had any significant effects on the evoked IPSCs. It was concluded that Ca2+ channel subtypes responsible for spontaneous transmitter release are different from those mediating the transmitter release evoked by nerve stimulation.     

Fabrication and observation of a standard sample for near-field optical microscopy

We fabricated a standard sample for a near-field optical microscope using scanning probe lithography. The sample contains a wedged pattern, which allows the measurement of various sizes within one image. The optical resolution of our near-field optical microscope has been evaluated as 40 nm, which was obtained by measuring the narrowest separable gap width of the wedged pattern. Thus a standard sample containing the wedged pattern enables clear evaluation of the resolution.     

Low excess losses in a Y-branching plastic optical waveguide formed through injection molding

We have demonstrated low excess losses (1.9 dB at 660-nm wavelength) in a Y-branching plastic optical waveguide (POWG) that was fabricated using an injection-molding method. The waveguide had an amorphous vinyl polymer as the core and transparent polyolefin as the cladding. We then studied a method for isolating the excess loss in the Y-branching POWG, and with that method we estimated the lower limit of the loss to be 1.41 dB at 660 nm. The sample had a heat-resistant plastic optical fiber (POF) with a core composed of crosslinked poly (methyl methacrylate) (PMMA) copolymer, and a cladding composed of poly (tetrafluoroethylene-co-hexafluoropropylene). The POWG has sufficient reliability for ordinary uses below 100 °C. A model for a bidirectional wavelength-division multiplexing opticalcommunication system with the developed Y-branching POWG and the POF was also demonstrated.     

Formation of layer-like voids in irradiated polytrioxane

The formation of voids and defects is investigated by X-ray diffraction methods, by weight loss measurement and by electron microscopy, for an irradiated polytrioxane (PTOX) obtained by the-ray-induced polymerization of trioxane in the solid state. The main reasons for the formation of the layer-like voids are transverse decomposition at a selective point accessible to the radiation in the micro-fibrils, and the subsequent extensible depolymerization which may occur from the unstable chain end with increase of the radiation dose. The analysis of the SAXS curve for the irradiated PTOX, according to Tsvankin's method gives reasonable results for the void structure, where the reduction of the sub-crystal fraction and also the weight loss of the sample by irradiation are taken into account.     

Causes and characteristics of the electromagnetic vibration of a squirrel cage induction motor under load

Three-phase squirrel cage induction motors (IM) have been used in all types of industry, because of their robustness and simplicity of structure, low cost, and ease of maintenance. Due to the resultant air gap flux wave, an IM produces electromagnetic vibration and noise more or less regardless of the slot combination. Recently, reduction of electromagnetic vibration and noise has become important from the standpoint of environmental improvement. Vibration caused by an IM at no-load has been studied for many years and its basic factors have been analyzed. However, electromagnetic vibration under load has not been analyzed sufficiently. Since vibration under load conditions is affected by load and installation, analysis of this vibration is a rather difficult task. But study of the electromagnetic vibration of the motor itself under load is basically the most important item. This paper clarifies, theoretically and experimentally, the causes and characteristics of the electromagnetic vibration of an IM under load conditions. First, general equations are derived for the dominant electromagnetic force waves that produce electromagnetic vibration. Causes and vibration modes are clearly classified and a theoretical analysis provides a basic concept for electromagnetic vibrations. Second, electromagnetic vibrations for various loads are measured taking the effect of natural frequency of the motor into consideration. The measured data are classified and analyzed in detail, based on the proposed theory. © Scripta Technica, Inc. Electr Eng Jpn, 120(4): 81–89, 1997     

Minimization of effect of CBN wheel wear on ground gear errors

Resistance to wear of CBN grinding wheels is much higher than that of conventional (Al₂O₃) wheels. However, CBN grinding wheels are seldom used in gear grinding, when production scale is small, due to the difficulty in truing. Moreover, wear of the grinding wheel greatly affects the accuracy of tooth trace, in most cases. Considering this problem, the authors proposed new processes in which the accuracy of the tooth trace and tooth profile was hardly affected by wear of the wheel. While grinding was performed using a conventional method, a concave tooth-trace error of about 2 μm occurred after grinding only 30 teeth. In one of the proposed methods, the concave tooth trace error never occurred even when 2000 teeth were ground by the same wheel. In the third method, the CBN layer is effectively used for gear grinding by giving an additional motion which is independent of the tooth profile generating motion.     

Distribution of virulent and pandemic strains of Vibrio parahaemolyticus in three molluscan shellfish species (Meretrix meretrix, Perna viridis, and Anadara granosa) and their association with foodborne disease in southern Thailand

Distribution of pandemic strains of Vibrio parahaemolyticus in seafood, particularly in molluscan shellfish, and their serological and molecular relationships to clinical strains were examined from Hat Yai City in southern Thailand. During 2000 to 2002, virulent strains (tdh+ or trh+) were isolated from 13 of 230 molluscan shellfish samples using alkaline peptone water enrichment followed by immunomagnetic separation. The isolates included 12 pandemic strains (tdh+, trh-, group-specific PCR positive) from five Oriental hard clam samples, five green mussel samples, and one bloody clam sample. Among the pandemic strains, eight belonged to serogroup O3:K6, three belonged to O1:K25, and one was O1:K untypeable. One hundred eighty-seven strains of V. parahaemolyticus were isolated from clinical specimens obtained from a hospital in this city during 2000 to 2001. The pandemic strains comprised 64 and 68% of the isolates in 2000 and 2001, respectively. Among the serotypes of the pandemic strains, O3:K6 was dominant at 73% in 2000 and 76% in 2001 followed by O1:K25 at 20% in 2000 and 13% in 2001. Pulsed-field gel electrophoresis profiles of the pandemic strains from molluscan shellfish were indistinguishable or very similar to those of patient isolates. Similarity of the serotype distribution and DNA fingerprints occurring between the molluscan shellfish strains and clinical strains suggests that molluscan shellfish may be an important source of pandemic V. parahaemolyticus infection in southern Thailand. For public health, proper cooking of molluscan shellfish in this area is strongly recommended.     

Epidemic of influenza in Kyushu-Okinawa District (April 1994-March 1995)

The prevalence of influenza in Kyushu-Okinawa District in April 1994- March 1995 was studied as the prevalence of influenza virus, to determine the sero-type of influenza viruses isolated in Kyushu- Okinawa District prefectures and cities. As a result, three sero-types of influenza viruses, i.e. type A/H1N1, type H3N2 and type B, were isolated in Kyushu-Okinawa District in this season, but most of the isolates were type A/H3N2 and type B. Weekly changes of reported influenza patients and period of virus isolation at local public health institutes revealed that influenza epidemics of the earlier part in this season was caused by type A/H3N2 and the latter part due to type B. Type A/H3N2 spread all over Kyushu-Okinawa District in a shorter period (about 2 weeks) through the westside of Kyushu and down south, and type B stayed about one month in northern Kyushu and took about 7 weeks to spread all over Kyushu-Okinawa District. Based on these results, the spread of influenza virus in Kyushu-Okinawa District was visualized on the isopleth maps.