Adaptive Learning with Large Variability of Teaching Signals for Neural Networks and Its Application to Motion Control of an Industrial Robot

Recently, various control methods represented by proportional-integral-derivative (PID) control are used for robotic control.To cope with the requirements for high response and precision, advanced feedforward controllers such as gravity compensator,Coriolis/centrifugal force compensator and friction compensators have been built in the controller.Generally, it causes heavy computational load when calculating the compensating value within a short sampling period.In this paper, integrated recurrent neural networks are applied as a feedforward controller for PUMA560 manipulator.The feedforward controller works instead of gravity and Coriolis/centrifugal force compcusators.In the learning process of the neural network by using back propagation algorithm, the learning coefficient and gain of sigmoid function are tuned intuitively and empirically according to teaching signals.The tuning is complicated because it is being conducted by trial and error.Especially, when the scale of teaching signal is large, the problem becomes crucial.To cope with the problcm which concerns the learning performance, a simple and adaptive learning technique for large scale teaching signals is proposed.The learning techniques and control effectiveness are evaluated through simulations using the dynamic model of PUMA560 manipulator.     

Fabrication of heterostructures of halogen-bridged quasi-one-dimensional mixed-valence transition metal complexes

Single-heterostructure crystals of a series of halogen-bridged quasi-one- dimensional mixed-valence transition metal complexes (HMMCs) were fabricated by selective coordination epitaxial growth (SCE growth). The overgrowth crystals of the HMMC were grown on the columnar crystals of the substrate HMMC in solution. The single-heterostructure crystals were epitaxially grown only when the two HMMCs had similar crystal structures. If their crystal structures were different, no heterostructure crystal was grown. This result suggests that the degree of mismatch between the crystal structures of the substrate and the overgrowth is the predominant factor which determines the SCE growth of the HMMCs.     

40 Gbit/s packet bit error ratio and loss real-time measurement for ultrahigh-speed packet switched network

A novel packet bit error rate (BER) and loss measurement method and system is proposed. A proposed 40 Gbit/s packet BER and loss measurement system is expressed in detail. A 40 Gbit/s BER and loss measurement with various conditions is demonstrated experimentally. In real time, only the payload part of a packet and burst stream with fluctuated guard time is evaluated. The BER and packet loss of a randomly received packet sequence due to routing and buffering can be also evaluated by the measurement system. A 10 Gbit/s packet BER and loss measurement with optical label switching, buffering, and preamble-free optical packet 3R are demonstrated experimentally.     

An Antisense Oligonucleotide against a Splicing Enhancer Sequence within Exon 1 of the MSTN Gene Inhibits Pre-mRNA Maturation to Act as a Novel Myostatin Inhibitor

Antisense oligonucleotides (ASOs) are agents that modulate gene function. ASO-mediated out-of-frame exon skipping has been employed to suppress gene function. Myostatin, encoded by the MSTN gene, is a potent negative regulator of skeletal muscle growth. ASOs that induce skipping of out-of-frame exon 2 of the MSTN gene have been studied for their use in increasing muscle mass. However, no ASOs are currently available for clinical use. We hypothesized that ASOs against the splicing enhancer sequence within exon 1 of the MSTN gene would inhibit maturation of pre-mRNA, thereby suppressing gene function. To explore this hypothesis, ASOs against sequences of exon 1 of the MSTN gene were screened for their ability to reduce mature MSTN mRNA levels. One screened ASO, named KMM001, decreased MSTN mRNA levels in a dose-dependent manner and reciprocally increased MSTN pre-mRNA levels. Accordingly, KMM001 decreased myostatin protein levels. KMM001 inhibited SMAD-mediated myostatin signaling in rhabdomyosarcoma cells. Remarkably, it did not decrease GDF11 mRNA levels, indicating myostatin-specific inhibition. As expected, KMM001 enhanced the proliferation of human myoblasts. We conclude that KMM001 is a novel myostatin inhibitor that inhibits pre-mRNA maturation. KMM001 has great promise for clinical applications and should be examined for its ability to treat various muscle-wasting conditions.     

Comparison of Centralized and Decentralized Systems in Power System Restoration

This paper proposes a multiagent approach to decentralized power system restoration for distribution system networks and presents a comparison of centralized and decentralized systems for power system restoration. Numerous studies have been conducted on power system restoration problems. From the viewpoint of system structures, this research can be divided into two categories: centralized systems and decentralized systems. In this study, we solve a power system restoration problem for a power distribution network by two different methods: mathematical programming (MIP) and the proposed multiagent‐based method (MAS). The proposed multiagent system consists of several distributing substation agents (DSAGs) and load agents (LAGs). An LAG corresponds to the customer load, and a DSAG supplies electricity to the LAG. From the simulation results, it can be seen that the proposed system can reach the right solution by making use of only local information and that the solution quality is better than that of the centralized system (MIP). This means that the proposed multiagent restoration system is a promising approach to larger scale distribution networks.     

Feasible method,utilizing density changes,for estimating in situ dynamic strength and deformation properties of sand samples

Laboratory tests and design reliability are directly controlled by sample quality. The frozen sampling (FS) method is useful for dynamic strength and deformation tests of undisturbed clean sand. However, it is very expensive and requires considerable equipment. The sample quality of Toyoura sands obtained from 48 mm and 75 mm samplers are scrutinized based on void ratio, dynamic strength and deformation properties through model and cyclic undrained triaxial tests. A conventional method for estimating in-situ dynamic strength and deformation properties of sand samples utilizing density changes is examined and the applicability of the proposed method is discussed for the samples obtained from Niigata sand deposits.The main conclusions obtained from this study are summarized as follows:(1) A conventional method for estimating in-situ void ratio (e₀), D_r, stress ratio (R_L20) in a 20 cyclic time frame and the initial modulus of rigidity (G₀) of sand samples utilizing density changes is proposed.(2) The in-situ R_L20 and G₀ estimated from the proposed method for sand samples from tube samplers were similar to those of frozen sampling and the in-situ modulus of initial rigidity was calculated from the secondary wave velocity for Niigata sand deposits.Therefore, dynamic strength and deformation properties changes, caused by sampling, can be modified appropriately to an in-situ condition by this proposed method.     

Network copolyesters from benzenepolycarboxylic acids and 1,6-hexanediol

Network copolyesters were prepared from trimesic (Y), pyromellitic (X) or mellitic (Y_H) acids and 1,6-hexanediol (6G). Prepolymers prepared by meltpolycondensation were cast from dimethylformamide solution and postpolymerized at 260°C for 6h to form a network. The resultant films were transparent, flexible and insoluble in any organic solvents. Degree of reaction estimated from the infrared absorbance of ester and methylene groups was almost the same for all films, 94–96%. X-ray diffraction intensity curves and densities showed that the ordering of networks was decreased by the copolymerization, which was remarkable for 6G–X/Y_H copolymer films and was consistent with the higher decreases of heat-distortion temperature for these copolymer films. The copolymerization also caused decrease of thermal stability, tensile properties and alkali resistance and increase of dye absorption.     

Burning Rate Augmentation of BAMO Based Propellants

Thermal decomposition and the burning properties of BAMO based propellants with HMX or AN/HMX have been investigated. The heat generated by the azide binder decomposition initiated and accelerated the thermal decomposition of HMX and AN. Ammonium perchlorate (AP) and lead stearate with carbon black significantly altered the mechanisms of the thermal decomposition and the burning properties of the HMX based propellants. AP showed an increase in burning rate with a slight decrease in burning rate pressure exponent. The lead catalyst yielded high value of the burning rate with the lowest pressure exponent. The ammonium dichromate also influenced the mechanisms of the thermal decomposition and the burning properties of the AN/HMX samples. The combination of ammonium dichromate and copper chromite was the most effective on the burning rate augmentation of AN/HMX based propellants. AN sublimed and evaporated from the condensed phase and mainly reacted exothermically in the gas phase HMX and AN/HMX based propellants showed smokeless burning characteristics in the small rocket motor combustion tests.     

A molten metal jet impingement on a flat spreading surface

ABSTRACT

In the event of a severe accident, past experiences such as Three Mile Island and Fukushima Daichi have shown that the reactor core of a light-water nuclear reactor, if not properly safeguarded, could go through a meltdown. This will be followed by the formation of a corium, a mix of molten fuel elements, and liquid metals from the Reactor Pressure Vessel (RPV). In the worst-case scenario, a melt through from the RPV can occur and lead to the spreading of the corium, in the form of a molten element’s jet impinging on a flat concrete structure of the Primary Containment Vessel (PCV). To enhance the decommissioning and the safety procedure, scope of the present article is to deepen the understanding of the phenomena involved in the mentioned scenario, mainly jet-instability and molten material spreading. In the present study, experiments were carried out, by using corium simulant materials such as Copper and Tin, to investigate the link between the instability of the gravity-driven molten metal jet and the impinging followed by its spreading over a flat area.