Analysis and experimental validation of force bandwidth for force control

Controlling robots in contact with the environment is an important problem in industry applications. In the conventional force control, much research has paid attention to develop novel force control systems and implemented force sensors to detect external force. This paper shows that narrow bandwidth of force sensor has a big influence on the force control system. Generally, to solve the instability in force control, the velocity feedback gain is enlarged. The system becomes unstable with small velocity feedback gain, and robot's response becomes slow with large one. Inasmuch as there is a tradeoff between the stability and the response, it is considered that force control by robots is difficult. This paper proposes a force control system with disturbance observer. It is possible to obtain the force information with wide bandwidth by using the disturbance observer. This paper shows that bandwidth of force sensing is very important for contact motion control. By using the wide bandwidth of force sensing, both stability and response are improved. Furthermore, force control is attainable by the construction of the easiest force control architecture. Therefore, the ideal zero-stiffness-force control is attained. The numerical and experimental results show viability of the proposed method.     

Study on Pb-Bi natural circulation phenomena

For the development of 45w%Pb-55w%Bi cooled direct contact boiling water small fast reactor (PBWFR), experimental study on Pb-Bi-water direct contact boiling two-phase flow has been performed using Pb-Bi-water direct contact boiling two-phase flow loop. For stable start-up of the boiling flow operation, Pb-Bi single-phase natural circulation must be realized in a Pb-Bi flow system of the loop before water injection into Pb-Bi. The Pb-Bi flow system consists of a four-heater-pin bundle, a chimney, an upper plenum, a level meter tank, a cooler, and an electromagnetic flow meter. A stable Pb-Bi single-phase natural circulation was realized in the range of flow rate from 1.5 l/min to 4.8 l/min by heating Pb-Bi in the heater-pin bundle with a power up to 7.7 kW. The inlet and outlet temperatures of the heater bundle were in the ranges from 243°C to 278°C, and from 251°C to 278°C, respectively. The natural circulation flow was simulated analytically using one-dimensional flow model including frictional, form and drag forces. Total hydraulic head through the loop were calculated from Pb-Bi densities at measured Pb-Bi temperatures in the loop. It was found that the calculated flow rate agreed well with the measured ones, which indicated the validity of the analytical models.     

Comparative study of (Ba,Sr)TiO3 films prepared by electron cyclotron resonance plasma sputtering and metal-organic decomposition

(Ba,Sr)TiO₃ films were prepared on Pt/Ti/SiO₂/Si substrates by mirror-confinement-type electron cyclotron resonance (ECR) plasma sputtering as well as by metal-organic decomposition (MOD). The films prepared by ECR plasma sputtering were crystallized at lower temperatures with better crystallinity and a denser structure than those by MOD. As for dielectric constant, films prepared by ECR plasma sputtering exhibited a relatively high value over 500 at a low annealing temperature of 873 K, whereas films by MOD exhibited approximately 350. This is attributed to the better crystallinity and the denser structure of the films by ECR plasma sputtering. The leakage current density of the films was found to be similar in both processes.     

High Temperature Schottky Barrier on n-Type SrTiO3 and Its Sensitivity to Ambient Gases

Metal or oxide electrodes (Pt, Au, Ag, (La, Sr)CoO₃) were deposited on single crystals of 0.02 mol% Nb doped SrTiO₃ by pulsed laser deposition. Current-voltage and capacitance-voltage responses were measured using three-terminal electrode configuration. Under high oxygen partial pressures, clear rectification behaviors were observed. Diffusion model well explained the current vs. voltage relationship with ideality factors close to unity. The barrier height varied reversibly with oxygen partial pressure, and was almost independent of the electrode materials, which suggested that the Fermi level at the interface was pinned by the surface states. The origin of the surface states was discussed in terms of oxygen adsorption or oxidative formation of metal vacancies around the surface. Chemical interaction between the surface and oxygen and resulting cation rearrangement was concluded to play an important role from the long stabilization time on oxygen partial pressure change. The water vapor pressure dependence of the barrier height was also explained by competitive adsorption of oxygen and water.     

Linear bipolar OTAs employing exponential‐law circuits

This paper presents design of linear bipolar OTAs, which are composed of two function blocks; one is an exponential‐law circuit and the other is a core cell. Multi‐tanh cells are employed as the core cell. This kind of OTA has lower power dissipation relatively to the conventional multi‐tanh cell. According as the order of the multi‐tanh core cell becomes higher, the number of circuit realization for the core cell increases. For example, we have two OTAs for the core circuit of an emitter‐coupled pair and four OTAs for the doublet core cell. Thus, we consider the generalized OTAs for an arbitrary order n of the core cell and obtain a formula to give the realization number of the linear OTAs for n. According to the formula, there must be eight OTAs in the case of n=3. All of the eight OTAs are examined. Analysis and simulation results show that the OTAs have advantage in their characteristics, such as linear input range, power dissipation, noise, and frequency response. Copyright 2004 John Wiley & Sons, Ltd.     

Meshless analysis of potential problems in three dimensions with the hybrid boundary node method

Combining a modified functional with the moving least‐squares (MLS) approximation, the hybrid boundary node method (Hybrid BNM) is a truly meshless, boundary‐only method. The method may have advantages from the meshless local boundary integral equation (MLBIE) method and also the boundary node method (BNM). In fact, the Hybrid BNN requires only the discrete nodes located on the surface of the domain. The Hybrid BNM has been applied to solve 2D potential problems. In this paper, the Hybrid BNM is extended to solve potential problems in three dimensions. Formulations of the Hybrid BNM for 3D potential problems and the MLS approximation on a generic surface are developed. A general computer code of the Hybrid BNM is implemented in C++. The main drawback of the ‘boundary layer effect’ in the Hybrid BNM in the 2D case is circumvented by an adaptive face integration scheme. The parameters that influence the performance of this method are studied through three different geometries and known analytical fields. Numerical results for the solution of the 3D Laplace's equation show that high convergence rates with mesh refinement and high accuracy are achievable. Copyright © 2004 John Wiley & Sons, Ltd.     

Lymphatic networks in the periodontal tissue and dental pulp as revealed by histochemical study.

The structural organization and fine distribution of the lymphatic networks in the periodontal tissues (gingiva, periodontal membrane, and alveolar process) and dental pulp of animals and humans were reviewed with special reference to histochemical examination by light and electron microscopy. The distinction between lymphatics and blood vessels was made on cryostat sections of undecalcified and calcified teeth treated with EDTA solution and whole mount preparations of periodontal membranes using 5'-nucleotidase (5'-Nase)-alkaline phosphatase (ALPase) double staining. This staining procedure allowed lymphatic vessels in the periodontal tissue and dental pulp to be differentiated from blood vessels. The specificity and localization of the enzyme reactions were confirmed by comparative histochemical studies of the same specimen with light microscopy and scanning or transmission electron microscopy. Well-developed 5'-Nase-positive lymphatic networks were observed on the tissue sections and whole mount preparations of the gingiva, periodontium, and dental pulp. More lymphatic vessels were seen in the root area of the periodontium than in the cervical area. In the dental pulp, lymphatic vessels were more numerous in the central part than in the peripheral odontoblastic layer. These distributions of the lymphatic capillary networks are discussed in relation to their ability to supply lymph to the teeth.     

Molecular mechanism of temporal physico/chemical changes that take place during imidization of polyamic acid: Coupled real-time rheo-optical and IR dichroism measurements

Multiple overlapping physical and chemical changes often take place during casting/drying and imidization from PMDA-ODA polyamic acid precursors from cast solutions. To shed light into details of these complex phenomena, we designed a unique real time measurement system that combines true stress, true strain, in-plane birefringence and temperature with polarized ultra-rapid scan FT-IR spectrometry (URS-FT-IR). At the early stages of heating (21°C–130 °C), initially isotropic solution cast film was observed to develop stress and birefringence as the solvent decomplexed and evaporated without showing any imidization as it was held in uniaxially constrained state. At a temperature around 130 °C, the onset of imidization reaction was detected while the stress went through a maximum. Beyond this stage, the evaporation of bound solvent and chemical conversion was observed to take place simultaneously and this is accompanied by a steady increase in birefringence. As the majority of the bound solvent evaporated, the stress and birefringence values started leveling off at long times.