Design and Control of 6-DOF Mechanism for Twin-Frame Mobile Robot

A new lightweight six-legged robot that uses a simple mechanism and can move and work with high efficiency has been developed. This robot consists of two leg-bases with three legs each, and walks by moving each leg-base alternately. These leg-bases are connected to each other with a 6 degrees of freedom (DOF) mechanism. While designing this robot, the output force, velocity, and workspace of various connection mechanisms were compared, and the results showed that good performance could be achieved with a serial/parallel hybrid mechanism. The serial/parallel hybrid mechanism consists of three 6-DOF serially linked arms positioned with radial symmetry about the center of each leg-base; each leg-base is composed of two active and four passive joints. Walking experiments with this robot confirmed that this mechanism has satisfactory performance not only as a walking robot, but also as an active walking platform. Furthermore, in this robot, the entire leg-drive mechanism acts as a 6-axis force sensor, and individual sensors at the feet are not necessary. The forces and moments can be calculated from the changes in the joint angles. Experiments conducted verified that smooth contact with the ground by the swing-leg and successful switching from swing to support leg can be achieved using this force control and force measurement method.     

Improvement of convergence behavior for adaptive feed-forward control with initial values design in hard disk drives

This paper introduces an improvement method of convergence behavior for adaptive feed-forward control in hard-disk-drives (HDDs). To increase a data capacity of HDDs, head-positioning-control system must compensate for any disturbances which worsen the positioning accuracy. Especially, it is important to compensate for external disturbances in the head positioning system of 2.5 type HDDs. Previous studies proposed an adaptive feed-forward control method to compensate for the external disturbances. However, the control method have problems with respect to convergence in the adaptive algorithm. To overcome the problems, we have developed design method of initial values for the adaptive feed-forward control by using data-driven design method. The initial values designed by proposed method can improve the convergence behavior for the adaptive algorithm.     

High‐efficacy drive of spatial positive‐column‐discharge PDP with delayed D pulses

Abstract— A thick‐film ceramic‐sheet PDP provides a long sustain discharge gap of 0.45 mm, enabling the use of positive column discharges. The discharges are established in the middle of the discharge space and are completely free from touching the surface of substrates. This allows for the reduction in diffusion losses of the charged particles. To further improve the efficacy, delayed D pulses are applied to the address electrodes during the sustain period. Although the pulses only draw a little current, they perturb the electric field, reducing the peak discharge current and hence resulting in higher efficacy and luminance. The efficacy and luminance increase by 35% and 38%, respectively, with the delayed D pulses. These pulses are incorporated into the contiguous‐subfield erase‐addressing drive scheme for TV application. A short gap of 70 μm between the sustain and data electrodes generates a fast‐rising discharge and allows a high‐speed addressing of 0.25 μsec. This provides 18 contiguous subfields for the full‐HD single‐scan mode, with 70% light emission duty. A luminous efficacy of 6.0 lm/W can been attained using Ne + 30% Xe 47 kPa, a sustain voltage of 320 V, and a sustain frequency of 3.3 kHz, when the luminance is 157 cd/m². Alternatively, the panel can achieve 4.2 lm/W and 1260 cd/m² by increasing the sustain frequency to 33 kHz.     

Carbon dioxide reforming of methane under periodic operation

The carbon dioxide reforming of methane under periodic operation over a commercial Ni/SiO₂·MgO catalyst was investigated at two different temperatures, 923 and 1,023 K. According to this operation, pure methane and carbon dioxide were alternately fed to the catalyst bed where methane cracking and the reverse Boudouard reaction took place, respectively. Therefore, hydrogen and carbon monoxide products appeared separately in different product streams. The performance of this operation was compared to that of the steady state operation with simultaneous feed of both carbon dioxide and methane. At 1,023 K, the methane conversion and hydrogen yield from the periodic operation initially decreased with time on stream and eventually leveled off at values about half of those obtained in the steady state operation with co-feed of both reactants. The decreased catalytic activity was due to the accumulation of carbonaceous deposit and loss of metal active sites. However, a different trend was observed at 923 K. The methane conversion and hydrogen yield were almost constant over the time on stream, although more carbonaceous deposit was progressively accumulated on the catalyst bed during the reaction course. At this temperature, the periodic operation offered the equivalent hydrogen yield to the steady state operation. The observed behavior could be due to the different mechanisms of carbon formation over the catalyst. Finally, it was found that cycle period and cycle split did not influence the reaction performance within the ranges of this study.     

A β-Phase Based Superstructure in Bi2O3 Doped with PbF2

A new phase was prepared from Bi₂O₃·15 mol% PbF₂ by heating it at 700°C and then quenching to room temperature. The crystal structure (tetragonal, a =0.765 and c = 1.77 nm, P4₂/nmc) is related to that of the β-phase of Bi₂O₃ by a supercell which is 3 times larger in the c direction.     

Partition of solute elements during solidification of iron-carbon-chromium alloys

The partition coefficients of chromium between austenite and liquid iron,k _Cr ^A/L , were determined from the experiment of rapid cooling of iron-carbon hypo-eutectic alloys containing a small amount of chromium from coexisting solid—liquid states; the partition coefficients between eutectic and its liquid,k _0,Cr, andk _0,Cr, for the stable and metastable eutectic solidifications were obtained from the zone-melting experiment of iron—carbon eutectic alloys containing a small amount of chromium. Chromium was rejected to liquid iron on the crystallization of primary austenite,k _Cr ^A/L <1. On the eutectic solidification, chromium was enriched in eutectic liquid for the stable system,k _0,Cr<1, and was conversely diluted in the liquid for the metastable system,k _0,Cr>1. The relationship between effective and equilibrium partition coefficients given by Burtonet al. was observed for the results of the zone melting experiment and, from the relationship, the thickness of boundary layer in the liquid ahead of the solid—liquid interface was found to be 0.17 mm for the stable system and 0.11 mm for the metastable system. Thermodynamic calculation of the partition coefficients of chromium and carbon proved to represent the observed partition coefficients well.     

How to optimize the slope walking motion by the quadruped walking robot

Reduction of the energy consumption is one of the most important problems to utilize quadruped walking robots for various works on rugged terrain. The authors have studied basic strategy to achieve high energy efficiency when the quadruped walking robot do the motion essentially requires positive power by the analysis of body rising motion. This paper discusses the energy efficiency of the slope walking motion by the quadruped walking robot. First, we investigate the walking posture in consideration of ideal actuator characteristics where the robot consumes few negative powers at each joint which causes the main energy loss of the walking robot. Then, we investigate optimal walking posture in consideration of DC motor characteristics by the full search of three gait parameters which define the crawl gait. Furthermore, we derive the optimal walking motion by the optimization of three gait parameters which are kept constant during one cycle gait and instantaneous parameters such as body velocity and supporting forces changed at each moment simultaneously.     

Optimized Topological Surgery for Unfolding 3D Meshes

Constructing a 3D papercraft model from its unfolding has been fun for both children and adults since we can reproduce virtual 3D models in the real world. However, facilitating the papercraft construction process is still a challenging problem, especially when the shape of the input model is complex in the sense that it has large variation in its surface curvature. This paper presents a new heuristic approach to unfolding 3D triangular meshes without any shape distortions, so that we can construct the 3D papercraft models through simple atomic operations for gluing boundary edges around the 2D unfoldings. Our approach is inspired by the concept of topological surgery, where the appearance of boundary edges of the unfolded closed surface can be encoded using a symbolic representation. To fully simplify the papercraft construction process, we developed a genetic‐based algorithm for unfolding the 3D mesh into a single connected patch in general, while optimizing the usage of the paper sheet and balance in the shape of that patch. Several examples together with user studies are included to demonstrate that the proposed approach works well for a broad range of 3D triangular meshes.     

Effect of branched alkyl groups on physical properties in poly(ethylene-co-branched alkyl methacrylate)s

Summary Poly(ethylene-co-5.4 mol% n-alkyl/branched alkyl methacrylate)s (PEM) were prepared by a dehydrogenchloride reaction of poly(ethylene-co-5.4 mol% alkyl methacrylic chloride) with the corresponding alkyl alcohol to investigate effect of branching structure and length of alkyl ester on a few physical properties of PEM [glass transition temperature (T_g), degree of crystallinity in polyethylene region (X_c) and dielectric molecular motion], where the alkyl groups used here are n-propyl, n-butyl, n-hexyl, n-decyl, 2-ethylhexyl, 3,5,5-trimethylhexyl and 2-(1,3,3-trimethylbutyl)-5,7,7-trimethyloctyl. In the n-alkyl methacrylate copolymers, T_g and X_c were almost unchanged with the presence of alkyl ester, but T_g increased and X_c decreased in the highly branched alkyl methacrylate copolymers even at the low methacrylate content of 5.4 mol%.     

Molding technology for improvement on dimensional accuracy in micro metal injection molding

This study aims to develop processing techniques to improve dimensional accuracy of fine metal parts produced by metal injection molding. Micro dumbbell specimens were molded by the micro injection molding machine, which monitor the cavity pressure during injection molding. Among various injection molding conditions, the influences of injection volume on the cavity pressure, and dimension of both green compacts and sintered parts were investigated. For dimension control, the importance of monitoring cavity pressure at each shot was verified.