Inchworm robot grippers for clothes manipulation

Manipulating deformable objects like clothes, plastic, and paper by a robot is very challenging. This paper focuses on clothes manipulation as an example. A tracing manipulation method is used here to find a corner of the clothes. In this paper, tracing refers to tracing the clothes’ edge, with the robot’s movement based on feedback from sensors. One difficulty during this edge tracing is to make the robot trace smoothly and speedily without dropping the clothes in the process. This is due to the fact that deformable objects are sensitive to contact forces. A solution to this problem is to design a special robot gripper that can trace the clothes without having to worry about the clothes slipping away. In this paper, the development of inchworm-type grippers is proposed. Two sets of grippers inside a robot hand will allow the robot to trace the clothes more freely because there will always be a gripper firmly holding the clothes at any time. A unique tracing method for towel spreading using the inchworm grippers is also discussed. Experimental results have demonstrated the effectiveness of both the proposed grippers and also the algorithm. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

A genetic approach to the design of autonomous agents for futures trading

We propose a genetic algorithm-based method for designing an autonomous trader agent. The task of the proposed method is to find an optimal set of fuzzy if–then rules that best represents the behavior of a target trader agent. A highly profitable trader agent is used as the target in the proposed genetic algorithm. A trading history for the target agent is obtained from a series of futures trading. The antecedent part of fuzzy if–then rules considers time-series data of spot prices, while the consequent part indicates the order of trade (Buy, Sell, or No action) with its degree of certainty. The proposed method determines the antecedent part of fuzzy if–then rules. The consequent part of fuzzy if–then rules is automatically determined from the trading history of the target trader agent. The autonomous trader agent designed by the proposed genetic algorithm consists of a fixed number of fuzzy if–then rules. The decision of the autonomous trader agent is made by fuzzy inference from the time-series data of spot prices. This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January 23–25, 2006     

Colorimetric microdetermination of sulphites in foods by use of the modified rankine apparatus. IV.

Summary Detection and determination of traces of sulphites in foods was attempted by use of the modified Rankine apparatus and pararosaniline colorimetry. Replacement of alkaline titration reported previously by pararosaniline colorimetry lowered the absolute detection limit from 30 g (titration method) to 2 g. In view of clean analysis, in the color developing system, 0.1 N-sodium hydroxide was used in place of mercuric chloride solution commonly used as an absorbant of sulphites. In order to prevent oxidative decomposition of sulphites during operation, nitrogen gas was used as carrier instead of air. Dimedone and sodium azide were used for the elimination of aldehydes and nitrites, respecitvely, in the sample, which will disturb the color development of sulphites with pararosaniline-formaldehyde reagents. With this improved method, it was possible to determine the residual sulphites in frozen peeled shrimps, sugared beans and other foods with low sulphite contents accurately.

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Colorimetrische Mikrobestimmung von Sulfiten in Lebensmitteln bei Anwendung der modifizierten IV. Rankine Apparatur

Zusammenfassung Geringe Sulfitmengen in Lebensmitteln (geschälte Garnelen, gezuckerte Bohnen) können colorimetrisch bestimmt werden. Die neuentwickelte Methode beruht auf einer Kombination von colorimetrischer Bestimmung mittels p-Rosanilin und der Bestimmungsmethode nach Rankine. Auf diese Weise lassen sich Gehalte von 2 g noch genau bestimmen. Bei der Farbentwicklung wurde das giftige Quecksilbertetrachlorid durch 0.1 n-NaOH ersetzt, anstelle von Luft Stickstoff als Trägergas verwendet und somit eine Oxydation des Sulfits während der Bestimmung vermieden. Da Nitrit und Aldehyde die Farbentwicklung stören, wurde ihr Einfluß durch Dimedon und Natriumazid ausgeschaltet.

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Studies on the Analyses of Sulphites in Foods (IV)     

Tricuspid annuloplasty with Carpentier''s prosthetic ring in tricuspid insufficiency combined with mitral valve insufficiency

A case of bilateral hypernephroma treated by right heminephrectomy in situ and "benchwork" excision of two tumors from the left kidney followed by autotransplantation is presented. Follow-up examination has demonstrated good renal function with no evidence of tumor recurrence or metastasis. This case illustrates the feasibility of benchwork operation and its application to renal tumors, particularly when these tumors are bilateral and preservation of renal tissue is imperative. Long-term follow-up of patients managed by this technique is mandatory.     

Design and fabrication of a length-extensional mode rectangular X-cut quartz resonator with zero temperature coefficient.

Rectangular X-cut quartz crystal resonators with cut angles theta > 5.0 degrees and aspect ratios Rzy (= width 2z0/length 2y0) from 0.3 to 0.5 are investigated. The resonators oscillate mode is a length-extensional mode. A semiempirical frequency equation was derived from the stress expressed in terms of the trigonometric and the hyperbolic transcendental functions with constants estimated by the regression curve fit to the stress simulated by the finite-element method (FEM). Contours on which a point satisfies a zero first order temperature coefficient condition are shown in a cut angle theta and Rzy diagram. We proved that a fabricated resonator with Rzy = 0.400 and theta = 16.0 degrees, whose design parameter is located in the area of the contour, had a zero temperature coefficient.     

Plan for first phase of safety demonstration tests of the High Temperature Engineering Test Reactor (HTTR)

Safety demonstration tests using the High Temperature Engineering Test Reactor (HTTR) will be conducted for the purpose of demonstrating inherent safety features of High Temperature Gas-cooled Reactors (HTGRs) as well as providing the core and plant transient data for validation of HTGR safety analysis codes. The first phase safety demonstration test items include the reactivity insertion test and the coolant flow reduction test. In the reactivity insertion test, which is the control rod withdrawal test, one pair out of 16 pairs of control rods is withdrawn, simulating a reactivity insertion event. The coolant flow reduction test consists of the partial loss of coolant flow test and the gas circulators trip test. In the partial loss of coolant flow test, primary coolant flow rate is slightly reduced by control system. In the gas circulators trip test one and two out of three gas circulators are run down, simulating coolant flow reduction events. The gas circulators trip tests, in which position of control rods are kept unchanged, are simulation tests of anticipated transients without scram (ATWS).     

Converter configurations and switching frequency for a GTO reactivepower compensator

This paper compares two converter configurations for a multi-10 MVA gate-turn-off (GTO) reactive power compensator (STATCOM) from the viewpoints of converter connection and switching frequency. One is a single-bridge system consisting of a three-phase bridge converter unit and a transformer. Its pulsewidth modulation (PWM) frequency varies from 450 to 1800 Hz, and its line frequency is 50 Hz. The other is a multiconnected converter system consisting of plural, single-, or three-phase converter units and transformers. Its switching frequencies are chosen to be the lowest possible. The evaluated items are harmonic distortion, power loss, GTO utilization factor, and control response. Our simulation study shows that the multiconnected converter system with the lowest switching frequency is superior to the single-bridge system with the higher switching frequency in every case, even when there are severe line faults requiring very quick response. A new control strategy is adopted for obtaining quick response     

Structural approach to nanoscience: a case study of complex and cluster formation in ZnBr2–ZnCl2 melts

Although the melt structure of glass-forming ZnCl₂ has so far been well studied, there exists quite little information on the structural change due to anion-substitution. In the present work, the short-range structure of ZnCl₂–ZnBr₂ mixture melts was analyzed systematically by time-of-flight pulsed neutron diffraction techniques, Raman spectroscopy, molecular orbital calculations, and molecular dynamics simulations. According to radial distribution analysis, it was found that there were tetrahedral structural units of ligand-substituted [ZnCl_nBr_4−n]²⁻ (n=0–4) in these melts, not implying the simple mixing of [ZnCl₄]²⁻ and [ZnBr₄]²⁻ units. Further detailed estimation indicated that the ligand-substituted complex anions were linked with each other by sharing a common anion.     

Identification of charge‐transfer transition between Gd3+ to O2− in gadolinium‐containing oxide phosphors in VUV region

Abstract— The broad bands at around 155 nm for GdAl₃(BO₃)₄:Eu, at 184 nm for Ca₄GdO(BO₃)₃:Eu, at 183 nm for Gd₂SiO₅:Eu, and at 170 nm for GdAlO₃:Eu were observed. These bands were assigned to the charge‐transfer (CT) transition of Gd³⁺‐O^2?. In the excitation spectrum of (Gd,Y)BO₃:Eu, a broadened excitation band was observed in VUV region. It could be considered that this band was composed of two bands at about 160 and 166 nm. The preceding band was assigned to the BO₃ group absorption. The later one at about 166 nm could be assigned to the CT transition of Gd³⁺‐O^2?, according to the result of GdAl₃(BO₃)₄:Eu, Ca₄GdO(BO₃)₃:Eu, Gd₂SiO₅:Eu, and GdAlO₃:Eu. The excitation spectra overlapped between the CT transition of Gd³⁺‐O^2? and BO₃ groups absorption. It caused the emission of Eu³⁺ to take place effectively in the trivalent europium‐doped (Gd,Y)BO₃ host lattice under 147‐nm excitation.