Force estimation via physical properties of air cushion for the control of a human-cooperative robot: basic experiments

For the control of a human-cooperative robot (HCR) using a soft material, we aim to verify, in this study, the usefulness of force estimation via physical properties of an air cushion. First, the physical model of the air cushion was represented by an air cylinder with a piston, which is subject to constraint by nonlinear elasticity. Second, the elastic properties of the air cushion were examined under the assumption that it can be formulated by a function of pneumatic pressure. The force applied to the air cushion was next estimated on the basis of the physical model, and the HCR was successfully controlled according to the estimated force.     

Thermal and optical properties of epoxy/zirconia hybrid materials synthesized via in situ polymerization

Epoxy/zirconia hybrid materials were synthesized from a bisphenol-A type epoxy resin, zirconium-tetra-n-propoxide and acetic acid via in situ polymerization. Acetic acid was used to control the hydrolysis and condensation reaction of the zirconium-tetra-n-propoxide. As a result, the zirconia produced by the in situ polymerization was uniformly dispersed into the epoxy matrix on a nano scale or less, and the hybrid materials exhibited an excellent optical transparency. With the increasing zirconia contents, the storage modulus in the rubbery region increased and the peak area of tanδ in the glass transition temperature region decreased. These results indicate that their heat resistance of the hybrid materials could be improved by hybridization with zirconia. Furthermore, the refractive indices of the hybrid materials were significantly improved with the increasing zirconia contents.     

Influence of the methyl group on the dielectric constant of boron carbon nitride films containing it

LSI interconnect insulators made using low dielectric constant (low-k) materials are required for high performance devices with a small RC delay. We investigated a boron carbon nitride film containing the methyl group (Me–BCN) using tris-di-methyl-amino-boron (TMAB: B[N(CH₃)₂]₃) gas as a low-k material. In addition, we studied the influence of the methyl group on the dielectric constant (k-value) and the properties of the Me–BCN films. It was found that the k-value of the Me–BCN films decreases with increasing number of C–H bonds due to the methyl group (CH₃). The number of O–H bonds due to water incorporation is suppressed by increasing the number of C–H bonds. Consequently, we suggested that a lower k-value can be realized by the suppression of water invasion by a hydrophobic surface due to methyl bonds. Thus, the control of the methyl group is important to achieve a low-k material using Me–BCN films.     

Water wettability/non-wettability of polymer materials by molecular orbital studies

The water wettability and non-wettability onto various kinds of polymers, which have so far been macroscopically described by the water contact angle, were investigated using the molecular orbital theory. An atomistic model consisting of an H₂O molecule and a selected polymer crystal surface was analyzed in the isolated and the physisorbed states. The degree of interaction between the water molecule and the polymer surface was evaluated by considering the change of Mulliken charge at the oxygen site in the water molecule, and also the work of adhesion during the physisorption process. Such energetic quantities for several polymers were compared with the macroscopic water wettability/non-wettability. We found fairly good agreement between these approaches for the highly non-wettability polymers.     

Characterization of polystyrene-binding peptides (PS-tags) for site-specific immobilization of proteins

In this study, we characterized polystyrene-binding peptides (PS-tags) that possess a specific binding affinity for hydrophilic polystyrene (phi-PS) plates. Both the FITC-labeled PS19-1 (RAFIASRRIKRP) and PS19-6 (RIIIRRIRR) peptides showed strong binding affinity for commercially available hydrophilic, but not hydrophobic, PS plates in the presence of the non-ionic surfactant Tween 20. The dissociation constants (K_d) of the PS19-1 and PS19-6 peptides for the hydrophilic PS-A plate were 169 and 86 nM, respectively, and the K_d of both peptides increased with the concentration of NaCl or urea. Based on adsorption yield and residual activity of glutathione S-transferase (GST) after fusion with the PS19-6 peptide or its variants, it was found that the basic amino acid in the PS-tags, i.e., Arg was essential for the strong binding affinity of PS-tags in both the peptide and peptide-fused protein forms The aliphatic amino acids in PS19-6 and PS19-6L, such as Ile or Leu, were also effective. Thus, a series of PS-tags that possess this unusual feature, especially the peptides PS19-6 (RIIIRRIRR) and PS19-6L (RLLLRRLRR), are potential candidate affinity peptide tags for site-specific immobilization of proteins onto hydrophilic PS plates, which show potential as solid supports for protein-based biochips.     

Design and evaluation of orifice arrangement for particle-excitation flow control valve

In this article, we report a new particle-excitation flow control valve. The purpose of this study is the development of a particle-excitation flow control valve that can precisely control pneumatic cylinders. We have reported this flow control valve principle. The valve, driven by a PZT vibrator, has a simple lightweight structure with large flow rate. We report the relationship between the orifice arrangement and flow rate characteristics of the valve. We have designed a new prototype for the purpose of high controllability. We have measured flow-rate characteristics and confirmed the conditions necessary for continuous adjustment of flow quantity. The control valve works successfully to realize a change in flow rate.     

Sintering Kinetics at Isothermal Shrinkage: Effect of Specific Surface Area on the Initial Sintering Stage of Fine Zirconia Powder

The isothermal shrinkage behaviors of fine zirconia powders (containing 2.8–2.9 mol% Y₂O₃) with specific surface areas of about 6 and 16 m²/g were investigated to clarify the effect of specific surface area on the initial sintering stage. The shrinkage of powder compact was measured under constant temperatures in the range of 1000°–1100°C. The increase in specific surface area enhanced the densification rate with increasing temperature. The values of activation energy ( Q ) and frequency-factor term (β₀) of diffusion at initial sintering were estimated by applying the sintering-rate equation to the isothermal shrinkage data. The Q of diffusion changes little but the β₀ increases with the increase in specific surface area. It is therefore concluded that the increase in the specific surface area of fine zirconia powder enhances the shrinkage rate because of an increase in the β₀ at the initial stage of sintering.     

Reduction of return current noise by energy‐compensating active control

A newly proposed energy‐compensating active control is implemented to reduce the return current noise which is caused by inverter‐driven electric car systems. The energy‐compensating active control detects the energy charged at the filter capacitor, and reduces the energy and current of the noise frequency component by simple feedback loop incorporated with the conventional motor torque controller. No additional sensors or circuit arrangements are necessary; therefore, the return current can be attenuated effectively without any further cost. The return current with an inverter system is measured using a current probe and an FFT analyzer, and it is shown that the 25‐Hz noise current is reduced by up to 10 dB with the control. The results reveal that the low‐frequency return current noise can be attenuated with the simple control scheme, which would expectedly reduce the size of filter reactors and capacitors to meet the current limit level of the signaling system's track relays. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 165(4): 84–91, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20615     

An experimental evaluation of spatial distribution for deeply penetrating protons in carbon material

The peak profile of the 4.8-MeV resonance by the ¹²C(p,p)¹²C reaction in backscattering geometry has been analyzed to examine two kinds of stragglings of proton, i.e. the depth straggling in the incoming path and the energy loss straggling in the outgoing path. The analysis, which is combined with existing theoretical treatments for the stopping process and the energy loss straggling, has made it possible to deduce the penetration depth and its spread at the resonance position in carbon materials. The present method, as a new tool for direct inspection of ion beams inside target material, is explained in detail.