Wideband Force Control by Position-Acceleration Integrated Disturbance Observer

Motion control is widely used in industry applications. One of its key components is the disturbance observer, which estimates a disturbance torque of a motion system and realizes a robust acceleration control. A disturbance observer observes and suppresses the disturbance torque within its bandwidth. Motion systems have started to spread in society and they are required to have the ability to interact with unknown environments. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration information by the second-order derivative of a position response, the bandwidth is limited due to the derivative noise. To enlarge the bandwidth of a disturbance observer, this paper proposes a position-acceleration integrated disturbance observer (PAIDO). Since an acceleration sensor is implemented in it, the control performance of the PAIDO is superior to the conventional one. In this paper, the PAIDO is applied to force control and the viability of the proposed method is confirmed by fast Fourier transformation analyses. The experimental results show the viability of the proposed method.     

Application of Rainbow Schlieren Deflectometry for Axisymmetric Supersonic Jets （Comparison of Experiments with Numerical Analysis）

This paper analyzes the correctly-expanded supersonic jet from a convergent-divergent
axisymmetric nozzle by using numerical simulation of turbulent flow.And the calculated density
distributions in this flow are compared with the present experimental data using rainbow schlieren
deflectometry.The value of the density from the experimental data agrees well with the results
calculated by this simulation.Therefore,the present method of the measurement using rainbow
schlieren deflectometry is useful for the measurement of the density of the correctly-expanded
supersonic jet.     

User requirements and standards for PACS. 2nd Japan-Nordic PACS Symposium.

PACS has been regarded as a system which will bring a new era to image handling, radiology departments and its services to other departments of the hospital. However, many recently held international conferences indicate that a worldwide consensus on 'what is PACS, why is PACS needed and who is PACS for' has not been established. Although the actual PACS implementation will vary among the countries and according to each situation, a worldwide consensus of PACS should be possible. This would help those involved to speed up the implementation of PACS. It is suggested that this consensus needs to be developed by convergence of three points of view; the availability, maturity and cost of the technologies on which PACS is built, the user requirements for PACS and standardization in PACS. These themes were the topics of the 2nd Japan-Nordic PACS Symposium which was arranged in Tampere, Finland, June 9-11th 1991. A summary of the papers and discussions of the symposium is produced in this paper.     

Telephone line transfer using a local filing system in Hokkaido.

An image-data transfer system using a public telephone line has been constructed between Hokkaido University Hospital (HUH) and Nakashibetsu Town Hospital (NTH). The latter is situated about 420 km from Sapporo and does not have full-time radiologists. A local filing system coupled with a film reader and an optical disk had been installed in HUH in 1986, and in NTH in 1988. Both systems were connected by a public telephone line along which the transfer speed is 9600 bps. Images originating at NTH, mostly CT, were digitized by the film reader and sent to HUH after compression at a ratio of about 5:1 to 10:1. Clinical information concerning a patient was also sent to HUH using facsimile. Radiologists interpreted the transferred data (12 CT images on a film) on the CRT and sent back a written report to NTH using facsimile. The system and its image quality are largely acceptable, especially in an emergency case for brain and abdomen, although the transfer of a film takes about 7 to 20 min.     

Evaluation of phenylmethanesulfonyl fluoride (PMSF) as a tracer candidate mapping acetylcholinesterase in vivo

The availability of phenylmethanesulfonyl fluoride (PMSF), an irreversible cholinesterase inhibitor, for a tracer mapping acetylcholinesterase (AchE) in vivo in brain and other organs was evaluated using [35S]PMSF in mice and rats. [35S]PMSF was well taken up into the brain, heart and muscle, and the radioactivities were trapped in these organs. Pretreatment with non-labeled PMSF decreased 33-40% of the trapped radioactivities in the brain and other organs in mice. However, regional distribution of [35S]PMSF in rat brain did not correlate well with that of AchE activity, suggesting that the selectivity of PMSF toward AchE may be insufficient for use as an in vivo tracer mapping AchE.     

Tangent height registration method for the Version 1.4 data retrieval algorithm of the solar occultation sensor ILAS-II

The Improved Limb Atmospheric Spectrometer-II (ILAS-II) is a satellite-borne solar occultation sensor onboard the Advanced Earth Observing Satellite-II (ADEOS-II). The ILAS-II succeeded the ILAS. The ILAS-II used four grating spectrometers to observe vertical profiles of gas volume mixing ratios of trace constituents and was also equipped with a Sun-edge sensor to determine tangent heights geometrically with high precision. The accuracy of gas volume mixing ratios depends on the accuracy of the tangent height determination. The combination method is a tangent height registration method that was developed to give appropriate tangent heights for the ILAS-II Version 1.4 data retrieval algorithm. This study describes the method used in the ILAS-II Version 1.4 retrieval algorithm to register tangent heights. The root-sum-square total random error is estimated to be 30 m, and the total systematic error is 180 m at an altitude of 30 km. The influence of the tangent height errors on the vertical profiles of gas volume mixing ratios in ILAS-II Version 1.4 is estimated by using the relative difference. The relative difference for each species is within 7% (20%) for an altitude shift of +/-100 m(+/-300 m).     

Histological assessments for toxicity and functionalization-dependent biodistribution of carbon nanohorns

Single-walled carbon nanohorns (SWNHs) intravenously administered to mice did not show severe toxicity during a 26-week test period, which was confirmed by normal gross appearance, normal weight gain and the lack of abnormality in the tissues on histological observations of the mice. SWNH biodistribution was influenced by chemical functionalization. Accumulation of SWNH in the lungs reduced as SWNH hydrophilicity increased; however, the most hydrophilic SWNHs modified with bovine serum albumin (BSA) were most likely to be trapped in the lungs, suggesting that the BSA moiety enhanced macrophage phagocytosis in the lungs. Clearance of some of the hydrophobic SWNHs from the lungs was observed, the mechanism of which is briefly discussed.     

Differential scanning calorimetry of porcine adipose tissues

Differential scanning calorimetry (DSC) was used for the direct analysis of melting properties in porcine subcutaneous, intermuscular, and kidney leaf adipose tissue by heating at a constant ratio of +5 °C/min from 4 to 90 °C. Melting curves for adipose tissues as well as fat extracted from the associated tissues by chloroform–methanol were generated using DSC. Major peaks in DSC curves were similar among types of adipose tissue but the temperatures of the melting peak and conclusion point differed among types of adipose tissues. From the visual appearance of fat samples it appeared that the major DSC peak corresponded to phase transition of the fat. The direct DSC analysis of porcine adipose tissues may be useful to determine melting properties.