Development of a pulse control-type MEMS microrobot with a hardware neural network

This article presents the micro-electro-mechanical systems (MEMS) microrobot which demonstrates locomotion controlled by hardware neural networks (HNN). The size of the microrobot fabricated by the MEMS technology is 4 × 4 × 3.5 mm. The frame of the robot is made of silicon wafer, and it is equipped with a rotary-type actuator, a link mechanism, and six legs. The rotary-type actuator generates rotational movement by applying an electrical current to artificial muscle wires. The locomotion of the microrobot is obtained by the rotation of the rotary-type actuator. As in a living organism, the HNN realized robot control without using any software programs, A/D converters, or additional driving circuits. A central pattern generator (CPG) model was implemented as an HNN system to emulate the locomotion pattern. The MEMS microrobot emulated the locomotion method and the neural networks of an insect with the rotary-type actuator, the link mechanism, and the HNN. The microrobot performed forward and backward locomotion, and also changed direction by inputting an external trigger pulse. The locomotion speed was 0.325 mm/s and the step width was 1.3 mm.     

Spin Injection Processes in ZnSe-Based Double Quantum Dots of Diluted Magnetic Semiconductors

Spin injection processes in the double quantum dots of ZnSe-based diluted magnetic semiconductors are discussed. Double quantum dots are fabricated from ZnSe-based double quantum wells by electron beam lithography and wet etching. In these samples, the photo-excited carriers in the magnetic dots are injected into the non-magnetic dots. The circular polarization degrees of photoluminescence from the non-magnetic dots are measured by micro-photoluminescence measurement system under the magnetic field up to 5 T. The maximum spin polarization degrees of injected carriers determined from our experiment are 10% for double quantum wells and 15% for double quantum dots. The spin injection efficiency was estimated both from the observed circular polarization degree and the diffusion length of carriers. We concluded that the spin injection efficiency is increased in the double quantum dots.     

Stress distribution of coated film with a range of coated film thickness and elastic properties under a single EHL operating condition

In recent years, the techniques improving sliding performances have progressed by using coated films possessing superior tribological properties, to reduce the failures of the mechanical elements. Those techniques are often used under severe conditions such as elastohydrodynamic lubrication (EHL). In this paper, numerical three-dimensional analysis of the maximum shear stress applied into the coated film and substrate under a single EHL operating condition was performed with a range of coated film thickness and elastic properties. The strength of coated film as one of those techniques was evaluated numerically, resulting in an optimum design of coated film. As a result, coated films with a larger value of thickness and a smaller modulus of elasticity than that of substrate are preferable.     

Increased Synovial CD14 mRNA Expression and Proportion of CD14high Subsets in Early-Stage Hip Osteoarthritis: Propensity Matched Score Analysis

The pathophysiology of early-stage hip osteoarthritis (EOA) is not fully understood. Although a previous study in an age-unmatched cohort reported that the number of macrophages was increased in knee EOA compared to late OA (LOA), it remained unclear whether increased macrophages in EOA accurately reflect EOA pathology. We investigated the differences in CD14 expression levels between EOA and LOA using age-unmatched and -matched cohorts. Synovial tissues were obtained from 34 EOA (Tönnis grades 0 and 1) and 80 LOA (Tönnis grades 2 and 3) patients. To correct for differences in demographics between patients with LOA and EOA, we also created propensity score-matched cohorts (16 EOA and 16 LOA). CD14 expression and its association with pain was estimated in LOA and EOA before and after propensity matching. We performed flow cytometry on tissues from the 16 patients, with 8 from each group, to assess for CD14+ subsets in the cells. The CD14 expression in EOA was higher than that in LOA both before and after propensity matching. The proportion of CD14^high subsets in EOA was higher than that in LOA. The CD14 expression was associated with pain in EOA before matching. However, no difference was observed between the pain and CD14 expression after matching in EOA. The increased CD14 expression and the proportion of CD14^high subsets may be important features associated with hip EOA pathology. To accurately compare early and late OA, the analysis of a propensity score-matched cohort is necessary.     

Incremental Focus of Attention for Robust Vision-Based Tracking

We present the Incremental Focus of Attention (IFA) architecture for robust, adaptive, real-time motion tracking. IFA systems combine several visual search and vision-based tracking algorithms into a layered hierarchy. The architecture controls the transitions between layers and executes algorithms appropriate to the visual environment at hand: When conditions are good, tracking is accurate and precise; as conditions deteriorate, more robust, yet less accurate algorithms take over; when tracking is lost altogether, layers cooperate to perform a rapid search for the target and continue tracking.Implemented IFA systems are extremely robust to most common types of temporary visual disturbances. They resist minor visual perturbances and recover quickly after full occlusions, illumination changes, major distractions, and target disappearances. Analysis of the algorithm's recovery times are supported by simulation results and experiments on real data. In particular, examples show that recovery times after lost tracking depend primarily on the number of objects visually similar to the target in the field of view.     

Identification of Multiple Domains of Entamoeba histolytica Intermediate Subunit Lectin-1 with Hemolytic and Cytotoxic Activities

Galactose and N-acetyl-D-galactosamine-inhibitable lectin of Entamoeba histolytica have roles in the pathogenicity of intestinal amoebiasis. Igl1, the intermediate subunit lectin-1 of E. histolytica, has been shown to have both hemolytic and cytotoxic activities that reside in the C-terminus of the protein. To identify the amino acid regions responsible for these activities, recombinant proteins were prepared and used in hemolytic and cytotoxic assays. The results revealed that Igl1 has multiple domains with hemolytic and cytotoxic activities and that amino acids 787-846, 968-1028 and 1029-1088 are involved in these activities. The hemolytic activities of the fragments were partly inhibited by mannose, galactose and N-acetylgalactosamine, and glucose showed lower or negligible inhibitory effects for the activities. This is the first report of a protozoan protein with hemolytic and cytotoxic activities in multiple domains.     

Characteristics of the Arc Voltage of a High‐Current Air Arc in a Sealed Chamber

The effect of the arc voltage on various factors of design and control was investigated for high currents in order to develop design guidelines for circuit breakers. In this study, the dependence on such factors, namely, the current, arc length, electrode surface area, and internal pressure of the arc voltage, was evaluated quantitatively. As a result of the evaluations, it was estimated that the arc voltage near the electrode surface rises linearly with the arc current and the power ?0.8 of the surface area, and that the voltage in the arc column rises as the 0.3 power of the pressure increase. We confirmed the validity of the estimated voltage characteristics by comparison with the generated voltage in an actual arc‐extinction chamber. The characteristics of the estimated voltage can provide effective guidelines for the design of arc extinguishing chambers. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(1): 34–42, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22487