An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft

This paper deals with a motion control system for a space robot with a manipulator. Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system. In order to measure them, a visual sensor using a camera is frequently used. However, there are two difficulties in measuring them by means of a camera. The first one is that a camera is mounted on the robot body, and hence it is difficult to directly measure the position of the robot body by means of it. The second one is that the sampling period of a vision system with a general-purpose camera is much longer than that of a general servo system. In this paper, we develop an adaptive state observer that overcomes the two difficulties. In order to investigate its performance, we design a motion control system that is constructed by combining the observer with a PD control input, and then conduct numerical simulations for the control system. Simulation results demonstrate the effectiveness of the proposed observer.     

Defect distribution near abraded surface of III–V compound semiconductors

Microstructures of damaged layers near the abraded surface of GaP, GaAs_0.6P_0.4 and GaAs single crystals have been observed with a transmission electron microscope. The damage due to 0.3 m Al₂O₃ abrasion consists of dislocations. Dislocation densities in the abrasion band and other regions are larger than 5×10¹¹ cm^–2 and about 10¹¹ cm^–2, respectively. Dislocation density decreases with increasing distance (depth) from the abraded surface. The depths of the damage layers for GaP, GaAs_0.6P_0.4 and GaAs are about 0.4, 0.55, and 0.8 m, respectively. The Burgers vector of dislocations is a/2[1 1 0], and A and B dislocations are observed. During annealing, the dislocations are rearranged and eliminated by the reaction of the dislocations with different Burgers vectors and climbing motion. The rearrangement temperatures for dislocations in GaP and GaAs are about 500 and 450° C, respectively. Electrical resistance changes in the damaged layer of GaP are recognized by electrical resistance measurements.     

Dielectric Dispersion of Polycrystalline Aluminum Nitride at Microwave Frequencies

Complex permittivity of polycrystalline AlN was measured over the frequency range 100 MHz to 13 GHz using reflection coefficient and cavity resonator methods. Dielectric relaxation peaks of loss tangent were observed in the frequency range 200 MHz to 3 GHz. The maximum value of loss tangent was ∼200 × 10⁻⁴. Relative permittivities decreased by ∼4% with increased frequency at the region of relaxation peaks. It was shown that these dispersion frequencies were inversely proportional to the grain sizes of AlN and independent of purities and processes. Model calculations for elastic vibration of a single-crystal grain of AlN were performed to investigate the origin of the dielectric dispersion due to piezoelectric effect. The calculated results of elastic sphere and 14-faced-polyhedron models showed a good quantitative agreement with the observed dispersion frequencies, which suggested that the dispersion was due to a piezoelectric vibration of a single grain of AlN ceramics at microwave frequencies.     

Strength Analysis of Yttria-Stabilized Tetragonal Zirconia Polycrystals

Tensile strength of Y₂O₃-stabilized ZrO₂ polycrystals (Y-TZP) was measured by a newly developed tensile testing method with a rectangular bar. The tensile strength of Y-TZP was lower than that of the three-point bend strength, and the shape of the tensile strength distribution was quite different from that of the three-point bend strength distribution. It was difficult to predict the distribution curve of the tensile strength using the data of the three-point bend strength by one-modal Weibull distribution. The distribution of the tensile strength was analyzed by two- or three-model Weibull distribution coupled with an analysis of fracture origins. The distribution curve of the three-point bend strength which was estimated by multimodal Weibull distribution agreed favorably with that of the measured three-point bend strength values. A two-modal Weibull distribution function was formulated approximately from the distributions of the tensile and three-point bend strengths, and the estimated two-modal Weibull distribution function for the four-point bend strength agreed well with the measured four-point bend strength.     

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)     

Hot-water treatment of sol–gel derived SiO2–TiO2 microparticles and application to electrophoretic deposition for thick films

SiO₂–TiO₂ spherical microparticles of about 0.7 μm in diameter were prepared by the sol–gel method. Anatase nanocrystals were formed in the microparticles and their specific surface area was increased after a hot-water treatment at 90 °C. From the changes in the concentration of I₂ photocatalytically generated from KI aqueous solution, the activity of the SiO₂–TiO₂ microparticles was found to increase with increasing the hot-water treatment time. Particulate, thick films were electrophoretically deposited on indium tin oxide (ITO)-coated glass substrates using the anatase nanocrystal-precipitated SiO₂–TiO₂ microparticles. The thickness of the electrophoretically deposited particulate film increased to be approximately 10 μm with an increase in applied voltage. The resultant thick film showed a high photocatalytic activity.     

Experimental study of perforation and cracking of water-filled aluminum tubes impacted by steel spheres

Water-filled aluminum tubes were subjected to impact by six steel spherical projectiles of different diameters at impact velocities of 40–200 m/s. The effects of the diameter of the steel projectiles and of the material properties of the tubes on cracking and perforation were discussed. Water decreased the wall strength of the aluminum alloy tubes, and the impact velocity at which a steel projectile first passes through the tube wall decreased with increasing diameter of the steel projectile. Using the velocity at which the steel projectile perforates the tube wall, empirical equations of the energies required to perforate the tube wall were derived. Also, the energy balance in the steel projectile during a collision is discussed referring to the pressure history in the filled water and the velocities of the steel projectile before and after collision.     

Growth and structure of heteroepitaxial thin films of homologous compounds RAO3(MO)m by reactive solid-phase epitaxy: Applicability to a variety of materials and epitaxial template layers

A reactive solid-phase epitaxy (R-SPE) method combines deposition of a thick amorphous or polycrystalline layer with a desired chemical composition and post-deposition solid-phase epitaxial growth. The solid-phase epitaxial growth is invoked by thermal annealing with an assistance of a sacrificial layer working as an epitaxial template. Thereby it enables us to grow high-quality epitaxial films of complex oxides whose epitaxial films are not grown by conventional high-temperature growth techniques. It was reported that 2-nm-thick ZnO layers worked as template for growing InGaO₃(ZnO)_m (m = integer) epitaxial films. The present study extended the R-SPE technique to growth of various complex oxides with chemical compositions of RAO₃(MO)_m and to use of various epitaxial template layers. We found that mono oxide epitaxial layers such as In₂O₃ and Ga₂O₃ work as template layers as well. Alternatively, a ZnO epitaxial layer is also applicable to ZnO-free compounds. The films obtained were grown heteroepitaxially on YSZ(111) and single-crystalline when the fabrication conditions are optimized.     

Satellite-Based Energy Balance to Assess Within-Population Variance of Crop Coefficient Curves

Quantifying evapotranspiration (ET) from agricultural fields is important for field water management, water resources planning, and water regulation. Traditionally, ET from agricultural fields has been estimated by multiplying the weather-based reference ET by crop coefficients (Kc) determined according to the crop type and the crop growth stage. Recent development of satellite remote sensing ET models has enabled us to estimate ET and Kc for large populations of fields. This study evaluated the distribution of Kc over space and time for a large number of individual fields by crop type using ET maps created by a satellite based energy balance (EB) model. Variation of Kc curves was found to be substantially larger than that for the normalized difference vegetation index because of the impacts of random wetting events on Kc, especially during initial and development growth stages. Two traditional Kc curves that are widely used in Idaho for crop management and water rights regulation were compared against the satellite-derived Kc curves. Simple adjustment of the traditional Kc curves by shifting dates for emergence, effective full cover, and termination enabled the traditional curves to better fit Kc curves as determined by the EB model. Applicability of the presented techniques in humid regions having higher chances of cloudy dates was discussed.     

Microgravity performance of micro pulsating heat pipes

A micro pulsating heat pipe made of a thin clear Teflon tube of 1.6 mm ID was used to observe the pulsating flow inside a heat pipe under different gravity levels using parabolic flights. More vigorous pulsating flow was observed under microgravity, compared to the depressed movements under hypergravity. Two metallic micro pulsating heat pipes made of an aluminum plate with small internal channels were also tested to investigate the effect of gravity on their heat transfer characteristics. Reduced gravity experiments were performed aboard Falcon 20 aircraft flying parabolic trajectories. Under normal and hypergravity conditions, both the orientation of the pulsating heat pipe and locations of the heated and cooled sections affected the heat transfer performance. Under reduced gravity, however, the heat pipes showed better operating and heat transfer performance than that under normal and hypergravity. These experiments have for the first time confirmed that pulsating heat pipes are capable of operating under reduced gravity and thus are suitable for deployment in space applications such as satellites.