Motion control of underactuated linkage robot based on gymnastic skill

In this paper, a reproduction of a swing‐up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an equivalent center of mass (ECM) of underactuated robots and the gymnast. At first, the behaviors of the ECM of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing‐up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the ECM of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing‐up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations.     

Magnetic field analysis of a 70‐MW‐class superconducting generator by the 3D finite element method

The three‐dimensional magnetic field and eddy current distribution of the 70‐MW‐class superconducting generator was calculated by a finite element method. The condition for the exciting armature coil was calculated by the jω‐method. In the magnetic flux distribution of the armature winding bore, the value obtained by analysis had good agreement with the measurement. An analysis that let the rotor move by the synchronizing speed was also done. The armature voltage for the nonload condition and the armature current for the three‐phase short‐circuit condition obtained by calculations had good agreement with the measurements. The validity of the analytical model for three‐dimensional magnetic field analysis of superconducting generators was confirmed from these results. In addition, the synchronous reactances were calculated using these results with eddy current in the facing. It was found that the facing had the effect of decreasing synchronous reactance by about 5%. © 2000 Scripta Technica, Electr Eng Jpn, 134(2): 53–60, 2001     

Development of µGC (micro gas chromatography) with high performance micromachined chip column

A micro gas chromatography (µGC) instrument applying a high performance chip column fabricated on a silicon wafer was developed. Experimental results of the chip column and protyping of a µGC instrument are described. Approximately 35 000 theoretical plates were generated with the chip column coated liquid phase (5% phenyl-/95% dimethyl-polysiloxane). The theoretical plates of the chip column were close to those of the capillary column. Experimental minimum height equivalent to a theoretical plate (HETP, H_min) of the chip column was 1.2 times higher than the calculated H_min. A prototype µGC applying the chip column was developed. The µGC generated approximately 35 000 theoretical plates, similar to the theoretical plates obtained by a commercial GC instrument. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Consideration of multi‐coil type magnetization system for magnetic particle testing of omnidirectional crack in all surfaces of 3D shape test object

Mechanical parts, plants, and cross‐linkages inspected with magnetic‐particle testing (MT) are typically complex 3D shapes. In complex 3D shape portions, because a magnetizer often cannot be configured to inspection portions and the test object cannot be appropriately magnetized, there is a possibility of overlooking a crack in such an instance. Thus, MT system development that was successfully able to detect omnidirectional cracks in 3D shape portions was considered in this study's trials. Two multi‐coil type magnetizers were hence arranged face‐to‐face, and the magnetization of omnidirectional scenarios for all surfaces of 3D shape test object was evaluated.     

Determination of traction-separation laws on an acrylic adhesive under shear and tensile loading

Structural acrylic adhesives are of special interest because those adhesives are cured at room temperature and can be bonded to oily substrates. To use those adhesives widely for structural bonding, it is necessary to clarify the methodology for predicting strengths of bonding structures with those adhesives. Recently, cohesive zone models (CZMs) have been receiving intensive attentions for simulation of fracture strengths of adhesive joints, especially when bonded with ductile adhesives. The traction-separation laws under mode I and mode II loadings require to estimate fracture toughness of adhesively bonded joints. In this paper, the traction-separation laws of an acrylic adhesive in mode I and mode II were directly obtained from experiments using Arcan type adhesively bonded specimens. The traction-separation laws were determined by simultaneously recording the J-integral and the opening displacements in the directions normal and tangential to the adhesive layer, respectively.     

The Role of microRNAs in Cholangiocarcinoma

Cholangiocarcinoma (CCA), an aggressive malignancy, is typically diagnosed at an advanced stage. It is associated with dismal 5-year postoperative survival rates, generating an urgent need for prognostic and diagnostic biomarkers. MicroRNAs (miRNAs) are a class of non-coding RNAs that are associated with cancer regulation, including modulation of cell cycle progression, apoptosis, metastasis, angiogenesis, autophagy, therapy resistance, and epithelial–mesenchymal transition. Several miRNAs have been found to be dysregulated in CCA and are associated with CCA-related risk factors. Accumulating studies have indicated that the expression of altered miRNAs could act as oncogenic or suppressor miRNAs in the development and progression of CCA and contribute to clinical diagnosis and prognosis prediction as potential biomarkers. Furthermore, miRNAs and their target genes also contribute to targeted therapy development and aid in the determination of drug resistance mechanisms. This review aims to summarize the roles of miRNAs in the pathogenesis of CCA, their potential use as biomarkers of diagnosis and prognosis, and their utilization as novel therapeutic targets in CCA.     

New approach for synthesis of activated carbon from bamboo

Unconventional pretreatment, that is, delignification and the addition of guanidine phosphate, was performed for the synthesis of activated carbon having a high specific surface area from bamboo by physical activation. The values of the specific surface area, total pore volume, and average pore size depended on the amount of added guanidine phosphate and the CO₂ activation time. The amount of the added guanidine phosphate under the optimum conditions for the highest specific surface area was much lower than that of the phosphorous acid chemical activator under conventional conditions. The N₂ adsorption isotherms of all the samples were type I, which means that micropores were dominant. The pore sizes of the samples in this study were similar to that of the physically-activated carbon. Therefore, the activation process was presumed to be essentially not chemical, but physical. The relation between the yield and the specific surface area improved with the addition of guanidine phosphate. The reason for the improvement may be the change in the reactivity of the carbon material generated during the heating process. The maximum specific surface area was ca. 2000 m² g^?1, which is a high value for a physically-activated carbon.     

Osteogenic activity of human periosteal sheets cultured on salmon collagen-coated ePTFE meshes

Our animal implantation studies have demonstrated that, after osteogenic processing, cultured human periosteal sheets form osteoid tissue ectopically without the aid of conventional scaffolding materials. To improve the osteogenic activity of these periosteal sheets, we have tested the effects of including a scaffold made of salmon collagen-coated ePTFE mesh. Periosteal sheets were produced with minimal manipulation without enzymatic digestion. Outgrown cells penetrated into the coated mesh fiber networks to form complex multicellular layers and increased expression of alkaline phosphatase activity in response to the osteoinduction. In vitro mineralization was notably enhanced in the original tissue segment regions, but numerous micro-mineral deposits were also formed on the coated-fiber networks. When implanted subcutaneously into nude mice, periosteal sheets efficiently form osteoid around the mineral deposits. These findings suggest that the intricate three-dimensional mesh composed of collagen-coated fibers substantially augmented the osteogenic activity of human periosteal sheets both in vitro and in vivo.     

High-temperature pyrolysis of ceramic fibers derived from polycarbosilane–polymethylhydrosiloxane polymer blends with porous structures

The polymer blends of PCS (polycarbosilane) and PMHS-h (polymethylohydrosiloxane with high molecular weight) were prepared by freeze-drying process of mixed benzene solution. Melt viscosity, mass loss, and gas evolution from prepared polymer blends were analyzed. A polymer blend of HSah15 (15 mass% PMHS-h to PCS) was melt-spun to fiber form, curing by thermal oxidation and pyrolyzed at various temperatures up to 1773 K. The obtained fibers were investigated by tensile tests, FE-SEM (field emission scanning electron microscope) observation, and XRD (X-ray diffraction) analysis. After pyrolysis at 1273 K, there were no pores in the cross section of the fiber derived from pure PCS; however, there were amounts of pores in the cross sections of the fiber derived from HSah15. After pyrolysis at 1773 K, the coarse β-SiC (silicon carbide) crystals were formed on the outside surface of the fiber derived from pure PCS; however, no remarkable β-SiC crystal were formed on the outside surface of the fiber derived from HSah15.     

One-pot hydrothermal synthesis of uniformly cubic Co3O4 nanocrystals

Cubic Co₃O₄ nanocrystals (NCs) were synthesized by a one-pot hydrothermal reaction in the presence of the oxidant KClO₃ and the capping reagent polyvinylpyrrolidone (PVP). The as-prepared Co₃O₄ NCs were uniformly cubic with sharp edges and good crystallinity and showed flat surfaces with {100} facets. The capped PVP could be removed without losing cubic shape by heating the NCs at 300 °C.