Human-sized anthropomorphic robot hand with detachable mechanism at the wrist

In this paper, we proposed a human-sized multi-fingered robot hand with detachable mechanism at the wrist. The fingers are tendon-driven by wires and the actuators are embedded in the arm part. The driving forces from the arm part are transmitted to the hand part by a gear mechanism at the wrist. The gear mechanism makes the hand part and the arm part splittable. The detachable mechanism enables separate maintenance of the hand and arm parts. To avoid undesired joint mutual interferences due to the tendon-driven mechanism, a joint motion correction control is implemented in that counteracting motions are ordered to actuators. The correction coefficient can be calculated based on the mechanical configuration. The developed robot hand has the size of 200[mm](length) × 78[mm](width) × 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the developed robot hand was shown by a motion control experiment.     

Tunnelling through an embankment using all ground fasten method

The Tohoku Shinkansen Railway between Morioka and Hachinoe was opened on December 1, 2002. In this section, there are 20 tunnels. Second Itsukaichi tunnel is one of them, and it is a relatively short tunnel of 1175 m. At the Morioka portal, this tunnel crosses under National Highway No. 4 with a small depth of overburden 2–5 m where approximately 15,000 vehicles pass a day. The tunnel was excavated by NATM method. All Ground Fasten method was used as an auxiliary method. As a result, the face was prevented from collapsing and the tunnel was excavated while keeping the ground surface settlement to a minimum without interfering with road traffic.     

The effects of surfactant on the multiscale structure of bubbly flows

It is well known that a bubble in contaminated water rises much slower than one in purified water, and the rising velocity in a contaminated system can be less than half that in a purified system. This phenomenon is explained by the so-called Marangoni effect caused by surfactant adsorption on the bubble surface. In other words, while a bubble is rising, there exists a surface concentration distribution of surfactant along the bubble surface because the adsorbed surfactant is swept off from the front part and accumulates in the rear part by advection. Owing to this surfactant accumulation in the rear part, a variation of surface tension appears along the surface and this causes a tangential shear stress on the bubble surface. This shear stress results in the decrease in the rising velocity of the bubble in contaminated liquid. More interestingly, this Marangoni effect influences not only the bubble's rising velocity but also its lateral migration in the presence of mean shear. Together, these influences cause a drastic change of the whole bubbly flow structures. In this paper, we discuss some experimental results related to this drastic change in bubbly flow structure. We show that bubble clustering phenomena are observed in an upward bubbly channel flow under certain conditions of surfactant concentrations. This cluster disappears with an increase in the concentration. We explain this phenomenon by reference to the lift force acting on a bubble in aqueous surfactant solutions. It is shown that the shear-induced lift force acting on a contaminated bubble of 1mm size can be much smaller than that on a clean bubble.     

Improvement of molten core–concrete interaction model in debris spreading analysis module with consideration of concrete degradation by heat

Understanding the situation inside of the reactors at TEPCO's Fukushima Daiichi Nuclear Power Plant and planning of the methods for debris removal are important for decommissioning the reactors. A debris spreading analysis (DSA) module in the severe accident analysis code SAMPSON has been improved and verified to analyze composite phenomena of molten core (debris) spreading on a reactor containment floor and concrete erosion to the inside of the floor by molten core–concrete interaction (MCCI). The primary models in the DSA module were three-dimensional natural convection with simultaneous spreading, melting and solidification in an open space. In addition to these, the analysis capability has been improved to treat phenomena in a closed space, such as debris eroding laterally under concrete floors at the bottom of the sump pit which is done by an advanced method for boundary processing. A buffer cell for flow analysis, which is defined by a different array variable, is arranged in the same coordinates of the concrete cell (structure cell). Mass, momentum, and the advection term of energy between the debris melt cells and the buffer cells are solved. At the same instant, the heat transfer is calculated between the debris melt cells and the structure cells coexisting side by side with the buffer cells. In this study, technical knowledge regarding changes in physical properties due to thermal degradation of concrete was considered for the prediction of erosion rate, and the DSA module with the models noted above was verified by comparison with erosion data of the core–concrete interaction tests in the OECD/MCCI program. The calculated erosion depth, width, and erosion rate under the concrete floor showed good agreement with the test data and the analysis capability of the module was confirmed.     

Distribution, diversity and regulation of alcohol oxidase isozymes, and phylogenetic relationships of methylotrophic yeasts

In this study, we attempted to classify the methylotrophic yeasts based on diversities of alcohol oxidase (AOD), i.e. zymogram patterns and partial amino acid sequences. According to zymogram patterns for AOD, members of the methylotrophic yeasts separate into two major lineages, one group involving strains having a single AOD and the other group, including Pichia methanolica, Candida pignaliae and C. sonorensis, showing nine AOD isozymes. Based on partial amino acid sequences of AOD, the methylotrophic yeasts could be divided into five groups, and this classification agrees mostly with grouping based on 26S domain D1/D2 rDNA nucleotide sequences, except for some strains. Moreover, the strains having AOD isozymes constitute one group with P. trehalophila, P. glucozyma and Pichia sp. strain BZ159, although these strains are divided into two types, based on amino acid sequences of second AODs. On the other hand, these AOD isozymes consist of two subunits; the first subunits are induced not only by methanol but also by glycerol and pectin, although the second subunits are mainly induced by methanol. These data indicate that AOD isozymes and second AOD genes distribute widely in several methylotrophic yeasts in the natural environment, and second AOD genes may have evolved as methylotrophic genes that can adapt to the environmental conditions of higher methanol concentrations.     

A three‐phase hybrid stepping motor drive system combined with position‐sensorless closed‐loop control

This paper proposes a drive system for a three‐phase hybrid stepping motor, combining sensorless closed‐loop control with conventional open‐loop control. It is characterized by sophisticated control providing both prevention of pulling out from synchronism and suppression of natural rotor oscillation, without any position sensor attached to the motor shaft. A switching technique in chopper control which can enlarge the speed range controllable in the sensorless closed‐loop control is described. Starting and stopping sequences are developed to reduce mechanical natural oscillation produced in the transient state. Finally, the proposed drive system is compared experimentally with a conventional constant‐current open‐loop drive system. It is shown that the proposed drive system can perform the switchover from starting to sensorless closed‐loop operation within 20 ms, and can reduce the natural oscillation caused just after positioning. © 2000 Scripta Technica, Electr Eng Jpn, 131(3): 80–90, 2000     

Control and performance of a zero‐current‐switched,three‐phase PWM inverter equipped with resonant circuits on the ac side

This paper presents a zero‐current‐switched voltage‐fed inverter equipped with resonant circuits on the ac side. The current flowing through a switching device, that is, IGBT, is the sum of the load current and the resonant current. When the amplitude of the resonant current is larger than that of the load current, the current in the switching device becomes zero at an instant in each resonant cycle. This allows the switching device to be turned on or off at the zero current. The zero‐current switching makes a significant contribution to reduction of switching losses and electromagnetic noises. In this paper, the principle of zero‐current‐switching operation, along with a novel control scheme, is described from a theoretical and practical point of view. Experimental results obtained from a laboratory system of 5 kVA verify the practicability. Moreover, the switching and conduction losses of the proposed soft‐switched inverter are compared with those of a conventional hard‐switched inverter. © 2000 Scripta Technica, Electr Eng Jpn, 131(4): 85–95, 2000     

Antimicrobial effect of spices and herbs on Vibrio parahaemolyticus

The antimicrobial effects of spices and herbs from 18 plant species were examined on a foodborne pathogen, Vibrio parahaemolyticus, with the use of combinations of temperatures and nutrient levels. Basil, clove, garlic, horseradish, marjoram, oregano, rosemary, and thyme exhibited antibacterial activities at incubation of 30 degrees C, while with the exception of horseradish, the same spices and additional 7 species exhibited the activities at 5 degrees C. The lowest MIC (minimum inhibitory concentration) was 0.125% observed in clove and marjoram at 30 degrees C in a nutrient rich medium. Lowering of incubation temperature produced little effect on the MICs except for turmeric. The decreasing of the MIC in turmeric appeared to be basically attributed to the sensitivity of the bacterium to coldness. In nutrient poor medium, the lowest was 0.001 and 0.00025% in marjoram at 30 degrees C and at 5 degrees C, respectively. The sensitivity to several spices and herbs was similar among different clinical serotypes including the emerging strain O3:K6. These results suggest that the spices and herbs can be practical for protecting seafood from the risk of contamination by V. parahaemolyticus and used in hurdle technology with low temperature.