Synthesis of a linearly interpolated gain scheduling controller for large flexible spacecraft ETS-VIII

This paper illustrates a design procedure for a linearly interpolated gain scheduling controller for Engineering Test Satellite VIII (ETS-VIII) using its linear parameter-varying (LPV) model. The LPV model here consists of piecewise-linear functions of the paddle rotation angle and a norm-bounded perturbation. The main purpose of this research is to derive a simple structured scheduling law that can be easily implemented in a satellite onboard computer. The derived gain has only two grid points and is scheduled simply by linear interpolation, which is desirable from the standpoint of implementability. Moreover, since the synthesis condition is based on parameter-dependent Lyapunov functions, it gives less conservative results than existing methods. Simulation results are presented to show the effectiveness of the proposed synthesis.     

Experimental examination of the characteristics of bright-field scanning confocal electron microscopy images

We experimentally examined the characteristics of bright-field (BF) scanning confocal electron microscopy (SCEM) images by changing the observation conditions and comparing the images with those obtained by BF transmission electron microscopy (TEM) and BF scanning TEM (STEM) modes. The observation of 5-nm-diameter Au nanoparticles demonstrated that BF-SCEM produces object elongation of more than 2000?nm along the optical axis, as do BF-TEM and BF-STEM. We demonstrated the relationship between elongation length and geometric effects such as convergence and collection angles of a probe and the lateral size of an object; the relationship is consistent with previous theoretical prediction. Further, we observed interesting features that are seen only in the BF-SCEM images; the film contrast was strongly enhanced, compared with that of BF-STEM. In addition, a bright contrast appeared around the object position in the elongated images. Using this characteristic, we could determine the object position and structure.     

基于同时发射声纳环移动机器人导航系统

开发了一种能在未知环境下实现快速障碍检测与障碍回避的基于同时发射声纳环移动机器人导航系统。为了消除由于同时发射造成的串话干扰,提出了一种基于神经网络模式识别的过滤方法;并制作了由24个声纳传感器组成的声纳环安装到实际的移动机器人上,实现了扫描频率最大可达到66 Hz的全景检测。系统中应用了动态窗口法来完成快速障碍回避的运动规划。实际的导航实验表明,系统可用于室内未知环境中的移动机器人快速导航。     

Flow cytometric analysis for the activation of peripheral immunoregulatory cells from patients with bronchial asthma

By use of flow cytometry, we have investigated intracellular activated eosinophil cationic protein (ECP) in eosinophils and mitogen-induced cytokine production of T cells in peripheral blood from children with acute severe asthma. In addition, we measured ECP releasability (serum ECP/lysate ECP) as a maker of activated eosinophils. The monoclonal antibody EG2 (anti-activated ECP/EPX antibody) was used for measuring the amount of intracellular activated ECP. ECP releasability and mean fluorescence intensity (MFI) values of EG2-positive eosinophils increased at the time of asthmatic attack and reduced after treatment with improvement in peak expiratory flow. Furthermore, the frequency of T cells which produced IL-4, IL-5 and IFN-gamma stimulated with phorbol myristate acetate and ionomycin increased and reduced in parallel with MFI of EG2-positive cells. These observations suggest that flow cytometric analysis for intracellular ECP and mitogen-induced cytokine production reflects the activation of T cells in bronchial mucosa, and is useful for monitoring airway inflammation in bronchial asthma.     

Hydroxylation of fatty acids and alcohols by hepatic microsomal cytochrome P-450 system from the Mongolian gerbil

The liver microsomes of the Mongolian gerbilMeriones unguiculatus catalyzed the hydroxylation of various saturated fatty acids (C₈−C₁₈), alcohols (C₁₂ and C₁₆) and hydrocarbon (C₁₂) to the corresponding ω- and (ω-1)-hydroxy derivatives. Lauric acid was hydroxylated most effectively among saturated fatty acids and the order of activity as hydroxylation substrates was C₁₂>C₁₄>C₁₃>C₁₆>C₁₀>C₁₈>C₈. The specific activity of laurate hydroxylation (5.99 nmol/mg microsomal protein/min) in gerbil liver microsomes was higher than that observed in other species. 1-Dodecanol was also hydroxylated very effectively (4.58 nmol/mg microsomal protein/min) by gerbil liver microsomes, but in general the hydroxylation rates for fatty alcohols were much lower than those for the corresponding acids. It was found from both inhibitor and cofactor studies that the enzyme catalyzing the hydroxylation of fatty acids and alcohols in the liver microsomes of the Mongolian gerbil was a typical cytochrome P-450-linked monooxygenase, and at least two different cytochrome P-450 species were involved in the hydroxylation. Presented in part at the AOCS annual meeting (a joint meeting with the Japan Oil Chemists' Society), Honolulu, Hawaii, May 1986.     

Breakup of non-newtonian emulsion jets

The breakup of non-Newtonian emulsion jets into drops was experimentally studied by ejecting both O/W and W/O emulsions vertically downward into stagnant air through nozzles. Breakup lengths of non-Newtonian emulsion jets were found to be almost equivalent to those of Newtonian jets. Experimental breakup data establish that the static surface tension of the oil phase can be used as the surface tension of W/O emulsion jets, whereas the dynamic surface tension of aqueous surfactant solutions is used as that of O/W emulsion jets. Diameters of drops formed from non-Newtonian emulsion jets are in good agreement with the prediction from the stability theory previously developed by the authors. When the rheological index in a power law model is appreciably smaller than unity and the Ohnesorge number is significantly large, however, drop sizes are larger than the prediction because of the profile relaxation in jets. The critical velocity of emulsion jets, either O/W or W/O emulsion, is significantly lower than that of homogeneous Newtonian jets.     

Effects of 6-anilino-1,3,5-triazine-2,4-dithiol,zinc stearate,and barium stearate on the thermal stabilization of PVC

Individual action and synergistic effect in the combination of 6-anilino-1,3,5-triazine-2,4-dithiol (AF), zinc stearate, and barium stearate on the color stabilization of PVC were investigated. In this system, AF selectively reacts with allylic chlorine atoms in PVC. Consequently, unstable allylic chlorine units were converted to thermally stable allylic structures, thus retarding the development of polyene sequences. Zinc stearate accelerated the reaction of AF with allylic chlorine atoms in PVC, forming the zinc salts of AF (AFZ_nSt, St?C₁–H₃₅COO? ) by reacting with AF. Barium stearate reacted with ZnCl₂ which is formed in the above reaction to give St₂Zn and BaCl₂. Consequently, barium stearate led to the selective reaction of AF with allylic chlorine atoms in PVC and the remarkable retarding effect of discoloration of PVC.     

Reconstruction of a high-resolution image on a compound-eye image-capturing system

The authors have proposed an architecture for a compact image-capturing system called TOMBO (thin observation module by bound optics), which uses compound-eye imaging for a compact hardware configuration [Appl. Opt. 40, 1806 (2001)]. The captured compound image is decomposed into a set of unit images, then the pixels in the unit images are processed with digital processing to retrieve the target image. A new method for high-resolution image reconstruction, called a pixel rearrange method, is proposed. The relation between the target object and the captured signals is estimated and utilized to rearrange the original pixel information. Experimental results show the effectiveness of the proposed method. In the experimental TOMBO system, the resolution obtained is four times higher than that of the unit image that did not undergo reconstruction processing.     

Sphingolipid base metabolism. Sphinganine-1-phosphate lyase: identification of ethanolamine 1-phosphate as product

Ethanolamine 1-phosphate has been characterized as a product of the action of rat liver microsomal sphinganine 1-phosphate lyase on erythro-sphinganine 1-phosphate. The product was characterized by various forms of chromatography, gas-liquid chromatography-mass spectral analysis of appropriate derivatives, and by conversion to ethanolamine. The results of detailed studies of the mass spectral fragmentation of the tetra-trimethylsilyl derivative of ethanolamine 1-phosphate are also reported.     

Cytoprotective effects of geraniin against peroxynitrite- and peroxyl radical-induced cell death via free radical scavenging activity

The role of natural antioxidants in combating the deleterious effects of free radicals has received much attention. In the present study, the cytoprotective effects and the free radical scavenging activity of geraniin, a hydrolysable ellagitannin from Nephelium lappaceum rind, were evaluated by using various approaches. Addition of geraniin to the culture media resulted in a profound cytoprotective effect against damages induced by the peroxynitrite generator 3-morpholinosydnonimine (SIN-1), and the peroxyl radical generator 2,2′-azobis(2-amidinopropane) dihydrochloride (AAPH). Geraniin exhibits more potent cytoprotective activity than that of 6-hydroxy-2,5,7,8-tetramethylchroman-2-carboxylic acid (Trolox). Geraniin exhibited potent antioxidant activity against reactive species, such as nitric oxide, superoxide anion, and chemically synthesized peroxynitrite. Kinetic analysis of reactivity against peroxyl radicals generated by AAPH revealed that geraniin possesses potent reactivity against peroxyl radicals with higher stoichiometric number than Trolox. The cytoprotective effect of geraniin was only observed when geraniin and these toxic compounds were co-existing, suggesting that geraninn exhibits cytoprotective effects via free radical scavenging activity in the extracellular fluid.