Underactuated miniature bending joint composed of serial pulleyless rolling joints

This paper proposes a miniature bending joint composed of serial rolling joints; it refers to the classification of small joints of other products and studies on surgical applications according to the structures and transmissions. To achieve this, a pulleyless rolling joint is introduced as a unit component and the basic design principle is established for the joint. A simple mechanism guarantees a smooth rolling contact using elastic fixtures. Underactuation, which prevents S-shaped curvature similar to buckling, is applied to drive the bending joint with a limited number of wire cables. Using a 1-DOF real-sized prototype, experiments were performed to measure the motion accuracy and payload capacity from various angles to evaluate the efficacy of an improved design that enhances the payload on the distal end. This novel joint is applicable to a wider variety of surgical tools and catheters relative to other candidates owing to its small constant curvature, reasonable payload capacity, and miniature size.     

Quantitative Analysis of Zinc Vaporization from Manganese Zinc Ferrites

Zinc vaporization of Mn-Zn ferrites was quantitatively characterized in terms of oxygen partial pressure P _O2, temperature, grain size and sample geometry. The amount of zinc loss was measured as a function of time at various temperatures by a thermogravimetric method. The weight loss due to irreversible zinc vaporization showed a linear behavior with time and increased exponentially with temperature. The observed weight loss due to zinc evaporation at 1100°C was small, whereas a significant weight change was detected at 1200°C. The weight loss was even greater in a reducing atmosphere ( P _O2= 5 × 10⁻⁵). Below 1300°C, the diffusion of elemental zinc was sufficiently fast to compensate the zinc loss at the interface region, resulting in a linear dependence on time. At temperatures ≥1400°C, the weight change no longer followed the linear dependence and showed a rather parabolic behavior with a concave upward slope. The core shape and the gas flow around ferrite cores were important factors that affected the rate of zinc vaporization, but not the grain size.     

Gamma‐ray irradiation effect of polyethylene on dimaleimides as a class of new multifunctional monomers

Multifunctional monomers, m‐xylylenedimaleimide, p‐phenylenedimaleimide, m‐phenylenedimaleimide, and p‐phenylenedinadimide, all of which have maleimide groups, were synthesized to increase thermal and radiation stabilities. The synthesized multifunctional monomers showed good compatibility with low‐density polyethylene (LDPE). Mixtures of LDPE and these multifunctional monomers were irradiated with γ‐rays from a Co‐60 source at room temperature in a nitrogen atmosphere. The absorbed dose ranged from 0 to 160 KGy. Among these multifunctional monomers, m‐xylylenedimaleimide was the best in gel fraction enhancement. Crosslinked LDPE with m‐xylylenedimaleimide displayed a higher modulus than that of crosslinked LDPE with triallyl cyanurate. For the elongation property, LDPE with m‐xylylenedimaleimide as a multifunctional monomer showed better results than that with commercial multifunctional monomers such as triallyl cyanurate (TAC) and trimethylol propane triacrylate (TMPTA). © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 88: 2339–2345, 2003     

Editing and Synthesizing Two‐Character Motions using a Coupled Inverted Pendulum Model

This study aims to develop a controller for use in the online simulation of two interacting characters. This controller is capable of generalizing two sets of interaction motions of the two characters based on the relationships between the characters. The controller can exhibit similar motions to a captured human motion while reacting in a natural way to the opponent character in real time. To achieve this, we propose a new type of physical model called a coupled inverted pendulum on carts that comprises two inverted pendulum on a cart models, one for each individual, which are coupled by a relationship model. The proposed framework is divided into two steps: motion analysis and motion synthesis. Motion analysis is an offline preprocessing step, which optimizes the control parameters to move the proposed model along a motion capture trajectory of two interacting humans. The optimization procedure generates a coupled pendulum trajectory which represents the relationship between two characters for each frame, and is used as a reference in the synthesis step. In the motion synthesis step, a new coupled pendulum trajectory is planned reflecting the effects of the physical interaction, and the captured reference motions are edited based on the planned trajectory produced by the coupled pendulum trajectory generator. To validate the proposed framework, we used a motion capture data set showing two people performing kickboxing. The proposed controller is able to generalize the behaviors of two humans to different situations such as different speeds and turning speeds in a realistic way in real time.     

Monodisperse polymer/metal composite particles by electroless chemical deposition: Effect of surface functionality of polymer particles

Micron‐sized polymer particles were coated with layers of nickel compounds by plating electrolessly in the presence of aqueous solutions of nickel chloride, sodium hypophosphite, sodium citrate, and ammonium chloride at elevated temperature. The uniform functional polymer particle could be obtained by seeded polymerization. To investigate the effect of surface functionality on the conditions for nickel deposition, the polymer particle was functionalized with the thiol group. From morphological observation, it was found that the mode of nickel deposition was greatly dependent on the surface functionality of the polymer particle. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 87: 420–424, 2003     

Scalable and leaderless Byzantine consensus in cloud computing environments

Traditional Byzantine consensus in distributed systems requires n ≥ 3f + 1, where n is the number of nodes. In this paper, we present a scalable and leaderless Byzantine consensus implementation based on gossip, requiring only n ≥ 2f + 1 nodes. Unlike conventional distributed systems, the network topology of cloud computing systems is often not fully connected, but loosely coupled and layered. Hence, we revisit the Byzantine consensus problem in cloud computing environments, in which each node maintains some number of neighbors, called local view. The message complexity of our Byzantine consensus scheme is O(n), instead of O(n ²). Experimental results and correctness proof show that our Byzantine consensus scheme can solve the Byzantine consensus problem safely in a scalable way without a bottleneck and a leader in cloud computing environments.     

Relationship between dietary supply of long-chain fatty acids and membrane composition of long- and very long chain essential fatty acids in developing rat photoreceptors

The present study was designed to determine if dietary supply of long-chain fatty acid (LCFA, C20∶4n-6, and/or C22∶6n-3), reflecting levels that might be incorporated into infant formulas, influences the fatty acid composition of the visual cell membrane. The rod outer segment (ROS) of the retina was analyzed from rats fed diets varying in the ratio of 18∶2n-6 to 18∶3n-3 with or without 20∶4n-6 [arachidonic acid (AA)] and 22∶6n-3 (docosahexaenoic acid) from birth to six weeks of age. The level of very long chain fatty acids (VLCFA, C₂₄−C₃₆) was identified using gas chromatography and gas chromatography-mass spectrometry. In the ROS, the highest relative percent of AA was attained in phosphatidylcholine (PC) and phosphatidylethanolamine (PE) of animals fed 1% AA diet, whereas feeding 0.7% docosahexaenoic acid (DHA) diet significantly increased the DHA level in PC, phosphatidylserine, and phosphatidylinositol compared to feeding diets containing AA. VLCFA of n-6 and n-3 up to C₃₆ were found in PC, with the most abundant fatty acids being C₃₂ and C₃₄. In PC, phosphatidylserine and PE, the n-6 tetraenoic VLCFA level was highly increased in animals fed 1% AA compared to other dietary groups. This study suggests that dietary fat containing small amounts of AA or DHA is an important factor influencing membrane fatty acid composition of the visual cell during development. Based on a presentation at the AOCS Annual Meeting & Expo in San Antonio, Texas, May 7–11, 1995.     

The nucleation of microcellular thermoplastic foam with additives: Part II: Experimental results and discussion

Experiments were performed to validate the model for the nucleation of microcellular foams in amorphous thermoplastic polymers. The polystyrene-zinc stearate system was chosen as the model system. Other additives such as stearic acid and carbon black were also investigated. Molecular weight and orientation effects were studied. Nitrogen and carbon dioxide were used to produce the microcellular bubbles. Results show that amounts of soluble additives at levels just below their solubility limit and high gas saturation pressures yield the most acceptable foams—ones with a large number of uniform small bubbles. In this region, the bubble number is sensitive to both the gas saturation pressure and the concentration of solutes. Increasing the concentration of soluble additives above the solubility limit has little effect on bubble number and almost eliminates the dependence on saturation pressure. Molecular weight and orientation had no effect on the number of bubbles produced. Similarly, carbon black, which is insoluble in and which bonds well to polystyrene, produced no effect on bubble numbers. The agreement between theoretical predictions and experimental results is reasonably good.     

Magnesium interlayered diamond coating on silicon

Diamond thin films have been deposited using hot filament chemical vapour deposition technique on manually scratched p-Si(1 0 0) substrate, with and without magnesium interlayer. In spite of magnesium melting point being lower (T_m = 649 °C) than the growth temperature of the substrate (T_s  750 °C) used in these experiments, it was found that high quality diamond films could be grown on Mg covered substrate. A liquid substrate is probably generated during the diamond film growth. Raman spectroscopy analysis exhibited only the triply degenerate, zone centre optical phonon peak at 1333 cm⁻¹ indicating that nearly stress free crystallites were present. Broadening of the Raman peak (11.76 cm⁻¹) indicates that some small crystallites also are present. Scanning electron and atomic force microscopy accompanied by X-ray diffraction analysis where used to compare the details of diamond film growth directly on scratched Si(1 0 0) and Mg interlayered scratched Si(1 0 0) substrates.     

A study of tailored blank welding between mild steel sheet and zn-coated steel sheet by CO2 laser beam

Research was conducted on tailored blank welding between mild steel sheet and Zn-coated steel sheet using CO₂ laser beam. The materials used in this study were low carbon steel sheets with a thickness of 1.2 mm and Zn-coated steel sheet with the same thickness and 6.3 μm Zn coating. Experiments were conducted by applying the Taguchi method to obtain optimum conditions for the application of this tailored blank laser welding method in practical manufacturing processes. Optical microscopy, XRD, SEM and TEM analysis were performed to observe the microstructures and to determine the structures of welded zone. In addition, mechanical properties were measured by the microhardness test, tensile test and Erichsen test to evaluate the formability of the welded specimen. There was no trapped Zn in the fusion zone, and the phases of this region consisted of polygonal ferrite, quasi-polygonal ferrite, banitic ferrite and martensite. The elongation value of welded specimen was more than 80% of the value in substrate metal, and the LDH value was more than 90% of the value in substrate metal.