Realization of Dynamic Walking and Running of the Quadruped Using Neural Oscillator

In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on flat terrain by using a nervous system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch reflex and a flexor reflex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the flexor reflex and the crossed extension reflex. A modification of the single driving input to the neural oscillator network makes it possible for the robot to walk up a step. For running on flat terrain, we combine a spring mechanism and the neural oscillator network. It became clear in this study that the matching of two oscillations by the spring-mass system and the neural oscillator network is important in order to keep jumping in a pronk gait. The present study also shows that entrainment between neural oscillators causes the running gait to change from pronk to bound. This finding renders running fairly easy to attain in a bound gait. It must be noticed that the flexible and robust dynamic walking on irregular terrain and the transition of the running gait are realized by the modification of a few parameters in the neural oscillator network.     

Reduced blood flow in abdominal viscera measured by Doppler ultrasound during one-legged knee extension

The redistribution of blood flow (BF) in the abdominal viscera during right-legged knee extension-flexion exercise at very low intensity [peak heart rate (HR), 76 beats/min] was examined by using Doppler ultrasound. While sitting, subjects performed a right-legged knee extension-flexion exercise every 6 s for 20 min. BF was measured in the upper abdominal aorta (Ao), right common femoral artery (RCFA), and left common femoral artery (LCFA). Visceral BF (BFVis) was determined by the equation [BFAo - (BFRCFA + BFLCFA)]. A comparison with the change in BF (DeltaBF) preexercise showed a greater increase in DeltaBFRCFA than in DeltaBFAo during exercise. This resulted in a reduction of BFVis to 56% of its preexercise value or a decrease in flow by 1,147 +/- 293 (+/-SE) ml/min at the peak workload. Oxygen consumption correlated positively with DeltaBFAo, DeltaBFRCFA, and DeltaBFLCFA but inversely with DeltaBFVis during exercise and recovery. Furthermore, BFVis (% of preexercise value) correlated inversely with both an increase in HR (r = -0.89), and percent peak oxygen consumption (r = -0.99). This study demonstrated that, even during very-low-intensity exercise (HR <90 beats/min), there was a significant shift in BF from the viscera to the exercising muscles.     

The effects of prostaglandin E1 on intraoperative temperature changes and the incidence of postoperative shivering during deliberate mild hypothermia for neurosurgical procedures

We investigated the effects of i.v. prostaglandin E1 (PGE1) on intraoperative changes of core temperature and the incidence of postoperative shivering in neurosurgical patients undergoing deliberate mild hypothermia. Eighty-three patients were randomly assigned to one of three groups: patients in the control group did not receive PGE1, whereas patients in the PG20 group and PG50 group received PGE1 at a dose of 0.02 and 0.05 microg x kg(-1) x min(-1), respectively. The administration of PGE1 was started just after the induction of anesthesia and continued until the end of anesthesia. Anesthesia was maintained with nitrous oxide in oxygen, sevoflurane, and fentanyl. After the induction of anesthesia, patients were cooled using a water blanket and a convective device blanket. Tympanic membrane temperature was maintained at 34.5 degrees C. During surgical wound closure, patients were rewarmed. Intraoperative changes in tympanic membrane and skin temperatures and the incidence of postoperative shivering were compared among groups. Demographic and intraoperative variables were similar among groups. There were no significant differences in tympanic temperatures among groups at each point during the operation. Skin temperature 30 min after rewarming and just after tracheal extubation was significantly lower in the PG20 group than in the PG50 group. Postoperative shivering was more frequent in the PG20 group (43%) than in the control (13%) and PG50 (17%) groups. These results suggest that the intraoperative administration of PGE1 does not affect changes in core temperature during deliberate mild hypothermia and that PGE1 at a dose of 0.02 microg x kg(-1) x min(-1) may increase the occurrence of postoperative shivering. Implications: Deliberate mild hypothermia has been proposed as a means of providing cerebral protection during neurosurgical procedures. Vasodilating drugs may be used during deliberate mild hypothermia to maintain peripheral circulation and to enhance the cooling and rewarming rate. In the present study, however, we found no benefit from i.v. prostaglandin E1 administration during deliberate mild hypothermia in neurosurgical patients.     

Synthesis of poly(phenylene oxide) — aromatic polyester multiblock copolymers

Summary Poly(phenylene oxide) (PPO) — aromatic polyester multiblock copolymers were synthesized by polycondensation of bisphenol-A / isophthalic acid or m- and p-hydroxybenzoic acids in the presence of PPO having a carboxylic acid at one end and a phenolic hydroxy group at the other using triphenylphosphine / hexachloroethane as coupling agent. TG analysis showed that the multiblock copolymer showed relatively high thermal stability. Received: 5 January 1998/Accepted: 4 February 1998     

CP-PACS: A massively parallel processor at the University of Tsukuba

Computational Physics by Parallel Array Computer System (CP-PACS) is a massively parallel processor developed and in full operation at the Center for Computational Physics at the University of Tsukuba. It is an MIMD machine with a distributed memory, equipped with 2048 processing units and 128 GB of main memory. The theoretical peak performance of CP-PACS is 614.4 Gflops. CP-PACS achieved 368.2 Gflops with the Linpack benchmark in 1996, which at that time was the fastest Gflops rating in the world.CP-PACS has two remarkable features. Pseudo Vector Processing feature (PVP-SW) on each node processor, which can perform high speed vector processing on a single chip superscalar microprocessor; and a 3-dimensional Hyper-Crossbar (3-D HXB) Interconnection network, which provides high speed and flexible communication among node processors.In this article, we present the overview of CP-PACS, the architectural topics, some details of hardware and support software, and several performance results.     

Basic investigation for life assessment technology of modified 9Cr–1Mo steel

In order to develop life assessment techniques for aged components made of modified 9Cr–1Mo steel, specimens were artificially deteriorated by aging, creep and fatigue tests at elevated temperatures, and associated changes in the microstructure and mechanical properties were examined. It was observed that aging resulted in formation of Laves phase causing a decrease in toughness. The creep damage in base metal could be correlated with decrease in hardness, while creep damage in weldments could be correlated with the area fraction and density of creep voids. Creep rupture in weldments occurred in the fine-grained heat affected zone by the formation and growth of creep voids. The fatigue damage in base metal correlated to the maximum length of a crack among micro-cracks initiated during fatigue cycles.     

Electronic structures of hydrogen storage compound, TiFe

The electronic structures of TiFe hydrogen storage compound containing a variety of alloying elements, M, are investigated by the DV-X cluster method in order to understand alloying effects on the hydrogen absorption and desorption characteristics of this compound. It is found that hydrogen atoms make a strong chemical bond with Fe atoms rather than Ti atoms in pure TiFe, despite the larger affinity of Ti atoms for hydrogen than Fe atoms in the binary metal–hydrogen system. It is also shown that the nature of the chemical bond between the constituent atoms determines the stability of TiFe hydrides. For example, the ratio of the Fe(M)–Ti bond order to the Ti–Ti bond order correlates well with the experimental data of the equilibrium plateau pressure of hydrogen.     

Catharanthine oxidation in flavin mononucleotide-mediated catharanthine-vindoline coupling reaction for synthesis of dimeric indole alkaloids under near-ultraviolet light

A reaction model for the flavin mononucleotide-mediated coupling of catharanthine (C) and vindoline (V) under near-ultraviolet light was established based on the results of experiments on the effects of various physical and chemical factors on the disappearance of C and V, and the synthesis of the product, a dihydropyridinium intermediate (IM). The following events were deduced to occur. (i) C is oxidized in the presence of FMN and oxygen under near-ultraviolet light (C(OX1)). (ii) C(OX1) then couples with V to form IM. Degradation of C occurs simultaneously with its specific oxidation, as a result of which a part of the C is converted into the product (C*) which is incapable of coupling with V. When a reaction in which C(OX1) is further oxidized to another form (C(OX2)) is added and the counterpart for the coupling with V is changed to C(OX2) from C(OX1), the reaction model more appropriately describes the exponential increase in the product, IM, that occurs in the early stage of the coupling reaction. (iii) The degradation rate of IM is much greater after C has been consumed than before its disappearance. Using this reaction model, the coupling reactions under basal and optimized conditions were simulated and the results showed a good fit with the experimental values under both conditions. The kinetic study suggests that manganese ion (Mn2+) stimulates the binding of C(OX2) with V in addition to suppressing the degradation of C, resulting in an increased yield of IM. Mn2+ thus appears to be an important factor in the coupling reaction, in which it plays two different roles.     

On-line measurement of orientation development in the high-speed melt spinning process

On-line measurement of birefringence was performed in the high-speed melt spinning process of poly(ethylene terephthalate) using an apparatus that incorporates a rotating polarizer for the measurement of the optical retardation of running filament. Particular attention was paid to the detailed measurements in the vicinity of neck-like deformation. Through the measurement at the take-up velocity of 5 km/min, development of birefringence under the strain rate up to about 1 ms^?1 was investigated. To analyze the relation between applied stress and birefringence, tension and temperature profiles of the spin-line were calculated based on the experimentally obtained diameter profiles. Even though the strain rate is extremely high, a linear relationship between birefringence and a parameter calculated by dividing stress by temperature was confirmed to hold up to birefringence and stress/temperature values of about 0.017 and 10 kPa/K, respectively.     

Hot Isostatic Pressing of Reactive SnO2 Powder

Tin(IV) oxide (SnO₂) crystallizes at room temperature by adding hydrazine monohydrate ((NH₂)₂· H₂O) to a hydrochloric acid solution of tin, followed by washing and drying. Well-densified SnO₂ ceramics (99.8% of theoretical) with an average grain size of 0.9 μm have been fabricated by hot isostatic pressing for 2 h at 900°C and 196 MPa. Their Vickers hardness and bending strength are 14.4 GPa and 200 MPa, respectively. They exhibit an electrical conductivity of 2 × 10⁻³−9 × 10⁻³ S·cm⁻¹ at room temperature.