Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid

In previous studies, various stabilizing control methods for humanoids during the stance phase while hopping and running were proposed. Although these methods contribute to stability while hopping and running, it is possibility that the control during the flight phase could also affect the stability. In this study, we investigated whether the control during the flight phase can affect the stability of a humanoid while running. To achieve stable hopping, we developed a control system that accounts for the angular momentum of the whole body during the flight phase. In this system, the angular momentum generated by the motion of the lower body in each time interval is calculated during the flight phase, and the trunk joints are controlled to generate the angular momentum necessary to compensate for the deviation of the waist posture, which is used as the reference point for the motion coordinate system of the robot. Once the proposed control system was developed and simulated, we found that the hopping duration in the unconstrained state was extended.     

Amphiphilic Poly(Amino Acid) Nanoparticles Induce Size‐Dependent Dendritic Cell Maturation

Size‐regulated amphiphilic poly(amino acid) nanoparticles (NPs) composed of poly(γ‐glutamic acid) (γ‐PGA) and the hydrophobic amino acid derivative, L ‐phenylalanine ethyl ester (Phe) are prepared to evaluate the effects of particle size on dendritic cell (DC) uptake of NPs and their immune stimulatory activities as delivery carriers and adjuvants. The size of the Phe‐conjugated γ‐PGA NPs (γ‐PGA–Phe NPs) is easily controlled by regulating the aggregated γ‐PGA–Phe numbers. Each of the differently sized γ‐PGA–Phe NPs could efficiently encapsulate ovalbumin (OVA), and the amount of encapsulated OVA per milligram of NPs is almost the same despite the differences in size. The DC uptake of small NPs is lower than for the larger NPs, but the effect of DC activation by NPs is high in the small sizes. The DC activation is significantly affected by the size of the NPs, which suggests that not only the uptake process of the NPs, but also the surface interactions between the NPs and DCs, is important for the induction of DC maturation. The precisely size‐controllable γ‐PGA–Phe NPs have significant potential as an antigen carrier and vaccine adjuvant. These results should provide guidelines for adjuvant design in the development of an effective vaccine.     

First-Principles Investigation of the Atomic and Electronic Structures of α-Al2O3(0001)/Ni(111) Interfaces

Atomic and electronic structures of α-Al₂O₃(0001)/Ni(111) interfaces have been investigated using the first-principles pseudopotential method. Models with different rigid-body translations parallel to the interface for both the O-terminated and Al-terminated interfaces are examined in order to clarify the overall features. Results indicate that the interface stoichiometry as well as the interface configuration has significant effects on the adhesive and electronic properties. The bonding nature of the O-terminated interfaces is explained by strong ionic and Ni-3d/O-2p orbital hybridization interactions, and that of the Al-terminated interfaces is explained mainly by image-charge like electrostatic and Ni–Al hybridization interactions, although there is some Ni–O hybridization for the O-site model. Orbital hybridization and adhesive energies are larger than those in the corresponding Al₂O₃/Cu interfaces, because Ni has higher activity for making bonds with ceramics than Cu.     

A feasibility study for the removal of copper from solid ferrous scrap

A new approach for the removal of copper from solid ferrous scrap is described. With this proposal, solid ferrous scrap intermingled with copper is brought into contact with molten aluminium, which preferentially dissolves copper. After a duration of 5 to 10 minutes at a temperature of 1018 ± 5 K, steel scrap is removed from the bath, resulting in being free of copper contamination. The present method offers the advantage of far lower costs than any other processes ever suggested for copper removal.     

Drivability improvement on deep-submicron MOSFETs by elevation ofsource/drain regions

Deep submicron MOSFETs with elevated source/drain (S/D) structures, where S/D extension regions were partially elevated besides deep S/D regions, were fabricated by use of Si selective epitaxial growth technique. As fairly compared with a well-developed conventional MOSFET, we clarify an advantage of the elevated S/D structures, i.e., improvement upon driving performance with keeping excellent short-channel characteristics, which is enhanced for decrease in gate sidewall spacer width. The experimental results are explained in terms of the reduction in S/D parasitic resistance by addition of the Si epitaxial layer where the impurity profile is suitable     

Analysis of electromagnetic force in wire-EDM

This paper clarifies the mechanism of how electromagnetic force applied to the wire electrode in wire electrical discharge machining (wire-EDM) is generated. This electromagnetic force is caused not only by DC component but also by AC components of the discharge current supplied to the wire. We therefore developed and used a two-dimensional finite element method (FEM) program to analyze the electromagnetic field taking into account electromagnetic induction. Assuming that trapezoidal pulse current is supplied to the wire, distributions of the current density and magnetic flux density were analyzed and changes in the electromagnetic force applied to the wire were calculated. Wire movement when the electromagnetic force alone was applied to the wire was also calculated. The calculated wire movement agreed with the measured wire movement when pulse current actually used in WEDM was supplied to the wire, clarifying the mechanism of electromagnetic force generation.     

Scandium-Doped Anatase (TiO2) Nanoparticles Directly Formed by Hydrothermal Crystallization

Anatase-type TiO₂ solid solutions doped with 0–10 mol% scandium were formed by hydrothermal crystallization under weak basic conditions above 180°C for 5 h from amorphous co-precipitates that were obtained from the aqueous precursor solutions of TiOSO₄ and Sc(NO₃)₃ using aqueous ammonia. The anatase particles were spindle-like and consisted of nanosized-crystallites (23–25 nm). The lattice parameter c ₀ of anatase and the length and width of the spindle-like anatase gradually increased when the scandium content was increased. The diffuse reflectance spectra of the as-prepared TiO₂ doped with scandium showed that the onset of absorption slightly shifted to longer wavelengths with increasing scandium content. The band gap of anatase was slightly increased by making solid solutions with scandium oxide.     

Role of Heavy Meromyosin in Heat‐Induced Gelation in Low Ionic Strength Solution Containing l‐Histidine

The gelation of myosin has a very important role in meat products. We have already shown that myosin in low ionic strength solution containing l ‐histidine forms a transparent gel after heating. To clarify the mechanism of this unique gelation, we investigated the changes in the nature of myosin subfragments during heating in solutions with low and high ionic strengths with and without l ‐histidine. The hydrophobicity of myosin and heavy meromyosin (HMM) in low ionic strength solution containing l ‐histidine was lower than in high ionic strength solution. The SH contents of myosin and HMM in low ionic strength solution containing l ‐histidine did not change during the heating process, whereas in high ionic strength solution they decreased slightly. The heat‐induced globular masses of HMM in low ionic strength solution containing l ‐histidine were smaller than those in high ionic strength solution. These findings suggested that the polymerization of HMM molecules by heating was suppressed in low ionic strength solution containing l ‐histidine, resulting in formation of the unique gel.     

Novel transdermal drug delivery system with polyhydroxyalkanoate and starburst polyamidoamine dendrimer

In search of an efficient transdermal drug delivery system (TDDS), a polyhydroxyalkanoate (PHA)-based system with a polyamidoamine dendrimer was examined. Tamsulosin was used as the model drug. The dendrimer was found to act as the weak enhancer. By adding the dendrimer, the dendrimer-containing PHA matrix achieved the clinically required amount of tamsulosin permeating through the skin model. This is also the first report of the application of PHA and dendrimer to the TDDS.     

Remote detection of a tonal anomaly in an area of hydrocarbon microseepage,Tucano basin,north-eastern Brazil

Mapping of a tonal anomaly in an area of hydrocarbon microseepage was possible using a Landsat-Thematic Mapper false-colour composite consisting of TM2/3, TM4/3 and of the difference TM2/3-TM4/3, displayed as red, green and blue, respectively. In this false-colour composite, green and yellow express variations in the vegetation cover, whereas hues of magenta are related to terrain conditions representing bleached materials, which occur close to the centre of a soil gas anomaly. Simultaneous occurrence of anomalous soil gas values with magnetic and radioactive minerals suggests that a reducing environment associated with the microseepage phenomenon created the bleached materials, identified as a tonal anomaly in the enhanced TM image.