Nonlinear repetitive control with application to trajectory control of manipulators

In this article, a new control scheme named repetitive control is proposed for a class of nonlinear systems described by x(t) = Ax(t) + Bu(t) + n(x(t)) and y(t) = Cx(t), in which the controlled variables follow periodic reference commands. The stability condition is derived by applying the passivity theorem. We show how to apply the repetitive control scheme to the trajectory control of a manipulator. A simple repetitive control scheme is developed for the trajectory control of a manipulator by using nonlinear compensation and feedbacks of position and velocity signals. Experimental results for a three link manipulator verify that the proposed repetitive control reduces the tracking error to a very low level.     

Dynamics and biogeochemical significance of the physical environment in Lake Biwa

We have examined two aspects of the dynamics and biogeochemical significance of the physical environment in Lake Biwa. One is the horizontal distribution of cyanobacteria as it relates to the ‘first gyre’ in the north basin of Lake Biwa. We could easily measure the first gyre using a vessel‐mounted acoustic doppler currents profiler. We were able to quantify the dynamics of the horizontal and vertical structure of currents and water temperature of this gyre. The first gyre did not remain at a fixed position; it moved north and south according to the growth of the gyre. This may play a role in the redistribution of cyanobacteria from place to place in the north basin. The second important environmental dynamic we measured was oxygen consumption rates from 1994 to 2000. We found that the minimum oxygen concentration in the hypolimnion has a clear inverse relationship with the apparent oxygen consumption rates in the 80–85 m depth layer. As a reduction in oxygen concentration in the hypolimnion can have a serious impact on benthic organisms, we concluded that the Lake Biwa environment should be monitored carefully and systematically.     

膨胀石墨对各种油类的吸附动力学

通过对吸附率(有效吸附系数)Ks和饱和吸附量msat的测量,描述了粘度为0.001 Pa·s～0.850 Pa·s的各种油类在膨胀石墨柱中的吸附动力学,发现吸附率Ks对油类粘度有很强的相关性.吸入膨胀石墨柱中的饱和吸附量msat几乎恒定在50kg/kg,该值略低于由膨胀石墨块直接浸渍在油中测得的吸附容量,这是由于所吸附的油沿膨胀石墨柱高度存在重力梯度.     

A study on capacity fading of lithium-ion battery with manganese spinel positive electrode during cycling

The capacity fading mechanism of lithium-ion cell was studied by disassembling the charge-discharged cells and analyzing their electrodes using scanning electron microscopy (SEM) and X-ray photoelectron spectroscopy (XPS), etc. Cu ion dissolved from current collector of anode and Mn ion dissolved from LiMn₂O₄ spinel (cathode) were all existing in solid electrolyte interface (SEI) layer on carbon anode as Cu₂O and MnO or MnO₂, respectively. These depositions of Cu and Mn oxides did not uniformly deposited on the anode side, and most of them were detected on the carbon surface nearby to the separator side. The SEI layer is hard and about 0.3 μm in thickness. Furthermore, the cycling performance of the cells can be improved by adding 1,2,3-benzotrazole (a corrosion inhibitor of Cu) before assembling the cell, it then coordinates strongly with Cu ions into the electrolyte. From the results, it is obvious that the existing of Cu oxide as well as Mn oxide in the SEI layer, which blocks the normal intercalation of the lithium ions, is one of the factors for the capacity fading of the cells.     

Intermolecular Interaction of [60]Fullerene with Tröger's Base Analogues

Tröger's base (TB, 1) and its analogues were synthesized and were subject to the titration experiments to evaluate their ability of supramolecular complexation with C₆₀. Results demonstrate clearly that the fluorene-based TB analogue (2) and the bioctylfluorene-based TB analogue (3) show 1:1 binding with C₆₀ to form the corresponding complexes while TB 1 does not. Titration experiments exhibited that the association constant (K_ass) of 3/C₆₀ (48.1 ± 7.9 M ^?1) was larger than that of 2/C₆₀ (13.7 ± 1.4 M ^?1)_. The formation of the 1:1 binding complexes 2/C₆₀ and 3/C₆₀ was also confirmed by MALDI-TOF mass spectrometry. Theoretical calculations suggest that 2 and 3 have appropriate cavities to embrace C₆₀. These findings indicate that not only the π/π interaction between the fluorene moieties and the C₆₀ surface but also the CH/π interaction between the octyl groups and the C₆₀ surface serve efficiently in the supramolecular complexation with C₆₀.     

The effect of small dose of topiroxostat on serum uric acid in patients receiving hemodialysis

Introduction : Topiroxostat, a recently developed xanthine oxidase inhibitor, is expected to have fewer adverse effects than allopurinol because it has different mechanism of action from alloprinol. However, its dosage, usage and safety have not been established in patients with impaired renal function or those undergoing dialysis at the development since no studies was conducted in these patients. Methods : Cross over clinical trial using 3 months of allopurinol and topiroxostat on 27 maintain Japanese HD patients were carried out. The effects on oxidative stress status of both drugs were also evaluated by measuring oxidation reduction potential. Findings : Twenty‐five of twenty‐seven patients completed study. The mean serum uric acid levels in the topiroxostat‐treated arm was significantly lower than it in the allopurinol‐treated arm time‐dependently (P < 0.0001). Corrected oxidative stress ratio defined as biological antioxidant potential/diacron reactive oxygen metabolites was significantly increased in topiroxostat‐arm (*P = 0.0035), but not in allopurinol‐arm (P = 0.1429). No significant difference was seen in diacron reactive oxygen metabolites, biological antioxidant potential, static oxidation‐reduction potential, and capacity oxidation‐reduction potential between pre and post treatment of both drugs. Discussion : It is suggested that a low dose of topiroxostat decreased serum uric acid sufficiently to maintain it below 7.0 mg/dL in patients receiving hemodialysis.     

Effect of Vacuum Heat Treatment on Electron-Beam-Irradiation-Cured Polycarbosilane Fibers

Electron-beam-cured polycarbosilane fibers were heat-treated at 673–1773 K in a tube evacuated to 1.3 × 10⁻¹ Pa and then exposed at 1873 K in argon. The effect of vacuum heat treatment on improving the high-temperature stability of low-oxygen SiC fibers was investigated by examining gas evolution, grain growth, surface composition, tensile strength, and morphology. The fibers heat-treated at <1173 K lost strength, because of the vigorous generation of residual hydrogen. A minute amount of oxygen in the atmosphere caused the active oxidation of SiC during heat treatment at >1673 K, resulting in severe strength degradation for the as-heat-treated fibers. Vacuum heat treatment at 1573 K provided the best characteristics in low-oxygen SiC fibers.     

Pore structure of carbons coated on ceramic particles

Pore structure of carbon coated on ceramic particles by carbonization of precursor in a powder mixture at 900 °C was studied by focusing on the effects of substrate ceramics (MgO, TiO₂ and various phases of Al₂O₃) and of carbon precursor (poly(vinyl alcohol) (PVA), poly(ethylene terephthalate) (PET) and hydroxyl propyl cellulose (HPC)). By dissolving substrate MgO particles, carbon coated was found to have a high BET surface area, more than 1000 m²/g, which was almost the same as the value estimated from apparent surface area measured on carbon-coated MgO particles under the assumption of zero surface area of the substrate. The carbon separated was found to be rich in micropores from the analyses by DFT method and α_s plot. The dependence of the BET surface area on the amount of carbon coated on TiO₂ with a high surface area was the same for three carbon precursors, although the carbon yields from the precursors were slightly different. Porous Al₂O₃ substrates, γ-Al₂O₃as-received and that formed from Al(OH)₃ during carbonization, gave a high BET surface area, but dense Al₂O₃, α-Al₂O₃, gave a low surface area.     

A diagnostic method based on RVM (return voltage measurement) for condenser bushings with oil–paper insulation systems

The bushing of a transformer is one part of the transformer system, but is as vital as the transformer itself because it forms a part of the main circuit. Deterioration and abnormal condition of the bushing possibly cause its destruction, shortage of the main circuit to the Earth, and fire in the systems, so that diagnosis of the bushings is thus very important. At present, mainly visual inspection from outside of the bushing is carried out. Inspection of the inside condition of the bushing by dissolved gas analysis of the inside oil is done only as sampling for selected bushings because it is difficult due to the sealed construction of the bushings. Therefore, a simple diagnostic method for bushings has been expected for a long time. In Eastern Europe, the RVM (Return Voltage Measurement) method based on scanning the polarization spectra was applied to the oil–paper insulation systems inside the transformer as a diagnostic method. In this paper we investigate theoretically the principle of the RVM method applied to bushings with the same oil–paper insulation systems as the transformer by using the equivalent circuit, and the possibility of using this novel diagnostic method for condenser‐type bushings is demonstrated by a model experiment. © 1999 Scripta Technica, Electr Eng Jpn, 130(1): 21–29, 2000     

Ultrafast deposition of microcrystalline silicon films using high-density microwave plasma

For fast deposition of microcrystalline silicon (μc-Si:H) films, a microwave-induced high-density plasma source is developed. By using this plasma source, highly crystallized μc-Si:H films can be deposited from SiH₄+He plasma without even using H₂ dilution and substrate heating. A systematic deposition study shows that the film deposition rate increases with increase in the input microwave power and the SiH₄ flow rate. The film crystallinity also improves with power but degrades with increase in the SiH₄ flux. After optimizing the plasma conditions, the deposition of a highly crystallized μc-Si film has been realized at an ultrafast deposition rate higher than 700 nm/s.