Digital RAC with a disturbance observer for underwater vehicle-manipulator systems

Most control methods of underwater vehiclemanipulator systems (UVMS) are based on the computed torque method that is used for underwater robotic vehicles. We have proposed a resolved acceleration control (RAC) method for UVMS. In this article, we propose a disturbance compensation control method for both vehicle and manipulator based on the RAC method. Experimental results using an underwater robot with a vertical planar 2-link manipulator show that the proposed control method has good control performance.     

An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft

This paper deals with a motion control system for a space robot with a manipulator. Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system. In order to measure them, a visual sensor using a camera is frequently used. However, there are two difficulties in measuring them by means of a camera. The first one is that a camera is mounted on the robot body, and hence it is difficult to directly measure the position of the robot body by means of it. The second one is that the sampling period of a vision system with a general-purpose camera is much longer than that of a general servo system. In this paper, we develop an adaptive state observer that overcomes the two difficulties. In order to investigate its performance, we design a motion control system that is constructed by combining the observer with a PD control input, and then conduct numerical simulations for the control system. Simulation results demonstrate the effectiveness of the proposed observer.     

Optimally designing caches to reduce P2P traffic

Traffic caused by P2P services dominates a large part of traffic on the Internet and imposes significant loads on the Internet, so reducing P2P traffic within networks is an important issue for ISPs. In particular, a huge amount of traffic is transferred within backbone networks; therefore reducing P2P traffic is important for transit ISPs to improve the efficiency of network resource usage and reduce network capital cost. To reduce P2P traffic, it is effective for ISPs to implement cache devices at some router ports and reduce the hop length of P2P flows by delivering the required content from caches. However, the design problem of cache locations and capacities has not been well investigated, although the effect of caches strongly depends on the cache locations and capacities. We propose an optimum design method of cache capacity and location for minimizing the total amount of P2P traffic based on dynamic programming, assuming that transit ISPs provide caches at transit links to access ISP networks. We apply the proposed design method to 31 actual ISP backbone networks and investigate the main factors determining cache efficiency. We also analyze the property of network structure in which deploying caches are effective in reducing P2P traffic for transit ISPs. We show that transit ISPs can reduce the P2P traffic within their networks by about 50-85% by optimally designing caches at the transit links to the lower networks.     

Compact electrostatic levitator for diffraction measurements with a two axis diffractometer and a laboratory x-ray source

A compact electrostatic levitator was developed for the structural analysis of high-temperature liquids by x-ray diffraction methods. The size of the levitator was 200 mm in diameter and 200 mm in height and can be set up on a two axis diffractometer with a laboratory x-ray source, which is very convenient in performing structural measurements of high-temperature liquids. In particular, since the laboratory x-ray source allows a great amount of user time, preliminary or challenging experiments can be performed with trial and error, which prepares and complements synchrotron x-ray experiments. The present small apparatus also provides the advantage of portability and facility of setting. To demonstrate the capability of this electrostatic levitator, the static structure factors of alumina and silicon samples in their liquid phases were successfully measured.     

Variational Bayes solution of linear neural networks and its generalization performance

It is well known that in unidentifiable models, the Bayes estimation provides much better generalization performance than the maximum likelihood (ML) estimation. However, its accurate approximation by Markov chain Monte Carlo methods requires huge computational costs. As an alternative, a tractable approximation method, called the variational Bayes (VB) approach, has recently been proposed and has been attracting attention. Its advantage over the expectation maximization (EM) algorithm, often used for realizing the ML estimation, has been experimentally shown in many applications; nevertheless, it has not yet been theoretically shown. In this letter, through analysis of the simplest unidentifiable models, we theoretically show some properties of the VB approach. We first prove that in three-layer linear neural networks, the VB approach is asymptotically equivalent to a positive-part James-Stein type shrinkage estimation. Then we theoretically clarify its free energy, generalization error, and training error. Comparing them with those of the ML estimation and the Bayes estimation, we discuss the advantage of the VB approach. We also show that unlike in the Bayes estimation, the free energy and the generalization error are less simply related with each other and that in typical cases, the VB free energy well approximates the Bayes one, while the VB generalization error significantly differs from the Bayes one.     

Structural and hydration properties of amorphous tricalcium silicate

Mechanical milling was carried out to synthesize amorphous tricalcium silicate (Ca₃SiO₅) sample, where Ca₃SiO₅ is the most principal component of Portland cement. The partial phase transformation from the crystalline to the amorphous state was observed by X-ray and neutron diffractions. Moreover, it was found that the structural distortion on the Ca-O correlation exists in the milled Ca₃SiO₅. The hydration of the milled Ca₃SiO₅ with D₂O proceeds as follows: the formation of hydration products such as Ca(OD)₂ rapidly occurs in the early hydration stage, and then proceeds slowly after about 15 h. The induction time for the hydration of the milled Ca₃SiO₅ is approximately one half shorter than that for the hydration of the unmilled one. This result means that the mechanical milling brings about the chemical activity of Ca₃SiO₅ for hydration, and may be particularly useful for increasing the reactivity in the early hydration stage.     

Generated output increase control with consideration of the influence of wake for wind farm

Presently, many wind turbine generators (WTGs) are connected to the power grid. While the penetration of wind power to the power system is increasing, FIT price is decreasing. Therefore, wind generation companies want to increase the electric power output from wind farms (WFs). In this article, we propose a control technique to reduce the influence of the wake by changing a power coefficient of each WTG in a WF for the purpose of improving electric power output of WFs. We showed the optimization technique of a power coefficient of each WTG and the effect of reducing the influence of the wake using measurement data from WFs. In addition, we formulated the wake effect as a function of distance between WTGs. We verified 1% improvement of generated energy in a year compared to the conventional control method by simulation. Furthermore, we quantified the improvement of generated energy output, using the distance between WTGs and the occurrence rate of the direction of the wind as a variable.     

Preparation and Intestinal Immunostimulating Activity of Low Molecular Weight Alginate from Saccharina (Laminaria) Species in Japan

We studied the structure of alginates extracted from five commercial Saccharina (Laminaria) species including three varieties (eight samples in all) harvested in Hokkaido, Japan. The algae used were Saccharina japonica, S. japonica var. diabolica, S. japonica var. ochotensis, S. japonica var. religiosa, S. longissima, S. coriacea, S. angustata, and S. sculpera (Kjellmaniella crassiforia). These alginates have molar fractions of mannuronic acid (F_M) ranging from 0.68 to 0.76 and weight average molecular weights (M_ws) ranging from 511,000 to 616,000. Alginate samples from both S. angustata (F_M = 0.76) and S. longissima (F_M = 0.68) showed intestinal immunological activity through Peyer’s patch cells of C3H/HeJ mice. Low molecular weight S. angustata alginate (F_M = 0.75, M_w = 70,000) degraded using a wet pulverizing system showed higher activity than the native one.     

Reduction of Vibration in Concentrated Winding Permanent Magnet Synchronous Motor by Means of Skew Effects of Rotor

Global warming and the problem of successfully incorporating environmental safeguards are promoting the need for a more power‐efficient motor. Therefore, as a driving source, permanent magnet synchronous motors (PMSMs) with concentrated winding are widely used in a variety of fields. However, a PMSM with a concentrated winding generates more vibration than one with a distributed winding because of the radial electromagnetic force. This paper describes the effect of a new skewed rotor on the characteristics of a concentrated winding PMSM. We investigated this effect by three‐dimensional finite element method (3D FEM) analysis and measurement. We also demonstrate that the proposed rotor is effective in reducing the radial electromagnetic force without decreasing motor efficiency. © 2014 Wiley Periodicals, Inc. Electr Eng Jpn, 187(2): 33–43, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22400     

Colored amorphous silica-based powder with TiN nanocrystals precipitated by ammonolysis of Ti–Si–O ternary glass

Coloration of amorphous silica powder containing titania was investigated by nitridation in an ammonia flow. The oxide precursors were obtained by the hydrolysis of a mixture of tetraethyl orthosilicate (TEOS) and tetrabutoxy titanium (TBT). The color changed with the amount of TBT in the mixture, the hydrolysis pH and the ammonolysis temperature. The original white color of the 8 mol% TBT powder hydrolyzed under basic pH conditions changed to pale goldenrod at 700°C, then to dark olive green at 800°C, and further darkened with increasing ammonolysis temperature. A steel-blue color appeared at 900°C for the powder obtained with 3 mol% TBT, and increased in darkness at 1000°C. A similar bluish color was observed for powders obtained by acidic hydrolysis after ammonolysis above 900°C, and this was independent of the amount of titania, although the chroma decreased with increasing firing temperature for the powder with 3 mol% TBT. The ammonolysis powder products were characterized using X-ray diffraction (XRD), electron probe micro analysis (EPMA), transmission electron microscopy-electron energy-loss spectroscopy (TEM-EELS), scanning transmission electron microscopy-high-angle annular dark-field imaging (STEM-HAADF) and Ti–K edge X-ray absorption fine structure (XAFS). The color change was related to both precipitated TiN nanocrystals and residual titanium in the amorphous silica matrix. The TiN exhibited a goldish reflection and also plasmonic absorption from light blue to gray depending on the TiN crystallite size. The plasmonic absorption and resonance of nanocrystalline TiN will be useful similarly to that of gold in nanotechnology for various kinds of energy application.