Dynamic compensation by fusing a high-speed actuator and high-speed visual feedback with its application to fast peg-and-hole alignment

This paper presents a dynamic compensation concept to grapple with the dynamic defects of a traditional robot arm, especially while performing high-speed endpoint regulations. The proposed high-speed dynamic compensation concept offers a new point of view for cooperating with a traditional manipulator to realize highly dexterous performance of manipulations. The concept is realized through adoption of a high-speed light-weight actuator as well as endpoint closed loop configured high-speed cameras. The dynamic compensation is analyzed experimentally with 1000 Hz visual feedback and a high-speed finger for a robot arm in the case of one degree of freedom. The advantage of the proposed approach is that the modeling for the robot system’s dynamics is not needed, whereas it is necessary and trivial in order to realize high-speed regulations by traditional approaches. Thus, the control issue becomes easier with the proposed approach. As an application for this concept, fast peg-and-hole alignment with large position and attitude uncertainty is studied. The alignment algorithm is based on a visual compliance strategy. Alignment experiments show that with the proposed concept of dynamic compensation as well as visual compliant motion control, robust and fast convergence was realized for most cases.     

Synthesis of well-defined poly(styrene)-b-poly(p-tert-butoxystyrene) multiblock copolymer from poly(alkoxyamine) macroinitiator

The stepwise insertion reaction of styrene (St) and p-tert-butoxystyrene (BOSt) into poly(alkoxyamine) macroinitiator was carried out to provide well-defined poly(St)-b-poly(BOSt) multiblock copolymers. Structural confirmation of the multiblock copolymers was accomplished by NMR and IR measurements. The model reaction also supported that the monomer insertion into the macroinitiator proceeded in accordance with a living fashion.     

The reaction of polypropylene with maleic anhydride

An addition reaction of maleic anhydride with polypropylene takes place in the presence of radical reagents or sunlight. The initial rate of the reaction was proportional to the concentration of polypropylene and maleic anhydride, and one-half power of the concentration of the radical reagents. The increase in the temperature from 80 to 120°C increased the rate of the reaction and di-cumyl peroxide was effective as a radical reagent for this reaction. Ionic crosslinked rubber-like polymers were obtained from the reaction of maleic polypropylene with some alkali metal compounds. They showed the characteristic absorption band due to ? COO^? in their infrared spectra.     

New type of tin support for hydroprocessing catalyst

TiN supported molybdenum sulfide catalysts showed much higher activity for cleavage of C-C bonds than oxide supported molybdenum sulfide catalysts, indicating the possibility of a new generation of supports for hydroprocessing catalysts.     

Critical temperature for production of MAG by esterification of different FA with glycerol using <Emphasis Type="Italic">Penicillium camembertii</Emphasis> lipase

Production of MAG by a lipase-catalyzed reaction is known to be effective at low temperature. This phenomenon can be explained by assuming that synthesized MAG are excluded from the reaction system because MAG, which have low m.p., are solidified at low temperatures. Consequently, MAG are efficiently accumulated and do not serve as the precursor of DAG. If this hypothesis is correct, the critical temperature for MAG production, defined as the highest temperature at which DAG synthesis is repressed, should depend on the m.p. of the MAG. Esterification of FFA with glycerol using Candida rugosa, Rhizopus oryzae, and Penicillium camembertii lipases produced MAG efficiently at low temperatures. However, Candida lipase showed very low esterification activity at high temperatures (>20°C), and Rhizopus lipase produced not only MAG but also DAG even at low temperatures. Meanwhile, P. camembertii lipase catalyzed synthesis of MAG only from FFA and glycerol at low temperatures, although the enzyme catalyzed synthesis of DAG from MAG in addition to synthesis of MAG at high temperatures. We thus studied the effect of temperature on esterification of C₁₀−C₁₈ FFA with glycerol using Penicillium lipase as a catalyst and determined the critical temperatures for production of MAG. The critical temperature for production of each MAG showed a linear correlation with m.p. of the MAG, which supported the hypothesis. In addition, because the m.p. of MAG are estimated from that of the constituent FA, the optimal temperature for production of MAG can be predicted from the m.p. of the FFA used as a substrate.     

Heterogeneous nucleation of organic vapours on a cold substrate

The heterogeneous phase transition of the organic vapours, cyclohexane and p-xylene, on a cold substrate was observed by cooling the substrate at a slow rate under reduced pressure conditions. Either organic vapour at a vapour pressure lower than 130 Pa formed directly solid crystals but p-xylene vapour at a higher vapour pressure formed liquid condensates with subsequent formation of solid crystals. The dependence of the critical supersaturation ratios on the critical temperatures and the physical properties of the organic vapours has been clarified by the equation derived on the basis of classical nucleation theory.     

Fractionation and enrichment of CLA isomers by selective esterification with Candida rugosa lipase

A commercial product of CLA contains almost equal amounts of cis-9,trans-11 (c9,t11)-CLA and trans-10,cis-12 (t10,c12)-CLA. We attempted to enrich the two isomers by a two-step selective esterification using Candida rugosa lipase that acted on c9,t11-CLA more strongly than on t10,c12-CLA. An FFA mixture containing CLA isomers was esterified with an equimolar amount of lauryl alcohol in a mixture of 20% water and the lipase. When the esterification of total FA reached 50%, two isomers were fractionated in a good yield: t10,c12-CLA was enriched in FFA, and c9,t11-CLA was recovered in lauryl esters. The FFA were esterified again to enrich t10,c12-CLA. At 27.3% esterification of total FA, the t10,c12-CLA content in FFA increased to 64.8 wt% with 89.3% recovery: The ratio of the content of t10,c12-CLA to that of two isomers was 95.9%. Lauryl esters obtained by the single esterification were employed for enrichment of c9,t11-CLA. After the esters were hydrolyzed, the resulting FFA were esterified again with lauryl alcohol. At 62.0% esterification of total FA, the c9,t11-CLA content in lauryl esters increased to 73.3 wt% with 79.4% recovery: The ratio of the content of c9,t11-CLA to that of two isomers was 95.6%. In a 600-g-scale purification, molecular distillation was effective in separating the reaction mixture into lauryl alcohol, FFA, and lauryl ester fractions.     

Development of a high‐resolution RGBW flexible display using a white organic light‐emitting diode with microcavity structure and that of a side‐roll touch panel

In this study, white organic electroluminescent devices with microcavity structures were developed. A flexible high‐resolution active‐matrix organic light‐emitting diode display with low power consumption using red, green, blue, and white sub‐pixels formed by a color‐filter method was fabricated. In addition, a side‐roll touch display was developed in combination with a capacitive flexible touch screen.     

Drying characteristics of porous material immersed in a bed of hygroscopic porous particles fluidized under reduced pressure

A relatively large wet material was immersed in a fluidized bed of hygroscopic porous particle (silica gel beads) under reduced pressure. And then the drying characteristics were compared with those in the case of inert particle (glass beads). The comparison of drying characteristics is performed experimentally and theoretically. In calculation, the water transfer from the sample to the fluidized bed was considered. The calculation results are in good agreement with the experimental data. The effects of the operational conditions (the pressure in the drying chamber and the temperature of the drying gas) on the drying characteristics were also examined in both fluidizing particles.The drying finishes earlier in the case of hygroscopic porous particle than in the case of inert particle regardless of pressure in the drying chamber, since the water transfer from the sample facilitates the drying in the case of hygroscopic porous particles. The temperature decrement in drying appears in the case of inert particle. This phenomenon is also observed in the case of hygroscopic porous particle, but the decrement degree of the temperature is much smaller than that in the case of inert particle. The difference of the minimum temperature in the sample in drying between the cases of hygroscopic porous particle and inert particle is very slight for different pressures in the drying chamber.     

Simultaneously improved solid particle erosion resistant and strength of graphene nanoplates/carbon nanotube enhanced thermoplastic polyurethane films

Up to now, it is a major challenge to protect leading edge of the blades from solid particle erosion. Herein, we propose a structure optimization strategy to fabricate non-woven (NW) enhanced thermoplastic polyurethane nanocomposite films (thermoplastic polyurethane [TPU] - NW@G/C_x) with “sandwich - like” structure by hot pressing technology. TPU NW/graphene nanoplates/carbon nanotube (NW@G/C_x) interlayer film were first fabricated by spraying method. Then the interlayer film was laminated between TPU films to fabricate nanocomposite films. Such prepared TPU - NW@G/C_x film shows excellent solid particle erosion resistance and high-tensile strength. For example, the “steel-and-mortar” structure of NW fabric in TPU film results in high-tensile strength of 45 MPa and storage modulus of 21.2 MPa for TPU - NW@G/C_1.0, increasing by 25% and 171% compared with original TPU film (35 MPa, 8 MPa), respectively. In addition, compared with pure TPU film, the “sandwich - like” structure endows TPU - NW@G/C_1.2 with excellent solid particle erosion resistance and the thermal conductivity (0.251 W/m·K). These superior properties extends application of the TPU - NW@G/C_x film on wind turbine blades.