Determination of porous glass surface free energy components from contact angles

The contact angles of water drops and diiodomethane drops on pellets made of controlled porosity glasses have been measured. The surface of the glasses was modified by thermal treatment at 873 K which led to an increase in the surface concentration of boron atoms. Glass modified with Carbowax 20M (polyethylene glycol) and fully hydroxylated glass have also been studied. Using the measured contact angles and modified Young equation, the dispersion and nondispersion components of the glass surface free energy have been calculated. The values show that with increasing heating time (increasing surface density of boron atoms) an increase in the surface polarity takes place. However, the polarity of the same samples decreases after treatment with Carbowax, increasingly so with higher boron atom concentrations.     

Exploration of unknown object by active touch of robot hand

This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.     

Map building method for urban gas pipelines based on landmark detection

This paper presents a map building method for an in-pipe robot to navigate inside urban gas pipelines autonomously, whose configuration is unknown or partially known. In the first, we explain the reason why the navigation in the pipeline is difficult and then, present a method for obtaining a robot’s posture by using a pipeline’s unique geometrical features. The robot can obtain its heading direction by detecting the standardized geometries of pipe elements. Based on the method, we propose a robot controller consisting of discrete and continuous controllers. The discrete controller is activated by pre-defined events and generates appropriate paths for exploration. The continuous controller receives the desired path and physically moves the robot to the desired path. The method is implemented in an in-pipe robot, called MRINSPECT-V and its effectiveness is validated.     

Development of a quadruped walking robot AiDIN-III using biologically inspired kinematic analysis

This paper presents a bio-inspired mechanism design for a quadruped walking robot. The approach is derived from the observation on the behaviors of quadruped locomotion, skeletal structure, and the study on the stability of walking based on morphological analysis. In the first, we define the design parameters such as the dimensions of the body and limbs, the center of mass position, and locomotion mechanisms based on surveys on the literatures from biologists. Then, by using the parameters, we propose an useful framework for determining the design parameters of a quadruped walking robot. For implementations, we manufacture a dog-type self-contained quadruped walking robot, named AiDIN-III (Artificial Digitigrade for Natural Environment version III) and the effectiveness of the proposed idea is validated via experimental works.     

Effect of Elastic Energy due to Atomic Size Factor on Ordering and Decomposition Behaviour of Binary Solid Solutions

A theory recently developed by the present authors is applied to the study of the effect of elastic energy due to atomic size factor on the transformation behaviour of binary solid solutions. lt is found that elastic interaction energy (EIE), which is a part of the total elastic energy plays a key role in both ordering elastic interaction ordering (EIO) and spinodal decomposition. The present study gives a reasonable explanation to the historical dilemmas, "elastic energy paradox" and "atomic size factor paradox . By solving these confusing problems, the coexistence of ordering (EIO) and decomposition, which has been regarded as impossible by conventional theories. can be well understood. The mechanism is as follows: lowering of elastic energy demands EIO, and such an ordering provides a driving force for spinodal decomposition. Therefore, in alloys with large atomic size factor, spinodal decomposition is preceded and induced by ordering. Ordering and spinodal decomposition are thus closely related processes to each other     

A hybrid observer for characterization and compensation of periodic disturbances

Usage of frequency based error correction methods for repetitive disturbances becomes popular in data storage devices that use a rotating mechanical power plant. Two distinct disturbance cancellation methods, disturbance observer (DOB) and adaptive feed forward control (AFC) are the most popular approaches used for current drive servo integration. DOB reduces error using a predetermined function that is calculated thorough a complicated process. Generally the response to disturbance and initiation of control action of DOB is relatively fast even if the amount of error reduction is limited. Meanwhile the error elimination capability of AFC for the repetitive disturbance is normally better than DOB as it utilizes a Fourier coefficients updating feature that supports an enhanced fine adaptation of a certain frequency disturbance. Of course, AFC suffers for disturbances that have neighboring close frequencies due to the inherent fundamental frequency dependencies of AFC formulation. In the present work, an attempt for combining benefits of AFC and DOB is made. This might enables control action not only to generate fast response to disturbance but also perform an accurate error rejection. This feature also provides to the closed loop system a frequency selection for enabling a strategic selective error rejection. The proposed method named Hybrid Disturbance Observer (HDOB) is compared to the traditional AFC and DOB.     

黄土包气带水分运移的现场研究

本文主要介绍在核素迁移试验现场进行的黄土包气带水分运移研究的方法和主要结果。包气带水分运移试验场建有一座 9.0 m深的负压计观测竖井和二个 2 8.0 m深的中子仪测管。分别采用 WM- 1型负压计系统和 IHiii型土壤中子水分仪测量黄土剖面的基质势和含水量。一组负压计和中子仪测管在天然条件下测量 ,连续观测 2年多 ,用于水分运移特征研究 ;另一组测量停止淹灌后的水分再分配过程 ,连续观测 7个月 ,用于非饱和渗透系数测定。结果表明 :(1)降雨入渗主要影响深度、蒸发影响深度在 1.0 m以上 ;(2 )水分运移可分为 4个带 :1.0 m深度以上为强交替带 ,含水量、水势和水势梯度随时间变化快、变幅大 ,液态水的运移比较明显 ;1.0～ 7.2 m深度上为含水量和水势随时间变化小的弱交替带 ,除黄土颗粒大小变化较大的深度处 ,一般来说 ,水势梯度方向单向向下 ,其中 :含水量和水势在 1.0～ 1.6 m深度上随时间变化较大 ,液态水的运移也比较明显 ;在 5.0～ 7.2 m深度上 ,水分变化很小 ,基本趋于稳定状态 ,液态水的运移很不明显 ,微弱的热水汽扩散显现出来 ;在 7.2～ 2 3.0 m深度上 ,含水量除在黄土 -古土壤 -钙质结核层组合交界处有变化外 ,其余则基本保持与黄土颗粒大小变化相对应的稳定状态 ,为水分运移的传递带 ;2 3.     

黄土包气带水分运移的现场研究

本文主要介绍了在核素迁移试验现场进行的黄土包气带水分运移研究的方法和主要结果。包气带水分运移试验建有一座９．０ｍ深的负压计观测竖井和二个２８．０ｍ深的中子仪测算。     

Improving Lipid Production of Yarrowia lipolytica by the Aldehyde Dehydrogenase-Mediated Furfural Detoxification

Yarrowia lipolytica, the non-conventional yeast capable of high lipogenesis, is a microbial chassis for producing lipid-based biofuels and chemicals from renewable resources such as lignocellulosic biomass. However, the low tolerance of Y. lipolytica against furfural, a major inhibitory furan aldehyde derived from the pretreatment processes of lignocellulosic biomass, has restricted the efficient conversion of lignocellulosic hydrolysates. In this study, the furfural tolerance of Y. lipolytica has been improved by supporting its endogenous detoxification mechanism. Specifically, the endogenous genes encoding the aldehyde dehydrogenase family proteins were overexpressed in Y. lipolytica to support the conversion of furfural to furoic acid. Among them, YALI0E15400p (FALDH2) has shown the highest conversion rate of furfural to furoic acid and resulted in two-fold increased cell growth and lipid production in the presence of 0.4 g/L of furfural. To our knowledge, this is the first report to identify the native furfural detoxification mechanism and increase furfural resistance through rational engineering in Y. lipolytica. Overall, these results will improve the potential of Y. lipolytica to produce lipids and other value-added chemicals from a carbon-neutral feedstock of lignocellulosic biomass.