Nonlinear adaptive control system design and experiment for a 3-DOF model helicopter

This paper deals with model following control of a model helicopter with three degree-of-freedom. Since the decoupling matrix is singular, a nonlinear structure algorithm is used to design the controller. Furthermore, since the model dynamics are described linearly by unknown system parameters, a well-known parameter estimation technique is introduced. The integral type of estimation model is proposed here since the use of the derivative type of model cannot obtain the desired estimation result. The experimental results show the effectiveness of the proposed method. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Inchworm robot grippers for clothes manipulation

Manipulating deformable objects like clothes, plastic, and paper by a robot is very challenging. This paper focuses on clothes manipulation as an example. A tracing manipulation method is used here to find a corner of the clothes. In this paper, tracing refers to tracing the clothes’ edge, with the robot’s movement based on feedback from sensors. One difficulty during this edge tracing is to make the robot trace smoothly and speedily without dropping the clothes in the process. This is due to the fact that deformable objects are sensitive to contact forces. A solution to this problem is to design a special robot gripper that can trace the clothes without having to worry about the clothes slipping away. In this paper, the development of inchworm-type grippers is proposed. Two sets of grippers inside a robot hand will allow the robot to trace the clothes more freely because there will always be a gripper firmly holding the clothes at any time. A unique tracing method for towel spreading using the inchworm grippers is also discussed. Experimental results have demonstrated the effectiveness of both the proposed grippers and also the algorithm. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

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.     

Japanese/English Cross-Language Information Retrieval: Exploration of Query Translation and Transliteration

Cross-language information retrieval (CLIR), where queriesand documents are in different languages, has of late become one ofthe major topics within the information retrieval community. Thispaper proposes a Japanese/English CLIR system, where we combine aquery translation and retrieval modules. We currently target theretrieval of technical documents, and therefore the performance of oursystem is highly dependent on the quality of the translation oftechnical terms. However, the technical term translation is stillproblematic in that technical terms are often compound words, and thusnew terms are progressively created by combining existing basewords. In addition, Japanese often represents loanwords based on itsspecial phonogram. Consequently, existing dictionaries find itdifficult to achieve sufficient coverage. To counter the firstproblem, we produce a Japanese/English dictionary for base words, andtranslate compound words on a word-by-word basis. We also use aprobabilistic method to resolve translation ambiguity. For the secondproblem, we use a transliteration method, which corresponds wordsunlisted in the base word dictionary to their phonetic equivalents inthe target language. We evaluate our system using a test collectionfor CLIR, and show that both the compound word translation andtransliteration methods improve the system performance.     

The influence of carboxylate ions on the growth of β-FeOOH particles

Colloidal -FeOOH particles were produced by hydrolysis of FeCl₃ solutions doped with varied amounts of formate, lactate, oxalate, tartarate, pyromellitate and EDTA ions at 100 °C. The resulting particles were characterized by X-ray diffraction, transmission electron microscopy, thermogravimetric-differential thermal analysis, Fourier transform-infrared spectroscopy, elemental analysis, and the adsorption of nitrogen and water. With increasing concentration of added carboxylate ions, the mean modal size of the particles formed increased at low concentrations and decreased after passing the maximum. The crystallite sizes also revealed a maximum on adding EDTA, oxalate and lactate ions, while they monotonically decreased with the addition of other ions. Doping with tartarate and pyromellitate ions by more than 7 and 10 mol%, respectively, produced amorphous particles containing a large amount of these ions. The particles formed with 20 mol% tartarate ions adsorbed water selectively.     

Helium gas permeability of montmorillonite/epoxy nanocomposites

Helium gas permeability of silicate clay (montmorillonite) particles/epoxy nanocomposites was examined. The incorporation of increasing amounts of montmorillonite particles reduced the helium gas permeability. Based on Fick’s law, gas permeation behavior of the nanocomposite was evaluated. With the increase of montmorillonite loading, gas diffusivity decreased, while gas solubility increased. Helium diffusion behavior is in agreement to the numerical results based on the Hatta–Taya–Eshelby theory. It has been revealed that dispersion of nanoscale platelets in polymer is effective in improving gas barrier property.     

Effect of heparin on high glucose induced proliferation and expression of matrix metalloproteinases in normal human mesangial cells

Background The pathogenesis of diabetic nephropathy (DN) is a complex pathophysiological process. Its precise mechanism is not fully known. In recent years it has been recognized that synthesis of various extracelluar matrix (ECM) components may increase, and that degradation of ECM may decrease in DN. It was reported heparin could inhibit mesangial cells proliferation in vitro. The main aim of this study is to explore whether heparin inhibits proliferation of mesangial cells grown in high glucose concentration and to measure the effect of heparin on matrix metalloproteinases (MMPs) expression in mesangial cells. Methods The medium contained either low glucose (5 mmol/L) or high glucose (25 mmol/L). The concentrations of heparin in the culture medium were 0, 25, 50, 100, 200 or 400 μg/mL. A metabolic (WST-1) assay was used to measure mesangial cell proliferation and Western blot analysis was used to measure MMPs expression of mesangial cells. Results Normal human mesangial cell (NHMC) proliferation was higher in high glucose (HG) medium than in low glucose (LG) medium. They showed a 1.93 fold expansion after 72 h in high glucose in contrast to a 1.63 fold expansion in low glucose. In the presence of heparin, mesangial cells proliferation was inhibited, which was more obvious at high glucose concentrations than at low glucose concentrations. In high glucose, with heparin concentration of 50, 100, 200 and 400 μg/mL, the mesangial cells showed a 0.61 fold, 0.52 fold, 0.52 fold and 0.41 fold reductions in cell number compared to cells grown without heparin. In low glucose, only concentrations of 200 μg/mL and 400 μg/mL showed reduction in cell number, namely 0.54 fold and 0.45 fold, when compared to cells grown without heparin. In Western blot analysis, MMP₁, MMP₂, MMP₃ and MMP₉ was expressed by mesangial cells expressed in both high and low glucose concentrations, which was more prominent in high glucose medium. Incubation of heparin further increased expression of MMP₁, MMP₂, MMP₃ and MMP₉. Conclusions This study suggests that glucose can accelerate mesangial cell proliferation while heparin can reduce proliferation, being more obvious at high glucose concentrations. Higher glucose concentrations led to increased MMP expression, which may take part in the regulation of mesangial matrix synthesis and degradation. Addition of heparin resulted in a corresponding increase in MMP expression, most notably at high glucose concentrations, indicating a potentially renoprotective role in DN. Foundation item: Project (30370663) supported by the National Natural Science Foundation of China     

Ion-velocity dependence of high-density electronic excitation effects in oxide superconductors

Thin films of EuBa₂Cu₃O_y oxide superconductor have been irradiated with high energy heavy ions (80 MeV I, 125 MeV Br, 1.1 GeV Mo and 3.5 GeV Xe) having same electronic stopping power, S_e, in order to investigate the ion-velocity dependence of the electronic excitation effects under the constant electronic energy deposition. Although S_e is constant, a strong reduction in the irradiation effect on lattice parameter with increasing ion-velocity is observed in the low ion-velocity region around E  1 MeV/nucleon, while the ion-velocity dependence is hardly observed in the high ion-velocity region of E > 10 MeV/nucleon. If the observed velocity-dependence is assumed to be due to the change in the fraction of S_e contributing to defect creation, the fraction in the low velocity region (E  0.6 MeV/nucleon) is estimated to be about two times larger than that in the high velocity region (E > 10 MeV/nucleon).     

Small PWRs using coated particle fuel for district heating, PFPWR50

It has been said that nuclear energy is an important option for especially developing countries to satisfy their increasing energy demand. However, it will be difficult to deploy first of a kind nuclear power plant in developing countries because extensive safety demonstration has to be conducted in industrialized countries. On the other hand, it will be essential to present rigid proof of reliable operational experience to develop proper understanding of the safety features of new reactor systems among the people around the demonstration plant sites. One of the ways to solve the issue is to integrate existing technologies supported by a great deal of data and experience into a new reactor design. Based on the consideration, a small-sized district heating reactor system based on the pressurized water reactor (PWR) technologies combined with the fuel concept of high temperature gas cooled reactors (HTGRs) has been studied. The purpose of the combination of these two existing concepts is to take the best advantages of both excellent operational experience of PWRs and the integrity of HTGR fuel, coated particle fuel, against fission products release even at high temperature. We expect that this approach will help create a breakthrough to the current stagnation of nuclear power deployment.     

Narrow-beam divergence 1.3-μm multiple-quantum-well laser diodeswith monolithically integrated tapered thickness waveguide

This paper describes the optimum design, fabrication, and performance of a 1.3-μm multiple-quantum-well (MQW) laser diode monolithically integrated with a tapered thickness spot-size transformer. The dependence of the lasing characteristics on the thickness distribution of the core layer and on the current injection profile of the device were analyzed. This integrated laser with its optimized structure performed at a low threshold current of 22.2 mA, even at 85°C. The integrated spot-size transformer effectively reduced the lateral and vertical far-field FWHM's to 8° and 9°, respectively. A very long lifetime of over 1×10⁵ h was estimated at 85°C and 8 mW under CW operation