Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

Multiresidue method for pesticides and veterinary drugs in bovine milk using GC/MS and LC/MS/MS

A simple, sensitive and selective method with gas chromatography/mass spectrometry (GC/MS) and liquid chromatography/tandem mass spectrometry (LC/MS/MS) has been developed to detect 342 pesticides and veterinary drugs contaminating bovine milk at the maximum residue limits (MRLs) defined in the "positive list system". Sample preparation was performed by extracting the analytes with acetonitrile, followed by salting-out with sodium chloride. For some pesticides, the extract was further cleaned up by n-hexane partitioning and PSA cartridge column chromatography. GC/MS-EI or -NCI was used to determine pesticide residues, while LC/MS/MS-ESI was applicable to the determination of pesticide and veterinary drug residues. The variation of the recoveries of these drugs at MRL was relatively wide; however the relative standard deviations of the recovery of each drug were within 28%, suggesting that the present method is good enough for use as a screening test for contaminants at the MRLs. These results show that this method is useful for multiresidue analysis of numerous pesticides and veterinary drugs in bovine milk.     

STEAM DRYING OF SINTERED SPHERES OF GLASS BEADS

ABSTRACT

Superheated steam drying of sintered spheres of glass beads with different diameters is investigated to reveal the effects of the gravitational force on drying rates. In a previous study, the drying rate curves of small samples with coarse glass beads in which the frictional resistance to flow of water and the effect of the gravitational force are negligible, were predicted by an evaporation zone model.In the present investigation, the drying rate curves of sintered spheres of glass beads with diameters ranging from 1.53×10^-2m to 4.99×lO^-2m are experimentally and theoretically obtained, and also the capillary pressure curves are measured by use of Haines' apparatus. The drying rate curves of large samples in which the effect of the gravitational force can not be negligible, are compared with those for small samples and the difference among these curves is discussed in terms of the moisture distributions which are estimated from the evaporation zone model with the observed capillary pressure curves.     

Synthesis of Dense Lead Titanate Ceramics with Submicrometer Grains by Spark Plasma Sintering

Dense PbTiO₃ ceramics consisting of submicrometer-sized grains were prepared using the spark-plasma-sintering (SPS) method. Hydrothermally prepared PbTiO₃ (0.1 μm) was used as a starting powder. The powder was densified to ≳98% of the theoretical X-ray density by the SPS process. The average grain size of the spark-plasma-sintered ceramics (SPS ceramics) was ≲1 μm, even after sintering at 900°–1100°C, because of the short sintering period (1–3 min). The measured permittivity of the SPS ceramics showed almost no frequency dependence over the range 10¹–10⁶ Hz, mainly because pores were absent from the ceramics. The coercive field of the SPS ceramics was somewhat higher than that of conventionally sintered ceramics, which could be attributed to the small-grained microstructures of the SPS ceramics.     

Flow characteristics of a small moving bed downcomer with an orifice under negative pressure gradient

Behaviour of gas-solid mixtures in a small moving bed downcomer operating under negative pressure gradient has been investigated experimentally, because flow characteristics in a downcomer are important factors in powder handling processes, such as a multi-stage spouted bed or a circulating fluidized bed. In this study, a small downcomer in which the moving bed height could be controlled was employed with the intention of using a downcomer as a connecting tube in a multi-stage spouted bed. Based on experimental observation, the moving bed flow changed from smooth flow (Region(I)) to slip-stick flow (Region(II)) and then changed from slip-stick flow to intermittent flow (Regime(III)), as the gas pressure gradient in the downcomer was increased. In this study, the critical point for steady-state (Region(I)) operation was also examined experimentally and theoretically, by using eight kinds of solid particles (Geldart B, D and A powders) and six different orifice sizes which were used to restrict solids flow at the base of the downcomer. As a result, a correlation of solids flow rate in the stable moving bed downcomer under negative pressure gradient was derived and the critical point between stable and unstable flow was explained by the proposed model.     

MiR-10a in Pancreatic Juice as a Biomarker for Invasive Intraductal Papillary Mucinous Neoplasm by miRNA Sequencing

New biomarkers are needed to further stratify the risk of malignancy in intraductal papillary mucinous neoplasm (IPMN). Although microRNAs (miRNAs) are expected to be stable biomarkers, they can vary owing to a lack of definite internal controls. To identify universal biomarkers for invasive IPMN, we performed miRNA sequencing using tumor-normal paired samples. A total of 19 resected tissues and 13 pancreatic juice samples from 32 IPMN patients were analyzed for miRNA expression by next-generation sequencing with a two-step normalization of miRNA sequence data. The miRNAs involved in IPMN associated with invasive carcinoma were identified from this tissue analysis and further verified with the pancreatic juice samples. From the tumor-normal paired tissue analysis of the expression levels of 2792 miRNAs, 20 upregulated and 17 downregulated miRNAs were identified. In IPMN associated with invasive carcinoma (INV), miR-10a-5p and miR-221-3p were upregulated and miR-148a-3p was downregulated when compared with noninvasive IPMN. When these findings were further validated with pancreatic juice samples, miR-10a-5p was found to be elevated in INV (p = 0.002). Therefore, three differentially expressed miRNAs were identified in tissues with INV, and the expression of miR-10a-5p was also elevated in pancreatic juice samples with INV. MiR-10a-5p is a promising additional biomarker for invasive IPMN.     

Out-of-Plane Negative Magnetoresistance of Bi2Sr1.6La0.4CuO6+δ Single Crystals in the Underdoped Region

In order to investigate a relationship between the carrier concentration and negative magnetoresistance in the underdoped region, we have performed out-of-plane electrical resistivity measurements for underdoped Bi ₂ Sr _1.6 La _0.4 CuO ₆₊ single crystals. Giant negative magnetoresistance has been observed in the most abundant carrier sample with = 0.12 in our experiment. The negative magnetoresistance reduces with decreasing carrier concentration.     

How to Observe Quantum Fieldsand Recover Them From Observational Data? — Takesaki Duality as a Micro-Macro Duality

On the basis of the mathematical notion of “micro-macro duality” for understanding mutual relations between microsopic quantum systems (micro) and their macroscopic manifestations (macro) in terms of the notion of sectors and order parameters, a general mathematical scheme is proposed for detecting the state-structure inside of a sector through measurement processes of a maximal abelian subalgebra of the algebra of observables. For this purpose, the Kac-Takesaki operators controlling group duality play essential roles, which naturally leads to the composite system of the observed system and the measuring system formulated by a crossed product. This construction of composite systems will be shown to make it possible for the micro to be reconstructed from its observational data as macro in the light of the Takesaki duality for crossed products.     

Application of a chromium‐free photoresist to CRT screen processing

In 1998, Toyo Gosei Co. published a paper on the development of a new water‐soluble photopolymer of high sensitivity, PVA‐ARBB. In close co‐operation with LG. Philips Displays, the new material was further developed to be applicable in patterning the phosphor layer of a CRT screen. The new material shows about 3 times higher light sensitivity, gives 4–5% higher luminance, has no dark reaction, and is chromium‐free. It is the first chromium‐free photoresist used for phosphor patterning in CRT mass production. A comparison is presented between the conventional resist and the new resist. A survey is given of the most important process conditions.     

Microscopic image restoration based on tensor factorization of rotated patches

In microscopic image processing for analyzing biological objects, structural characters of objects such as symmetry and orientation can be used as a prior knowledge to improve the results. In this study, we incorporated filamentous local structures of neurons into a statistical model of image patches and then devised an image processing method based on tensor factorization with image patch rotation. Tensor factorization enabled us to incorporate correlation structure between neighboring pixels, and patch rotation helped us obtain image bases that well reproduce filamentous structures of neurons. We applied the proposed model to a microscopic image and found significant improvement in image restoration performance over existing methods, even with smaller number of bases.