Model predictive control for tendon‐driven balloon actuator on simulation

Many pneumatic actuators have been developed to be lightweight with high output for decreasing the impact force. However, for pneumatic actuators it is difficult to maintain exact control because these actuators have constraints. In this study, we developed model predictive control (MPC) that can accommodate these constraints when applied to the pneumatic actuator we developed. As described here, we compared and evaluated the control performance using MPC and proportional–integral–derivative (PID) control with an anti‐windup control system. © 2016 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Interaction of cyclomaltononaose (delta-CD) with several drugs.

The effects of delta-cyclodextrin (delta-CD; cyclomaltononaose) on solubility of 14 drugs that are slightly soluble or insoluble in water were studied and compared with those of conventional cyclodextrins (CDs) such as alpha-cyclodextrin (alpha-CD), beta-cyclodextrin (beta-CD), and gamma-cyclodextrin (gamma-CD). In general, delta-CD had a weak complex-forming ability with the drugs examined in comparison with beta-CD and gamma-CD. However, in the case of digitoxin, delta-CD enhanced solubility of the guest molecules. To determine the mechanism of inclusion complex formation of delta-CD with digitoxin, the interaction of both drugs was investigated by the solubility method and spectroscopic methods such as ultraviolet (UV) and 1H-NMR (nuclear magnetic resonance). The changes in chemical shift (1H) and hypsochromic shift of UV suggested that digitoxin was partially included in the cavity of delta-CD.     

Characteristic microstructure of curved human hair

Vol. 43 , No.3 (2009) pp.201–208 Hair appearance is affected by several factors, such as hair shape, color and optical properties relating to hair luster. For example, recently, we have found that meandering (curved) hair fibers increase with aging and cause the disordered alignment of hair fibers, resulting in a decrease in hair luster in older women. It is, therefore, important to understand the relationship between hair shape and its microstructure to control the fiber alignment and then the hair appearance. In this study, we have investigated the characteristic microstructure of curved human hair with microscopic methods and the following results were obtained: (i) The permeation behavior of fluorescein isothiocyanate into curved hair was asymmetrical. The permeation rate was faster from the convex‐side but slower from the concave‐side of the curved hair. This difference in permeation rate suggests structural and/or compositional differences between the convex‐ and concave‐sides. (ii) Transmission electron microscopic (TEM) observations revealed that macrofibril morphology is different between the convex‐ and concave‐sides. The macrofibrils in the convex‐side are relatively smaller and dispersed in inter‐macrofibrillar material, while those in the concave‐side are relatively larger and fused together. (iii) TEM observations also suggested that the alignment structure of intermediate filaments in the convex‐side is helical or twisted in each macrofibril, while that in the concave‐side is approximately parallel to the fiber axis. (iv) The amino acid analyses of the convex‐ and concave‐halves of the curved hair fibers revealed that Cys is lower and Asp, Glu and Gly are higher in the convex‐half. Interestingly, these results of the TEM observation and the amino acid analysis are analogous to the difference between ortho‐ and para‐cortical cells in wool fibers, suggesting the universal structure of curved mammalian hair.     

Screen-pad printing for electrode patterning on curvy surfaces

Microsystem Technologies - Pad printing is a simple but effective method for fabricating electrodes onto complex curved surfaces. In this method, ink is picked up from the gravure plate by the soft...     

Progressive polyarthritis induced in BALB/c mice by aggrecan from normal and osteoarthritic human cartilage

OBJECTIVE: To find an "unlimited" source of antigenic material (aggrecan) for arthritis induction in BALB/c mice; to analyze the specificities of immune reactions to aggrecan and type II collagen in 2 arthritis-susceptible murine strains, BALB/c mice for proteoglycan (aggrecan)-induced arthritis and DBA/1j mice for collagen-induced arthritis; to compare the histopathologic features of arthritis induced by purified aggrecans or total extracts of osteoarthritic (OA) cartilage; and to determine arthritis susceptibility in various BALB/c colonies. METHODS: Aggrecans from total extracts of human fetal, normal adult, OA, and rheumatoid cartilage samples and from osteophytes were isolated, purified by gradient centrifugation, deglycosylated, characterized, and tested for arthritis induction. Purified type II collagen and salt-soluble collagens from OA cartilage were denatured, stromelysin treated, and used for immunization and arthritis induction in arthritis-susceptible (DBA/1j and BALB/c) murine strains. RESULTS: Chondrocytes from OA cartilage synthesize predominantly fetal-type aggrecan, which is the most efficient antigenic material for arthritis induction in BALB/c mice. The critical autoimmune/arthritogenic T cell epitopes of aggrecan are located in the G1 domain. Although most of the aggrecan molecules are heavily degraded and lost from OA cartilage, the G1 domain-containing fragments accumulate in OA cartilage. The amount of G1-containing fragments is approximately twice as much in OA than in normal adult articular cartilage, and the arthritogenic epitope(s) remains intact in G1-containing fragments retained in cartilage. Thus, total extracts of OA cartilage (without additional purification), if deglycosylated appropriately, can be used as arthritogenic material in BALB/c mice. CONCLUSION: Predominantly G1 domain-containing fragments of aggrecan accumulate in OA cartilage, and these are the fragments which induce arthritis in BALB/c mice. Arthritis induction is highly specific for aggrecan epitopes and dictated by the genetic background of the BALB/c strain.     

B3LYP/6-31G* Computations of C60F36(g) Isomers

Three isomers of C₆₀F₃₆ have been known from the experiment. Previous computations, however, suggested five low-energy isomers though different methods do not always agree on the separation energetics. The present B3LYP/6-31G* computations support the observation of just three species. However, the computed energetics must still be adjusted in order to reproduce the observed concentration ratios.     

Nocturnal pulmonary hypertension in an elderly patient with sleep apnea syndrome

We report a case of sleep apnea syndrome (SAS) with nocturnal pulmonary hypertension (NPH) in a 71-year-old man suffering from dyspnea during sleep. Severe snoring at night and daytime sleepiness were noticed before admission by his wife. Nocturnal oxygen desaturation (NOD) was documented with a pulse oximeter and severe sleep apnea syndrome was diagnosed on the basis of results of respiratory inductive plethysmography, an apnea index (AI) > 20, minimum SpO2 56%. NPH was diagnosed by Swan-Ganz catheter. The levels of NPH were severe. Elevation of systolic pulmonary arterial pressure (PAP) above 40 mmHg was observed 137 episodes at night. Both NPH and NOD were improved by 1 L/min of nasal oxygen therapy. A number of episodes of systolic PAP above 40 mmHg with oxygen therapy was 55 episodes. Peak mean PAP was 36 mmHg in room air vs 33 mmHg in oxygen therapy. Minimum SpO2 with oxygen therapy was improved to 69%. Total time of SpO2 < 90% at night was 153 minutes in room air vs 37 minutes in oxygen therapy. In this case, NPH and NOD due to severe SAS were remarkably improved by oxygen therapy.     

High efficiency ester condensation using hydrophobic zeolite membranes

We successfully developed zeolite membranes with hydrophilic character, by choosing appropriate zeolites in terms of hydrophilicity and high acid tolerance. We evaluated thus developed membranes by their pervaporation (PV) performance, dehydration from acidic organic solvent. The zeolite membranes we developed, based on merlinoite (MER), chabazite (CHA) or phillipsite (PHI), are shown to exhibit stable dehydration performance, respectively. We successfully applied the membranes to the selective removal of water in an ester condensation reaction starting from a stoichiometric mixture of a carboxylic acid and an alcohol. The availability of pervaporation-assisted ester condensation reaction was validated by various kinds of combinations of carboxylic acid and alcohols, which implies the general availability of pervaporation-assisted process intensification by zeolite membranes. This paper was presented at the 11th Korea-Japan Symposium on Catatysis held at Seoul, Korea, May 21–24, 2007.