Three-dimensional shape recognition method using ultrasonics for manipulator control system

This article describes a three-dimensional shape recognition method that employs an ultrasonic distance sensor mounted on a manipulator, and its application to a manipulator control system. The principle of the method is to reconstruct an object surface numerically using both distance and orientation informations of an object. The method makes it possible to control the manipulator, to set the sensor in any position and orientation employing freedom of the manipulator, and to measure the object. The method is available for manipulator control because it can precisely assess the distance from the manipulator to the object, as well as reconstruct the object shape. Experimental results show that the newly developed method make object shape recognition easy and inexpensive. Application experiment proved that the method is effective for manipulator work due to its provision of distance information.     

Polarization characteristics of poly(vinyl alcohol) films containing metal iodide

The polarization properties of iodine complex layer deposited by oxidation of poly(vinyl alcohol) (PVA) containing metal iodide were investigated. Heat-resistant polarizing films with high polarization efficiency were produced by oxidizing and stretching the PVA containing metal iodide. The results indicate that i) the polarization efficiency of a polarizing film prepared by oxidation of a PVA film containing 1 mmol or more of potassium iodide (KI)/g PVA at 0°C for 120 s in a 10 wt.-% aqueous solution of H₂O₂ and a degree of stretching of 400% is high, ii) the heat resistance of the polarizing film in this experiment is higher than that of a filter prepared from a commercial PVA film.     

Experimental study of cell pattern formation induced by internal heat sources in a horizontal fluid layer

This study determines the flow structure in a convection cell with an internally heated layer by PIV to elucidate the convection cell transition mechanisms. The vertical velocity component is determined and the cell behaviour with respect to Rayleigh number is investigated quantitatively. Cell expansion process is described as a consequence of development of the descending flow at the centre of cells. The results suggest that a spoke-like structure is stable in this system in ideal conditions and a double-cell structure is formed when there are restrictions on the system, i.e. finite lateral boundaries.     

EFFECT OF STEPWISE CHANGE OF DRYING RATE ON MICROSTRUCTURE EVOLUTION IN POLYMER FILMS

The effect of the drying rate of the solvent on microstructure evolution in thin films of immiscible polystyrene/polycarbonate blends was investigated by applying a stepwise change in air velocity. The polymer blend was dissolved in tetrahydrofuran and cast on a glass substrate to form a thin liquid film. The drying rate of the solvent was measured by a gravimetric technique, and the phase-separated structure in the film was observed by optical microscopy. The results indicated that cellular structures of droplet arrays were formed in the phases evolved primarily during the early stage of drying, and the droplets then coalesced in the intermediate stage to form bigger droplets. The size of the first evolved phase decreased with increasing time at a high drying rate, whereas larger droplets were obtained with longer high drying rate regimes. These results suggested that the droplets were induced by secondary phase separation which was strongly affected by the drying rate of the solvent.     

Pulverization mechanism of hydrogen storage alloys on microscale packing structure

In-situ and transient visualizations of the packing structure of a hydrogen storage alloy bed are carried out using an X-ray computed tomography (CT) system. The packing structure is clearly observed on the microscale using the CT system. When the alloy bed is subjected to hydrogen absorption–desorption cycles, the pulverization progresses from the lower to the upper regions of the bed. After several hydrogen absorption–desorption cycles, the packing structure in the lower region of the bed changes and the microstructural void decreases slightly. Based on these results, we propose a pulverization mechanism of the packed bed in which the friction between particles affects the pulverization process.     

Methylcyclohexane production under fluctuating hydrogen flow rate conditions

Energy storage using liquid organic hydrogen carrier (LOHC) is a long-term method to store renewable energy with high hydrogen energy density. This study investigated a simple and low-cost system to produce methylcyclohexane (MCH) from toluene and hydrogen using fluctuating electric power, and developed its control method. In the current system, hydrogen generated by an alkaline water electrolyzer was directly supplied to hydrogenation reactors, where hydrogen purification equipment such as PSA and TSA is not installed to decrease costs. Hydrogen buffer tanks and compressors are not equipped. In order to enable MCH production using fluctuating electricity, a feed-forward toluene supply control method was developed and introduced to the system. The electrolyzer was operated under triangular waves and power generation patterns of photovoltaic cells and produced hydrogen with fluctuating flow rates up to 7.5 Nm³/h. Consequently, relatively high purity of MCH (more than 90% of MCH mole fraction) was successfully produced. Therefore, the simplified system has enough potential to produce MCH using fluctuating renewable electricity.     

A numerical investigation of evaporation characteristics of a fuel droplet suspended from a thermocouple

Numerical simulations of combined natural convection–conduction in a droplet of n-dodecane suspended from a thermocouple were carried out, taking into consideration evaporation, and the effect of thermocouple diameter on the evaporation characteristics was investigated. The calculated temperature history of the droplet is in good agreement with experimental results; both show that the rate of heating decreases with increasing thermocouple diameter. The maximum error in temperature due to the thermocouple increases linearly with increasing thermocouple diameter. Thus, in investigations involving a droplet suspended from a thermocouple, it is preferable to use a thermocouple with the smallest possible diameter.     

Numerical simulation of a polypropylene foam bead expansion process

The production process for expanded polypropylene foam beads (EPP), which consists of steaming, depressurizing, cooling, and ageing operations, was consistently simulated by a set of mathematical models. The models, developed from Yang and Lee's ageing models (Yang and Lee, J. Cell. Plast., 39 , 59 (2003)) for extrusion foam products, were extended in terms of the fundamental aspects of mass and heat transport phenomena. Evaporation and condensation of blowing agents and heat conduction during the steam chest molding and ageing processes were modeled. The governing equations were established by integrating the mass transfer equations of steam and air at the intercellular walls with the constitutive equations of evaporation and condensation in each cell, the equation of heat conduction from the mold to the foam, and the mechanical force balance equation on the cell walls. The models simulate the stress exerted on the steaming chest mold and predict the expansion behavior of cells in the EPP bead‐foam board throughout the ageing process. A sensitivity analysis was also performed by the models to find the key factors which might allow the theoretical determination of the ejection time and shortening of the length of the ageing process. POLYM. ENG. SCI., 48:107–115, 2008. © 2007 Society of Plastics Engineers     

Effect of pore pressure gradient on fracture initiation in fluid saturated porous media: Rock

There are infinite number of small pores at inside of almost rocks, while the pore’s shape and the interconnectivity among the pores are dependent on the type of rocks. The existence of such pores brings special feature in mechanical behavior of rocks, different to cases of other materials. For the case when the pressure in a drilled borehole is raised by fluid injection into the borehole in hydraulic fracturing carried out for rock stress measurements, the fluid penetrates through the interconnected pores into a rock from the borehole wall, and the fluid penetration develops the change in pore pressure, i.e., fluid pressure in the pore. The developed pore pressure distribution causes a circumferential stress in compression around the borehole, where the mechanics to cause the additional stress is analogous to thermal stress. Furthermore, the pore pressure affects to loose strength in failure following the Terzaghi effective stress law. The point stress criterion can be applied to predict tensile failure of rock occurring in such complicated conditions. Then we should assume that the fracture initiation occurs when the maximum effective stress reaches the tensile strength of a rock at a point that is not on the borehole wall but is inside the rock. This approach allows us to interpret quantitatively strange phenomena associated with fluid permeation such that breakdown pressure, i.e., a critical borehole pressure to cause the tensile failure, increases with the rate of borehole pressurization.     

Evaluation of diagnostic results by Bayes' theorem

Application of Bayes' theorem for the evaluation of diagnostic results of electric facilities is described. A concept of risk assessment method based on the diagnosis results is proposed and the effects of various parameters on the risk are clarified. Based on these results, a rational renewal scheme using diagnostic results is proposed. In addition, the prior probability based on the data of actual facilities is investigated and it is found that the data available so far is insufficient and more data are required for the detailed analysis. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.