An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft

This paper deals with a motion control system for a space robot with a manipulator. Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system. In order to measure them, a visual sensor using a camera is frequently used. However, there are two difficulties in measuring them by means of a camera. The first one is that a camera is mounted on the robot body, and hence it is difficult to directly measure the position of the robot body by means of it. The second one is that the sampling period of a vision system with a general-purpose camera is much longer than that of a general servo system. In this paper, we develop an adaptive state observer that overcomes the two difficulties. In order to investigate its performance, we design a motion control system that is constructed by combining the observer with a PD control input, and then conduct numerical simulations for the control system. Simulation results demonstrate the effectiveness of the proposed observer.     

A new solution for splay‐to‐bend transition in OCB mode with a twisted area

Abstract— Quick, stable transition from splay‐to‐bend alignment in optically compensated bend (OCB) mode is crucial for practical use. This has been achieved by surface treating part of a pixel with a chiral dopant to induce a twist alignment while controlling the twist direction. The effectiveness of this new method was confirmed in a prototype TFT‐LCD panel.     

Surface acoustic wave based sensors employing ionic liquid for hydrogen sulfide gas detection

This paper describes a new type hydrogen sulfide (H₂S) gas sensor using ionic liquid (IL). In this sensor, a reservoir for the IL was integrated on a surface acoustic wave (SAW) resonator. The IL serves as an absorber for H₂S gas. Mass change due to this absorption is detected as shift in the resonant frequency. In this study, we fabricated and demonstrated the sensor using the lithium niobate (LiNbO₃) SAW resonator with the resonant frequency of 38 MHz. The integrated reservoir was filled by the IL 1-butyl-3-methylimidazolium hexafluorophosphate ([bmim]-[PF₆]). As an experimental result, we observed the linear correlation between the frequency-shift and the exposure time of the sensor to the H₂S gas.     

Ultra light-weight and high-resolution X-ray mirrors using DRIE and X-ray LIGA techniques for space X-ray telescopes

We are developing novel ultra light-weight and high-resolution X-ray micro pore optics for space X-ray telescopes. In our method, curvilinear micro pore structures are firstly fabricated by silicon deep reactive ion etching (DRIE) or X-ray LIGA processes. Secondly, side walls of the micro structures are smoothed by magnetic field assisted finishing and/or hydrogen annealing techniques for high reflectivity mirrors. Thirdly, to focus parallel X-ray lights from astronomical objects, these structures are elastically or plastically bent into a spherical shape. Fourthly, the bent structures are stacked to form a multi-stage X-ray telescope. In this paper, we report on fabrication and X-ray reflection tests of silicon and nickel X-ray mirrors using the DRIE and LIGA processes, respectively. For the first time, X-ray reflections were confirmed on both of the mirrors. Estimated rms roughnesses were 5 nm and 3 nm for the silicon and nickel mirrors, respectively.     

Cooperative manipulation of a floating object by some space robots with joint velocity controllers: application of a tracking control method using the transpose of the generalized Jacobian matrix

We have studied the cooperative manipulation of floating object by several space robots. For these cooperative motions, we have reported that a tracking control method using the transpose of the generalized Jacobian matrix (GJM) can be utilized for robots with joint torque controllers. For cooperative motions by some robots with joint velocity controllers, we proposed a tracking control method using the transpose of the GJM. Simulation results show the effectiveness of the proposed control method.     

HighT c of liquid-quenched Bi1.6Pb0.4Sr2Ga2Cu3Ox

AlthoughT _c cannot be found for a liquid-quenched Bi_1.6Pb_0.4Sr₂Ca₂Cu₃O_x glassy sample, a highT _c is found after annealing for 24 h at 1100 K. The maximum offset temperature of the superconducting transition is 113.3 K at 2.2 × 10^–2mAmm^–2. The maximumT _{c off} is larger than that (the maximumT _{c off} is 103.4 K at 2.0 × 10^–2 mAmm^–2) of sintered specimens before liquid quenching.     

Possible Involvement of the Upregulation of ΔNp63 Expression Mediated by HER2-Activated Aryl Hydrocarbon Receptor in Mammosphere Maintenance

Cancer stem cells (CSCs) contribute to the drug resistance, recurrence, and metastasis of breast cancers. Recently, we demonstrated that HER2 overexpression increases mammosphere formation via the activation of aryl hydrocarbon receptor (AHR). In this study, the objective was to identify the mechanism underlying mammosphere maintenance mediated by HER2 signaling-activated AHR. We compared the chromatin structure of AHR-knockout (AHRKO) HER2-overexpressing MCF-7 (HER2-5) cells with that of wild-type HER2-5 cells; subsequently, we identified TP63, a stemness factor, as a potential target gene of AHR. ΔNp63 mRNA and protein levels were higher in HER2-5 cells than in HER2-5/AHRKO cells. Activation of HER2/HER3 signaling by heregulin treatment increased ΔNp63 mRNA levels, and its induction was decreased by AHR knockdown in HER2-5 cells. The results of the chromatin immunoprecipitation assay revealed an interaction between AHR and the intronic region of TP63, which encodes ΔNp63. A luciferase reporter gene assay with the intronic region of TP63 showed that AHR expression increased reporter activity. Collectively, our findings suggest that HER2-activated AHR upregulates ΔNp63 expression and that this signaling cascade is involved in CSC maintenance in HER2-expressing breast cancers.     

Rheological flow models of banana peel pectin jellies as affected by sugar concentration

In the present study, peel pectin jellies (PPJ) were isolated from banana peel Musa acuminata Colla (AAA, cv ‘Berangan’) varieties using water bath extraction; five jellies were produced, namely, PPJ_68%, PPJ_70%, PPJ_71%, PPJ_72%, and PPJ_76%. The effect of sugar content on the rheology of the PPJ and commercial fruit jelly was conducted at 25°C within 0.05–100 s^?1 shear rate. Flow behaviour was evaluated on the test dispersions while frequency sweeps (E_a) to obtain the viscoelastic (G’ and G”) were performed on the jellies. PPJ dispersion showed shear thinning flow behaviour, a good fit to the Casson model. Sugar concentration does not affect Casson parameters (K_c, K_oc, ?_ca, and σ_oc). Frequency sweep decreased as viscosity increased which revealed high dependence for both G’ and G”. Tan δ for PPJ was more than unity which showed that jelly has less elastic properties. PPJ with the lowest sugar concentration, PPJ_68%, conducted at a high shear rate showed it was compatible with validation of the Cox–Merz rule.     

Visible-light sensitive hydrogen evolution photocatalyst ZnRh2O4

We investigated the ability of the oxide ZnRh₂O₄ to serve as a solar H₂-evolution photocatalyst due to the predicted potential of its conduction band bottom, which may allow thermodynamically favorable H₂ evolution in spite of its small band-gap of 1.2 eV. ZnRh₂O₄ produced H₂ in the presence of HCHO, but only scarcely in the presence of CH₃OH, indicating that the potential of the valence band top of ZnRh₂O₄ lies at ∼0.1 V (vs. SHE). Thus, the conduction band bottom potential (∼−1.1 V) lies much more negative than the potential of H⁺/H₂, allowing thermodynamically favorable H₂ evolution. In addition, the irradiated-light-wavelength dependence of the quantum efficiency (QE) for H₂ evolution was consistent with the solar spectrum, and the QE was quite high (∼27%), even at a wavelength of 770 ± 25 nm. Taken together, our findings indicate that ZnRh₂O₄ can utilize solar light effectively, not only the entire range of UV and visible light, but is also sensitive to infrared light.