Bacterial memetic algorithm for simultaneous optimization of path planning and flow shop scheduling problems

The paper deals with simultaneous optimization of path planning of mobile robots and flow shop scheduling problem. The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. The objective is to minimize the path length without colliding with an obstacle. On the other hand, shop scheduling problems deal with processing a given set of jobs on a given number of machines. Each operation has an associated machine on which it has to be processed for a given length of time. The problem is to minimize the overall time demand of the whole process. In this paper, we deal with two robots carrying items between the machines. Bacterial memetic algorithm is proposed for solving this combined problem. The algorithm is verified by experimental simulations and compared to classical techniques.     

Adaptive control of underwater vehicle-manipulator systems using radial basis function networks

This paper deals with a control scheme for underwater vehicle-manipulator systems with the dynamics of thrusters in the presence of uncertainties in system parameters. We have developed two controllers that overcome thruster nonlinearities, which cause an uncontrollable system: one is a regressor-based adaptive controller and the other is a robust controller. However, the structure of the adaptive controller is very complex due to the feedforward terms including the regressors of dynamic system models, and the error feedback gains of the robust controller with a good control performance are excessively high due to the lack of feedforward terms. In this paper we develop an adaptive controller that uses radial basis function networks instead of the feedforward terms. The replacement leads to a moderately high gain controller whose structure is simpler than that of the regressor-based adaptive controller.     

A design of digital adaptive control systems for space robot manipulators using a transpose of the generalized Jacobian matrix

We propose a digital control method for space robot manipulators using the transpose of the generalized Jacobian matrix. The method, however, is developed on the supposition that all the physical parameters of the robot manipulator are known. Therefore, if the end-effector of the manipulator captures an object whose mass is unknown, the stability of the control system cannot be maintained because the physical parameters are changed. This article presents the adaptive control version.This work was presented, in part, at the 9th International Symposium on Artificial Life and Robotics, Oita, Japan, January 28–30, 2004     

Radiation-induced segregation and precipitation behaviours around cascade clusters under electron irradiation

We have investigated the formation of cascade clusters and structural changes in them by means of electron irradiation following ion irradiation in an austenitic stainless steel. Almost all of the cascade clusters, which were introduced by the ion irradiation, grew to form interstitial-type dislocation loops or vacancy-type stacking fault tetrahedra after electron irradiation at 623 K, whereas a few of the dot-type clusters remained in the matrix. It was possible to recognize the concentration of Ni and Si by radiation-induced segregation around the dot-type clusters. After electron irradiation at 773 K, we found that some cascade clusters became precipitates (delta-Ni2Si) due to radiation-induced precipitation. This suggests that the cascade clusters could directly become precipitation sites during irradiation.     

Gene cloning and characterization of Mycobacterium phlei flavin reductase involved in dibenzothiophene desulfurization

Mycobacterium phlei WU-F1 possesses the ability to convert dibenzothiophene (DBT) to 2-hydroxybiphenyl with the release of inorganic sulfur over a wide temperature range from 20 degrees C to 50 degrees C. The conversion is initiated by consecutive sulfur atom-specific oxidations by two monooxygenases, and a flavin reductase is essential in combination with these flavin-dependent monooxygenases. The flavin reductase gene (frm) of M. phlei WU-F1, which encodes a protein of 162 amino acid residues with a molecular weight of 17,177, was cloned and the deduced amino acid sequence shares approximately 30% identity with those of several flavin reductases in two protein-component monooxygenases. It was confirmed that the coexpression of frm with the DBT-desulfurization genes (bdsABC) from M. phlei WU-F1 was critical for high DBT-desulfurizing ability over a wide temperature range from 20 degrees C to 55 degrees C. The frm gene was overexpressed in Escherichia coli cells, and the enzyme (Frm) was purified to homogeneity from the recombinant cells. The purified Frm was found to be a 34-kDa homodimeric protein with a monomeric molecular mass of 17 kDa. Frm exhibited high flavin reductase activity over a wide temperature range, and in particular, the turnover rate for FMN reduction with NADH as the electron donor reached 564 s(-1) at 50 degrees C, which is one of the highest activities among all of the flavin reductases previously reported. Intriguingly, Frm also exhibited a high ferric reductase activity.     

Electron capture dissociation in a radio frequency ion trap

We report on the first evidence of electron capture dissociation (ECD) in a radio frequency (rf) ion trap. Peptide ions, [substance P]2+, trapped in a two-dimensional, linear rf ion trap were cleaved by electrons injected along the central axis of the trap. Along the axis, the rf field component was zero and a magnetic field of 50 mT was applied. This electron injection scheme keeps the energy of the electrons below 1 eV, preventing them from heating by the rf field. The present ECD efficiency is approximately 4% by irradiation of electron current of 0.2 microA for 80 ms. ECD in rf traps may open high-throughput and low-cost ECD applications to obtain molecular structure information complementary to collision-induced dissociation.     

Measurement of water content distribution in catalyst coated membranes under water permeation conditions by magnetic resonance imaging

The through-plane water content distribution in a polymer electrolyte membrane (PEM) and in catalyst coated membranes (CCMs) and the flux of water through these membranes were determined under water permeation conditions by means of magnetic resonance imaging and dew point measurements. The PEM or CCM was placed in an experimental cell and subjected to water permeation conditions with various water activities across the membrane. A comparison of the water content distribution and the water flux in the various samples showed that the PEM and CCMs have different water transport properties. These differences suggested that diffusion through the membrane and interfacial transport across the membrane-gas interface, which are the rate determining processes for water transport through the membrane, change depending on whether the membrane has a catalyst coating.     

Effects of operating and design parameters on PEFC cold start

During startup from subzero temperatures the water produced in a polymer electrolyte fuel cell (PEFC) forms ice/frost in the cathode catalyst layer (CL), blocking the oxygen transport and causing cell shutdown once all CL pores are plugged with ice. This paper describes an experimental study on the effects of operating and design parameters on PEFC cold-start capability. The amount of total product water in mg cm⁻² during startup is used as an index to quantify the cold-start capability. The newly developed isothermal cold-start protocol is used to explore the basic physics of cold start, and the effects of purge methods prior to cold start, startup temperature and current density, and the membrane thickness are shown. The experimental data also confirm the current density effect predicted earlier by a multiphase model of PEFC cold start.     

Improved bioabsorbability of synthetic hydroxyapatite through partial dissolution-precipitation of its surface

Even though synthetic hydroxyapatite (HAp) has a chemical composition similar to the mineral phase of bone, it is minimally absorbed and replaced by bone tissue. This could be because HAp is composed of compactly arranged apatite crystals with homogenously large grains. In this study, the surface and non-stoichiometry of the synthetic HAp crystals was modified by partial dissolution and precipitation (PDP) to improve bioabsorbability of HAp. In vitro cell culture demonstrated that more osteoclasts were activated on PDP-HAp compared with HAp. In vivo implantation using a rabbit bone defect model revealed that PDP-HAp was gradually degraded and was replaced by bone tissue. Consistent with the in vitro results, more osteoclasts were activated in PDP-HAp than in HAp, indicating that the former was absorbed through the stimulation of osteoclastic activity. These results suggest that the PDP technique may have clinical utility for modifying synthetic HAp for use as superior bone graft substitutes.