Formation of Zirconia Solid Solutions Containing Alumina Prepared by New Preparation Method

In the system ZrO₂–Al₂O₃, a new method for preparing ZrO₂ solid solutions from ZrCl₄ and AlCl₃ using hydrazine monohydrate is investigated. c -ZrO₂ solid solutions containing up to ∼40 mol% Al₂O₃ crystallize at low temperatures from amorphous materials. The formation mechanism is discussed from IR spectral data. The values of the lattice parameter α increase linearly from 0.5072 to 0.5105 nm with increasing Al₂O₃ content. At higher temperatures, transformation of the solid solutions proceeds as follows: c ( SS ) → t ( ss ) → t ( ss ) +α-Al₂O₃→ m +α-Al₂O₃. m -ZrO₂–α-Al₂O₃ composite ceramics are fabricated by hot isostatic pressing for 2 h at 1250°C and 196 MPa. Microstructures and mechanical properties are examined, in connection with increasing Al₂O₃ content.     

Acceleration of the redox kinetics of VO2+/VO2 + and V3+/V2+ couples on carbon paper

The redox kinetics of VO²⁺/VO₂ ⁺ and V³⁺/V²⁺ couples on a carbon paper (CP, HCP030 N, Shanghai Hesen, Ltd., China) electrode were investigated in terms of their standard rate constant (k ₀) and reaction mechanism. The values determined for k ₀ for VO²⁺ ?? VO₂ ⁺ and V³⁺ ?? V²⁺ using the CP electrode are 1.0 × 10^?3 and 1.1 × 10^?3 cm s^?1, respectively. The value of k ₀ increases by one or two order(s) of magnitude compared with values obtained using electrodes composed of pyrolytic graphite and glassy carbon. The acceleration of the redox kinetics of vanadium ions is a result of the large surface area of the CP electrode. An inner-sphere mechanism for the reaction on the surface of the electrode is proposed. The kinetic features of vanadium redox reactions on the CP electrode reveal that CP is suitable for use as the electrodes in vanadium redox-flow batteries.     

Sensory‐motor control mechanism for reaching movements of a redundant musculo‐skeletal arm

This paper studies the human arm's sensory‐motor control mechanism in reaching movements. First, we formulate both the kinematics and dynamics of a two‐link planar arm model with six redundant muscles. The nonlinear muscle dynamics is modeled based on several biological understandings. We then show the stability of the overall system and perform some numerical simulations. By considering the internal forces induced by the redundant muscles, we show that the damping factors in each joint can be regulated, and as the result, it can realize humanlike quasistraight line reaching movements. In addition, we also propose the gravity compensation method at the muscle input level and present the result of numerical simulation to verify the usefulness of this method. © 2005 Wiley Periodicals, Inc.     

Dynamics and Stability 3-Dimensional Object under of Blind Grasping of a Non-holonomic Constraints

A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.     

Dexterous manipulation of an object by means of multi‐DOF robotic fingers with soft tips

This article analyzes the dynamics of motion of various setups of two multiple degree‐of‐freedom (DOF) fingers that have soft tips, in fine manipulation of an object, and shows performances of their motions via computer simulation. A mathematical model of these dynamics is described as a system of nonlinear differential equations expressing motion of the overall fingers‐object system together with algebraic constraints due to tight area contacts between the finger‐tips and surfaces of the object. First, problems of (1) dynamic, stable grasping and (2) regulation of the object rotational angle by means of a setup of dual two‐DOF fingers, are treated. Second, the problem of regulating the position of the object mass center by means of a pair of two‐DOF and three‐DOF fingers is considered. Third, a set of dual three‐DOF fingers is treated, in order to let it perform a sophisticated task, which is specified by a periodic pattern of the object posture and a constant internal force. In any case, there exist sensory‐motor coordinations, which are described by analytic feedback connections from sensing to actions at finger joints. In the cases of setpoint control problems, convergences of motion to secure grasping together with the specified object rotational angle and/or the specified object mass center position, are proved theoretically. A constraint stabilization method (CSM) is used for solving numerically the differential algebraic equations to show performances of the proposed sensory‐feedback schemes. © 2002 Wiley Periodicals, Inc.     

A molecular orbital theoretical study on the acid-base property and reactivity of the charge relay system in alpha chymotrypsin

The disintegration of the nuclear envelope has been examined in nuclei and nuclear envelopes isolated from amphibian oocytes from amphibian oocytes and rat liver tissue, using different electron microscope techniques (ultrathin sections and negatively or positively stained spread preparations). Various treatments were studied, including disruption by surface tension forces, very low salt concentrations, and nonionic detergents such as Triton C-100 and Nonidet P-40. The highest local stability of the cylinders of nonmembranous pore complex material is emphasized. As progressive disintegration occurred in the membrane regions, a network of fibrils became apparent which interconnects the pore complexes and is distinguished from the pore complex-associated about 15-20 nm thick, located at the level of the inner nuclear membrane, which is recognized in thin sections to bridge the interpore distances. With all disintegraiton treatments a somewhat higher susceptibility of the outer nuclear membrane is notable, but a selective removal does not take place. Final stages of disintegration are generally characterized by the absence of identifiable, membrane-like structures. Analysis of detergent-treated nuclei and nuclear membrane fractions shows almost complete absence of lipid components but retention bo significant amount of glycoproteins with a typical endomembrane-type carbohydrate pattern. Various alternative interpretations of these observations are discussed. From the present observations and those of Aaronson and Blobel (1,2), we favor the notion that threadlike intrinsic membrane components are stabilized by their attachment to the pore complexes, and perhaps also to peripheral nuclear structures,and constitute a detergent-resistant, interpore skeleton meshwork.     

Cytochemistry of gastric parietal cells with high-pressure freezing followed by freeze-substitution

Gastric parietal cells were examined for changes in their ultrastructure and distribution of the proton pump during feeding and fasting states in rats. The fundic glands from rats fed ad libitum or fasted with free access to water were cryofixed using high-pressure freezing followed by freeze-substitution in acetone containing osmium or acrolein and then embedded in Epon 812 or Lowicryl K4M resin, respectively. Excellent ultrastructural preservation was achieved. During the feeding state, intracellular canaliculi and numerous microvilli were well developed, while tubulovesicles were poorly developed. In contrast, during the fasting state, the microvilli in the narrowed space of the intracellular canaliculi were tightly packed and the tubulovesicles were enlarged. Ultrathin sections were immunostained with antibodies against the alpha- and beta-subunits of the proton pump, H+ x K(+)-ATPase, using the immunogold method. The labelling was strong and clearly localized in comparison with that obtained using the conventional chemical-fixation method. Each subunit was localized on the membrane of the microvilli, intracellular canaliculi and tubulovesicles. The distribution of subunit proteins varied between the two states. During ad libitum feeding, the immunolabelling was localized strongly on the membranes of the microvilli and intracellular canaliculi. In contrast, the labelling was strong on the tubulovesicle membrane in the fasting state. The results obtained with each anti-subunit antibody by H+ x K(+)-ATPase immunostaining revealed differences in distribution and labelling density between the feeding and fasting states.     

A differential-geometric approach for 2D and 3D object grasping and manipulation

This article presents an expository work on a differential-geometric treatment of fundamental problems of 2D and 3D object grasping and manipulation by a pair of robot fingers with multi-joints under holonomic or nonholonomic constraints. First, Lagrange’s equation of motion of a fingers-object system whose motion is confined to a vertical plane is derived under holonomic constraints when rolling contacts between finger-ends and object surfaces are permitted. Then, a class of control signals called “blind grasping” and constructed without knowing the object kinematics or using any external sensing like vision or tactile sensation is shown to realize stable object grasping in a dynamic sense. Stability of motion and its convergence to an equibrium manifold are treated on the basis of differential geometry of solution trajectories of the closed-loop dynamics on the constraint manifolds. Second, a mathematical model of 3D object grasping and manipulation by a pair of multi-joint robot fingers is derived under the assumption that spinning motion of rotation around the opposing axis between contact points does no more arise. It is shown that, differently from the 2D case, the instantaneous axis of rotation of the object is time-varying, which induces a nonholonomic constraint expressed as a linear differential equation of rotational motion of the pinched object. It is shown that there is a class of control signals constructed without knowing the object kinematics or using external sensings that can realize “blind grasping” in a dynamic sense. Finally, it is shown that the proposed differential geometric treatment of stability can naturally cope with redundancy resolution problems of surplus degrees-of-freedom (d.f.) of the overall fingers-object system, which is closely related to Bernstein’s d.f. problem.     

Structure and Nonlinear Optical Properties of Lanthanide Borate Glasses

The third–order nonlinear optical susceptibility, χ⁽³⁾, of lanthanide (lanthanum, praseodymium, neodymium, and samarium) borate glasses has been measured by the third harmonic generation method. The structure of the present glass system has been studied by infrared and Raman spectroscopic methods. The network structures of the present Ln₂O₃–B₂O₃ glasses have been confirmed to be basically similar to each other. Praseodymium, neodymium, and samarium borate glasses exhibit χ⁽³⁾ values that are larger than lanthanum borate glasses, because of the optical resonance effect, in accordance with the f – f transition. Especially, the χ⁽³⁾ value for 30Pr₂O₃·70B₂O₃ glass is 1.8 × 10⁻¹² esu, which is a factor of ∼60 larger than that of SiO₂ glass. This striking enhancement of χ⁽³⁾ is mainly attributed to the large transition moment to the first excitation state.