遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

Direct observation of time-dependent space charge profiles in XLPEcable under high electric fields

Space charge distribution was measured, applying an electric field of >1 MV/cm to 3 mm thick XLPE cable insulation. Improving the conventional pulse electro-acoustic method, a new method was developed to measure space charge when applying HV to cables. Under high field, hetero charges were formed soon after voltage application, followed by an injection from the cathode. Then intermittent injections of charge packets from the anode took place. The space charge distribution kept changing without becoming stabilized. A simulation was done assuming hysteresis of the injection characteristics. The observed intermittent injection near the anode was qualitatively reproduced using computer simulation     

Identification of K1/K10 and K5/K14 keratin pairs in human melanoma cell lines

Keratin expression in cultured malignant melanoma cells has been studied only rarely. Moreover, no studies have reported of universality of keratin expression in human malignant melanoma cells. In this study, therefore, we analyzed keratin expression in eight cell lines. Using a low-salt aqueous solution without high salt and Triton X-100, as a washing buffer for keratin extraction, followed by two-dimensional polyacrylamide gel electrophoresis (2D-PAGE) and immunological analysis, we demonstrated keratin expression in all eight human malignant melanoma cell lines. The keratin polypeptide expressions common to all melanoma cells were K1, K5, K10 and K14. In addition, K8, K13, K17 and K18, respectively, were detected in individual cells. A measure of keratin expression universality in malignant melanoma cells may have implications regarding their invasive and metastatic behaviors, co-expressed with vimentin.     

Sound-velocity measurements for HFC-134a and HFC-152a with a spherical resonator

A spherical acoustic resonator was developed for measuring sound velocities in the gaseous phase and ideal-gas specific heats for new refrigerants. The radius of the spherical resonator, being about 5 cm, was determined by measuring sound velocities in gaseous argon at temperatures from 273 to 348 K and pressures up to 240 kPa. The measurements of 23 sound velocities in gaseous HFC-134a (1,1,1,2-tetrafluoroethane) at temperatures of 273 and 298 K and pressures from 10 to 250 kPa agree well with the measurements of Goodwin and Moldover. In addition, 92 sound velocities in gaseous HFC-152a (1,1-difluoroethane) with an accuracy of ±0.01% were measured at temperatures from 273 to 348 K and pressures up to 250 kPa. The ideal-gas specific heats as well as the second acoustic virial coefficients have been obtained for both these important alternative refrigerants. The second virial coefficients for HFC-152a derived from the present sound velocity measurements agree extremely well with the reported second virial coefficient values obtained with a Burnett apparatus.Paper dedicated to Professor Joseph Kestin.     

High temperature superconductor micro-superconducting-quantum-interference-device magnetometer for magnetization measurement of a microscale magnet

We have developed a high temperature superconductor (HTS) micrometer-sized dc superconducting quantum interference device (SQUID) magnetometer for high field and high temperature operation. It was fabricated from YBa2Cu3O7-delta of 92 nm in thickness with photolithography techniques to have a hole of 4x9 microm2 and 2 microm wide grain boundary Josephson junctions. Combined with a three dimensional magnetic field coil system, the modulation patterns of critical current Ic were observed for three different field directions. They were successfully used to measure the magnetic properties of a molecular ferrimagnetic microcrystal (23x17x13 microm3), [Mn2(H2O)2(CH3COO)][W(CN)8]2H2O. The magnetization curve was obtained in magnetic field up to 0.12 T between 30 and 70 K. This is the first to measure the anisotropy of hysteresis curve in the field above 0.1 T with an accuracy of 10(-12) J T(-1) (10(-9) emu) with a HTS micro-SQUID magnetometer.     

EXPERIMENTAL STUDIES ON A NOVEL CHEMICAL HEAT PUMP DRYER USING A GAS-SOLID REACTION

The authors have been studying Chemical Heat Pumps (CHP) from the viewpoints of energy saving and environmental impact. The CHP can store thermal energy in the form of chemical energy by an endothermic reaction, and release it at various temperature levels during heat demand periods by exo/endothermic reactions. The authors have proposed in an earlier study a novel chemical heat pump (CHP) system for environmentally-friendly effective utilization of thermal energy in drying as a chemical heat pump dryer (CHPD). In this exploratory study, we test the effectiveness of operating the proposed CHPDs experimentally. Basic experiments on the CHPDs such as hot dry air production for convective drying are performed on lab-scale CHPD apparatuses using gas-solid reactions in calcium oxide/calcium hydroxide reactant beds. The proposed CHPDs are found to produce hot air by CHP operation for drying. The temperature levels of the produced hot air and the reaction rates/conversions are as good as in the case of hot water supply system using basically same CHP operation. The cold heat for air dehumidification is also found to be generated/recovered by the same CHPD system. The generated heat amounts can be increased by changing the operating conditions although the heat recovery must be enhanced for practical application of CHPDs.     

直流分量电流作CV电缆老化诊断方法的现场运用探讨

介绍在实际敷设电缆时如何有效消除杂散电流以期提高直流分量电流进行ＣＶ电缆老化监测的测试精度。     

Space charge behavior in polymer film based on increment of capacitance under AC high field

Polymer materials have excellent dielectric and insulation properties; however, those properties in AC high field region have not been known well. Recently we established an evaluation method of high‐field AC dissipation current waveform of polymer materials 1 . AC dissipation current waveforms of polyethylene and polypropylene films show nonlinear distortion in AC high‐field region. This nonlinearity was thought to be related to the behavior of AC space charge formation in the sample near electrodes. The properties of space charge formed under AC high field at power frequency seem to differ from those formed under DC high field. The measurement of AC space charge distribution is not so easy due to the resolution limit of the space charge measurement. We studied the dielectric properties of biaxially oriented polypropylene (BOPP) film under AC high field up to 120 °C. It was found that tan δ, AC dissipation current (Ixr), and unbalanced component of capacitive current (ΔIxc) increased when the temperature became higher. In particular, ΔIxc increased above some threshold field and was considered to be due to the AC space charge formation. This AC space charge layer near electrode is thought to be formed due to carrier injection under AC high‐field application. Usually, the carrier mobility becomes smaller on lowering the temperature. Most of the carriers injected from the electrode are trapped near the electrode in the sample film. But in the high‐temperature region, the carrier mobility becomes larger and the carrier injection starts to increase from lower field. Many more carriers are injected from the electrode. It is thought that some of the injected carriers are trapped inside the sample film; the others go through the sample to the opposite side. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 141(2): 8–16, 2002; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10018     

Aligned bioactive mesoporous silica coatings for implants

Ongoing research is reported aimed at preparing mesoporous silica coatings on various substrates for medical applications by a biomimetic approach (self-assembling of organic/inorganic sol-gel systems into ordered structures). Tetraethylorthosilicate (TEOS) was selected as the silica precursor, and amphiphilic triblock copolymers poly(ethylene oxide)-poly(propylene oxide)-poly(ethylene oxide), and the cationic surfactant cetyltrimethyl ammonium chloride (CTAC), as structure-directing agents. The mesochannels diameter could be adjusted by changing the directing agent, and a preferred alignment of the mesostructure was observed independently of the used substrate (glass, silicon, Ti or Ti6Al4V). Three different treatments (thermocalcination, photocalcination, and solvent extraction) have been also studied to remove the organic templates, of which photocalcination showed to be the most versatile. When soaked in a simulated body fluid, mesoporous silica coatings induced apatite formation after seven days.