Dynamic compensation by fusing a high-speed actuator and high-speed visual feedback with its application to fast peg-and-hole alignment

This paper presents a dynamic compensation concept to grapple with the dynamic defects of a traditional robot arm, especially while performing high-speed endpoint regulations. The proposed high-speed dynamic compensation concept offers a new point of view for cooperating with a traditional manipulator to realize highly dexterous performance of manipulations. The concept is realized through adoption of a high-speed light-weight actuator as well as endpoint closed loop configured high-speed cameras. The dynamic compensation is analyzed experimentally with 1000 Hz visual feedback and a high-speed finger for a robot arm in the case of one degree of freedom. The advantage of the proposed approach is that the modeling for the robot system’s dynamics is not needed, whereas it is necessary and trivial in order to realize high-speed regulations by traditional approaches. Thus, the control issue becomes easier with the proposed approach. As an application for this concept, fast peg-and-hole alignment with large position and attitude uncertainty is studied. The alignment algorithm is based on a visual compliance strategy. Alignment experiments show that with the proposed concept of dynamic compensation as well as visual compliant motion control, robust and fast convergence was realized for most cases.     

Structural development and mechanical properties on immiscible and miscible blends from isotactic polypropylene and ethylene-1-hexene copolymers under uniaxial drawing

Isotactic polypropylene and ethylene-1-hexene copolymers containing 32 and 57 mol% of 1-hexene copolymers blends (i-PP/EH32 and i-PP/EH57) were prepared by solution blending, precipitating followed by drying and hot pressing. The two blends were subject to investigation on structure and mechanical properties of these blends under uniaxial drawing. The i-PP/EH32 and i-PP/EH57 represented the immiscible and miscible blends, respectively. The tensile stresses and strains at breaking point of i-PP/EH57 were remarkably higher than those of i-PP/EH32 at room temperature. From wide-angle X-ray diffraction (WAXD) measurement, it was observed that the orientation of crystallites occurred early and then propagated gradually up to about drawing ratio 8 because chains of EH57 copolymer were incorporated into the amorphous regions between lamellae of i-PP. In the WAXD patterns of i-PP/EH57, the oriented spot reflections coexsisted with unoriented ring reflections up to draw ratio higher than in pure i-PP. On the other hand, the two-phase structure was observed from TEM and AFM in i-PP/EH32, and on the drawing, separation at the interface between two-phase was observed in i-PP/EH32 even at the low strain.     

Reduction of Vibration in Concentrated Winding Permanent Magnet Synchronous Motor by Means of Skew Effects of Rotor

Global warming and the problem of successfully incorporating environmental safeguards are promoting the need for a more power‐efficient motor. Therefore, as a driving source, permanent magnet synchronous motors (PMSMs) with concentrated winding are widely used in a variety of fields. However, a PMSM with a concentrated winding generates more vibration than one with a distributed winding because of the radial electromagnetic force. This paper describes the effect of a new skewed rotor on the characteristics of a concentrated winding PMSM. We investigated this effect by three‐dimensional finite element method (3D FEM) analysis and measurement. We also demonstrate that the proposed rotor is effective in reducing the radial electromagnetic force without decreasing motor efficiency. © 2014 Wiley Periodicals, Inc. Electr Eng Jpn, 187(2): 33–43, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22400     

Present Status of the Nd:YAG Thomson Scattering System Development for Time Evolution Measurement of Plasma Profile on Heliotron J

A new high repetition rate Nd:YAG Thomson scattering system is developed for the Heliotron J helical device.A main purpose of installing the new system is the temporal evolution measurement of a plasma profile for improved confinement physics such as the edge transport barrier (H-mode) or the internal transport barrier of the helical plasma.The system has 25 spatial points with ～10mm resolution.Two high repetition Nd:YAG lasers (>550mJ@ 50Hz) realize the measurement of the time evolution of the plasma profile with ～10ms time intervals.Scattered light is collected by a large concave mirror (D=800 mm,f/2.25) with a solid angle of ～100 mstr and transferred to interference filter polychromators by optical fiber bundles in a staircase form.The signal is amplified by newly designed fast preamplifiers with DC and AC output,which reduces the low frequency background noise.The signals are digitized with a multi-event QDC,fast gated integrators.The data acquisition is performed by a VME-based system operated by the CINOS.     

A case of infective endocarditis with the mycotic aortic valve aneurysm

A 49-year old man was admitted with a complaint of syncopal attack. Transient A.V block was detected and permanent pacemaker (DDD) was implanted. Five months later he was re-admitted because of dyspnea and palpitation. Infective endocarditis with aortic regurgitation and mycotic aortic valve aneurysm was diagnosed by echocardiography and cineangiography. The aortic valve and valve aneurysm were resected and AVR was performed using Bj?rk-Shiley disc valve (23A) in the usual manner. But 6 months later he suffered from acute cardiac failure due to perivalvular leakage. He died in spite of re-AVR with translocation method.     

Biodegradable polylactide/montmorillonite nanocomposites

Our continuing research on the preparation, characterization, materials properties, and biodegradability of polylactide (PLA)/organically modified layered silicate (OMLS) nanocomposites has yielded results on PLA/montmorillonite nanocomposites. Montmorillonite (mmt) modified with dimethyldioctadecylammonium cation was used as an OMLS for nanocomposite preparation. The internal structure of nanocomposites on the nanometer scale was established with the use of wide-angle X-ray diffraction patterns and transmission electron micrographic observation. All nanocomposites exhibited significant improvement in crystallization behavior, mechanical properties, flexural properties, heat distortion temperature, and O2 gas permeability when compared with pure PLA.     

Multiple tolerance of Rhodotorula glutinis R-1 to acid, aluminum ion and manganese ion, and its unusual ability of neutralizing acidic medium

A red yeast isolated from the acidic water of Kusatsu hot spring could grow in an acidic medium of pH 1.5 and was identified as Rhodotorula glutinis. Electron microscope observations (scanning electron microscopy [SEM] and transmission electron microscopy [TEM]) showed that cell envelope became wrinkled and thick as the pH values of media became lower. The cell membrane grown at pH 1.5 was about four times as thick as that grown at pH 6.0. It was suggested that the change of cell envelope plays an important role in the acid tolerance. Cellular proteins at pH 1.5 appeared to be different from those at pH 6.0 and the amounts of phospholipids and non-phospholipids increased and decreased under low pH conditions, respectively. The acid-tolerant yeast also showed strong resistance to both aluminum and manganese ions. An acidic medium (pH 3.0) containing these ions (100 mM) was shifted to neutral pH by long-term cultivation of the red yeast, suggesting the potential of using this yeast in the bioremediation of acidic soil containing these ions at a high level.     

Development of a Compact-Sized Falling Needle Rheometer for Measurement of Flow Properties of Fresh Human Blood

A compact-sized falling needle rheometer with rapid operation and automatic flow analysis has been developed for viscometry of fresh human blood without anticoagulant. The volume of a fresh blood sample only needs to be 3 mL, and the measuring time is within 2 min after taking a blood sample from the human body. Measured flow properties of human blood are evaluated as a flow curve, that is, the relationship between the shear stress (τ) and shear rate (γ). Observed flow curves of fresh human blood show three typical fluid regions, that is, the Casson fluid region for a low shear rate range of 0 < γ > 140 s^?1, the transition region for a shear rate near 140 s^?1 < γ < 160 s^?1, and the Newtonian fluid region for a high shear rate range of 160 s^?1 < γ > 400 s^?1. Flow properties of human blood such as the yield stress (τ _y) in the Casson fluid region and the apparent viscosity (μ) in the Newtonian fluid region are measured, and they are compared between male and female blood. It is found that the range of human blood viscosity for males is (5.5 to 6.4) mPa · s, and for females is (4.5 to 5.3) mPa · s. The viscosities of male blood without anticoagulant show higher values than those of female blood. Human blood viscosities with anticoagulant show a lower value than that without anticoagulant. A linear relationship between the hematocrit value, that is, the volume percentage of red corpuscles in the human blood, and the apparent viscosity are observed for both male and female blood. This article is concerned with the flow analysis of fresh human blood viscosity without anticoagulant using a newly developed compact-sized falling needle rheometer.     

Structural development of natural rubber during uniaxial stretching by in situ wide angle X-ray diffraction using a synchrotron radiation

Structural development of natural rubber during uniaxial stretching was examined by an in situ wide angle X-ray diffraction measurement using a synchrotron. During stretching, the amorphous part showed little change, i.e. an amorphous halo remained clear even at 500% strain. The fraction of induced crystals was very small, though a clear crystalline pattern was observed at 400% strain. Some polymer chains were oriented and crystallized, but most of the chains were not oriented at all in spite of large deformations of the specimen. Only a small amount of polymer chains contributes to the stress and hysteresis loss during elongation.     

Dynamic MR hepatocholangiography with the SIP Fast GRE (saturation inversion projection fast gradient echo) method

The purpose of this study was to assess the utility of dynamic MR hepatocholangiography with the Gd-EOB-DTPA enhanced SIP Fast GRE sequence in the hepatobiliary system. The SIP Fast GRE sequence was used for sequential imaging of the hepatobiliary system with a frame rate of 3 sec in a 256 x 192 matrix. Dynamic sequential acquisition was performed for 51 min before and after the injection of 30 mu mol/kg of Gd-EOB-DTPA in a rabbit. Dynamic images of the hepatobiliary system were obtained in the rabbit study. Dynamic MR hepatocholangiography provides better functional information than conventional MR cholangiography.