Anti‐Sway Crane Control Considering Wind Disturbance and Container Mass

A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately and must use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction force, and wind. Moreover, the container mass cannot be determined, and therefore the observer parameter is not suitable. We already proposed robust antisway control for overcoming rope length error without adding a new sensor. Further, we designed a friction disturbance observer to cancel out the influence of the friction force. In this paper, we first propose a container mass estimation method when a crane system performs rolling up control. The observer parameter can be selected using the estimated mass value. Second, in crane parallel shift control, we propose a robust antisway control even when there is a wind disturbance. We design a wind disturbance observer and propose a wind disturbance estimator to separate the friction observer output from the wind disturbance observer output. We confirm through experiments that the proposed method can reduce vibration.     

High-efficiency finishing process for metal mold by large-area electron beam irradiation

A new finishing process for metal molds by large-area electron beam (EB) irradiation is proposed in this study. In the large-area EB irradiation equipment used here, an EB with high-energy density is irradiated without focusing the beam, and so the EB with a maximum diameter of 60 mm can be used for melting or evaporating metal surface instantly. Experimental results show that the surface roughness decreases from 6 μmRz to less than 1 μmRz in just a few minutes under proper machining conditions. The corrosion resistance of metal mold surface also could be greatly improved by large-area EB irradiation. Furthermore, the surface roughness of tilting surface close to 90° could be well improved. Therefore, large-area EB irradiation method has a possibility to become a high-efficiency finishing process for metal molds.     

Molecular Dynamics Simulation of Structural Relaxation of Asphaltene Aggregates

For asphaltene obtained from vacuum residue of Khafji crude oil, the energy-minimum conformation calculated by molecular mechanics-dynamics simulations showed that aggregated structures of asphaltene molecules through noncovalent interactions are more stable. Changes induced in aggregated structures by pretreatment with solvents were investigated using molecular dynamics calculations. The simulation showed that in quinolin at 573 K, some staking interactions could be disrupted, while, in 1-methylnaphthalene it was not observed. Autoclave experiments showed that the coke yield after pyrolysis at 713 K was decreased when the asphaltene was pretreated with quinoline at 573 K for 1 h, compared to the yield without the pretreatment. While, in the case of pretreatment in 1-methylnaphthalene, the coke yield did not change significantly. The simulation's results above can be related to the difference in coke yield between two solvents; in quinoline some aromatic-aromatic stacking interactions could be disrupted and mobility of molecules was increased. This resulted in prevention of the asphaltenes from polymerizing, as in condensation reactions among aromatic rings. Consequently, the coke yield after the pretreatment with quinoline was decreased.     

Radiation damage induced in Si photodiodes by high-temperature neutron irradiation

Results are presented of a detailed study of the effects of high-temperature 4-MeV neutron irradiation on the performance degradation of Si pin photodiodes together with the radiation-induced defects, observed by deep level transient spectroscopy (DLTS). It was found that the dark current increases after irradiation, while the photocurrent decreases. After irradiation, two majority electron capture levels with (E _c–0.22 eV) and (E _c–0.40 eV) were induced in the n-Si substrate, while one minority hole capture level with (E _v+0.37 eV) was found. Additionally, the degradation of the device performance and the introduction rate of the lattice defects decreases with increasing irradiation temperature. For a 250 °C irradiation, the reduction of the reverse current is only 20% of the starting value. This result suggests that the creation and recovery of the radiation damage proceeds simultaneously at high temperatures.     

The role of prostate specific antigen in diagnosis of localized adenocarcinoma of the prostate. Nara Uro-Oncology Research Group

The number of cases of prostate carcinoma (PCA) is steadily inceasing in Japan. The clinical application of a reliable tumor marker, prostate specific antigen (PSA) for the diagnosis, as well as the increasing elderly population in Japan may account for this increase. The subjects were patients at the Nara Medical University and its affiliated hospitals; 1) 687 cases without PCA were evaluated for age-specific PSA and the incidence of abnormal PSA following urological manipulations, 2) 135 cases with histological proven BPH by transurethral resection of prostate (TUR-P) were examined for PSA density (PSAD) and positive PSA rate in BPH, 3) 135 cases receiving a needle biopsy with suspicion of PCA were examined for the efficacy of PSA and PSAD and other parameters, and 4) 459 PCA cases treated between 1988 and 1994, were examined for specific PSA and PSAD values by stage and degree of cell differentiation. The PSA assay used in this study was MARKIT-M PA (normal range < or = 3.6 ng/ml). The PSA was decreased gradually with age in non-PCA patients, and abnormal PSA was found in 5.5% of these patients following manipulations. The average PSA was 2.95 +/- 2.03 ng/ml in 130 BPH patients (mean age: 71.1 +/- 7.0 years old. and average prostate volume: 32.9 +/- 16.1 ml). And abnormal PSA level (more than 3.61 ng/ml) was found in 22.3%. The mean PSAD was 0.1.0 +/- 0.06, and PSAD was below 0.15 in 86.1% of these BPH cases. Among the 135 cases receiving a needle biopsy, 33 cases had PSA values between 3.61 and 10.0 ng/ml. Of these cases, PCA was found in 18.5% of the 27 cases with a PSAD below 1.5, and in 33.3% of the 6 cases with a PSAD over 1.5. PSA and PSAD were proportionally increased with stage, and a significant difference in the PSA value was observed between stage B1 and B2, and stage C and D (P < 0.05). However, PSA and PSAD values were not significantly correlated with the cell differentiation in PCA stage A2-C. In total, PSA was 18.1 ng/ml in well, 23.9 ng/ml in moderately and 35.9 ng/ml in poorly differentiated type PCA. The positive rate of PSA was 22.3, 65.4 and 83.5%, that of prostate acid phosphatase (PAP) was 10.0, 17.8 and 45.8%, and that of GSM was 25.0, 14.7 and 68.4%, in BPH, stage A PCA and stage BPCA, respectively. In conclusion, PSA is the most reliable tool in the diagnosis of localized PCA. However, the differential diagnosis of BPH and localized PCA is difficult when the PSA value is between 3.61 and 10.0 ng/ml, and accurate staging of localized PCA is difficult with PSA or PSAD alone. At present, it is necessary to use all possible tools for the early detection of localized PCA, and to perform the needle biopsy in all PCA-suspicious cases.     

Augmenting Edge-Connectivity between Vertex Subsets

Given a directed or undirected graph G=(V,E), a collection ${\mathcal{R}}=\{(S_{i},T_{i}) \mid i=1,2,\ldots,|{\mathcal{R}}|, S_{i},T_{i} \subseteq V, S_{i} \cap T_{i} =\emptyset\}$ of two disjoint subsets of V, and a requirement function $r: {\mathcal{R}} \to\mathbb{R}_{+}$ , we consider the problem (called area-to-area edge-connectivity augmentation problem) of augmenting G by a smallest number of new edges so that the resulting graph $\hat{G}$ satisfies $d_{\hat{G}}(X)\geq r(S,T)$ for all X?V, $(S,T) \in{\mathcal{R}}$ with S?X?V?T, where d _G (X) denotes the degree of a vertex set X in G. This problem can be regarded as a natural generalization of the global, local, and node-to-area edge-connectivity augmentation problems. In this paper, we show that there exists a constant c such that the problem is inapproximable within a ratio of $c\log{|{\mathcal{R}}|}$ , unless P=NP, even restricted to the directed global node-to-area edge-connectivity augmentation or undirected local node-to-area edge-connectivity augmentation. We also provide an ${\mathrm{O}}(\log{|{\mathcal{R}}|})$ -approximation algorithm for the area-to-area edge-connectivity augmentation problem, which is a natural extension of Kortsarz and Nutov’s algorithm (Kortsarz and Nutov, J. Comput. Syst. Sci., 74:662–670, 2008). This together with the negative result implies that the problem is ${\varTheta}(\log{|{\mathcal{R}}|})$ -approximable, unless P=NP, which solves open problems for node-to-area edge-connectivity augmentation in Ishii et al. (Algorithmica, 56:413–436, 2010), Ishii and Hagiwara (Discrete Appl. Math., 154:2307–2329, 2006), Miwa and Ito (J. Oper. Res. Soc. Jpn., 47:224–243, 2004). Furthermore, we characterize the node-to-area and area-to-area edge-connectivity augmentation problems as the augmentation problems with modulotone and k-modulotone functions.     

Microstructure of TiO2 and ZnO Films Fabricated by the Sol-Gel Method

Titanium dioxide and zinc oxide films were fabricated by spin-on and dip-coating methods. Both types of films exhibited columnar grains when the single coating was thin, ∼10 nm. The columnar TiO₂ films were dense, as confirmed by their density values calculated from the refractive index and TEM results. The addition of Al cations into the ZnO suppressed grain growth, because Zn had a lower diffusivity in the doped films. The doped ZnO films had nearly the same electrical resistivity as that of the undoped films.     

Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement

This work faces the redundancy problem, a central concern in robotics, in a particular force-producing task by using muscle synergies to simplify the control. We extracted muscle synergies from human electromyograph signals and interpreted the physical meaning of the identified muscle synergies. Based on the human analysis results, we hypothesized a novel control framework that can explain the mechanism of the human motor control. The framework was tested in controlling a pneumatic-driven robotic arm to perform a reaching task. This control method, which uses only two synergies as manipulated variables for driving antagonistic pneumatic artificial muscles to generate desired movements, would be useful to deal with the redundancy problem; thus, suggesting a simple but efficient control for human-like robots to work safely and compliantly with humans.     

Mie scattering from sphere structures in polymer blends

Polymer blends of transparent poly(methyl methacrylate) and polystyrene become opaque due to light scattering at the boundaries of the two polymers. The polymer blend is light brown when it is illuminated by white light. The coloring depends on the spherical domain structures existing in the polymer blend. The coloring was analyzed by using the rigorous Mie theory. The Mie results were compared with the semiempirical results previously reported by the authors. The wavelength dependence of theoretical scattering efficiencies on radii of scattering spheres from 0.05 to 1.2 μm was obtained for polystyrene spheres in poly(methyl methacrylate) matrix, and vice versa. The scattering at the short wavelength region is stronger than at the long wavelength region. The scattering efficiencies become almost constant in the visible wavelength region for sufficiently large spheres.     

Aldol condensation of butanal over alkali metal zeolites

Alkali metal zeolites and metal oxides were used for the aldol condensation of n-butanal to 2-ethyl-2-hexenal. The order of activity at 150 °C and 1 atm. was: CsNaY > NaY > LiNaY > MgO >Al₂O₃. Selectivity to 2-ethyl-2-hexenal was 100% for both pure and mixed isomer feed. Infrared spectroscopic studies showed that stable catalysts were produced by propene pretreatments which blocked Lewis acid sites. Adsorption of ammonia and carbon dioxide on CsNaY during aldol condensation of n-butanal causes a decrease in rate. This result, along with the order of activity, suggests that the presence of both acid and basic sites produce higher activity than strongly basic MgO.Work performed at San Jose State University.