Phase behavior in liquid crystallization for diblock copolymers consisting of rubbery amorphous and side-chain liquid crystalline components

Phase behavior in liquid crystallization was studied for a series of liquid crystalline (LC) diblock copolymers consisting of rubbery amorphous and side-chain liquid crystalline components, poly(n-butyl acrylate) (PBA) and poly[11-(4′-cyanophenyl-4″-phenoxy)undecyl acrylate] (PLC), respectively, using a time-resolved small-angle X-ray scattering (SAXS) techniques, DSC and polarized optical microscopy (POM). The block copolymers used had three kinds of copolymer compositions, 44, 20 and 15 wt% of PLC compositions (BLC44, BLC20 and BLC15, respectively). BLC44 showed a smectic liquid crystalline structure. In the process of liquid crystallization for BLC44, the SAXS peak due to the microphase separation structure existing before liquid crystallization was changed continuously to be at a smaller angular side, and at almost the same time, a new peak appeared at a further smaller angular side and developed. The former peak disappeared with the development of liquid crystallization. The behavior of these SAXS peaks suggests that the microphase separation structure was changed discretely at the transition from isotropic to smectic and that two phases coexist in the early stage of the liquid crystallization. The coexistence of two peaks in the early stage of the liquid crystallization corresponded to the POM observation. In the isotropization process, coexistence of two phases was not observed. For BLC20 exhibiting a cylindrical structure in both isotropic and liquid crystalline states, the liquid crystalline structure was not smectic but probably nematic, and the spacing was changed continuously in liquid crystallization. No liquid crystallization was observed in SAXS, POM and DSC for BLC15. The orientation of smectic layers within lamellar domains was investigated using 2D-SAXS images. The smectic layer was aligned perpendicularly to the lamellar interface.     

Highly reliable testing of ULSI memories with on-chip voltage-downconverters

Two testing techniques for ultra-large-scale integrated (ULSI) memories containing on-chip voltage downconverters (VDCs) are described. The first in an on-chip VDC tuning technique that adjusts internal V_CC to compensate for the monitored characteristics of the process parameters during repair analysis testing. The second is an operating-voltage margin test, performed at various internal V_CC levels during the water sort test (WT) and the final shipping test (FT)     

Another language for describing motions of mechatronics systems: a nonlinear position-dependent circuit theory

Dynamics and control of nonlinear mechanical systems and advanced mechatronic systems can be investigated more vividly and efficiently by using corresponding nonlinear position-dependent circuits that describe Lagrange's equations of motions and interactions with objects or/and task environments. Such expressions of Lagrange's equations via nonlinear circuits are indebted to lumped-parameter discretization of mechanical systems as a set of rigid bodies through equations of motion due to Newton's second law. This observation is quite analogous to validity of electric circuits that can be derived as lumped parameter versions of Maxwell's equations of electromagnetic waves. Couplings of nonlinear mechanical circuits with electrical circuits through actuator dynamics are also discussed. In such electromechanical circuits the passivity should be a generalization of impedance concept in order to cope with general nonlinear position-dependent circuits and play a crucial role in their related motion control problems. In particular, it is shown that the passivity as an input-output property gives rise to a necessary and sufficient characterization of H/sub /spl infin//-tuning for disturbance attenuation of robotic systems, which can give another system theoretic interpretation of the energy conservation law.     

Coherence-Based 3-D and Spectral Imaging and Laser-Scanning Microscopy

The basics of three-dimensional (3-D) and spectral imaging techniques that are based on the detection of coherence functions and other related techniques are reviewed. The principle of the 3-D source retrieval is based on understanding the propagation law of optical random field through the free space. The 3-D and spectral information are retrieved from the cross-spectral density function of optical random field or numerical calculation of the inverse propagation of the cross-spectral density. We will first introduce the coherence-based spectral tomography techniques with low-coherence light sources. These techniques limit their scheme of coherence detection only along the optical axis and some of them achieve simultaneously the high resolution and high speed of detection taking advantage of an imaging lens. We then provided explanations of the principle of 3-D source retrieval that is based on the propagation law of optical random field through the free space along with the introduction of the numerical holography and computed tomography techniques. We will lastly show 3-D spectral imaging schemes with the concurrent laser-scanning cross-sectioning techniques: one is the confocal laser scanning microscopy and the other is the two-photon laser-scanning fluorescence microscopy.     

Equivalence relations between learnability,output-dissipativity and strict positive realness

This paper was originally motivated by aiming at explicating why a simple iterative learning control scheme for complicated robot dynamics with strong non-linearities works well in acquiring any given desired motion over a finite or infinite time duration or any periodic motion. To gain a physical insight into the problem, a class of linear dynamical systems with specified input and output of the same dimension is treated by defining two properties: output-dissipativity and learnability. It is then shown that the former implies the latter and furthermore, for a class of linear systems with single input and single output, they are equivalent to each other and each of them is also equivalent to strict positive realness of input-output transfer function. For a class of MIMO (multiple inputs and multiple outputs) systems, it is possible to prove that each of these properties is equivalent to strict positive realness of the input-output transfer function matrix if it is strictly proper or otherwise its direct term from input to output satisfies an extra condtion.     

Control of an object with parallel surfaces by a pair of finger robots without object sensing

This paper proposes a method for controlling an object with parallel surfaces in a horizontal plane by a pair of finger robots. The control method can achieve stable grasping, relative orientation control, and relative position control of the grasped object. The control inputs require neither any object parameters nor any object sensing, such as tactile sensors, force sensors, or visual sensors. The control inputs are also quite simple and do not need to solve either inverse kinematics or inverse dynamics. The stability of the closed-loop system is proved, and simulation and experimental results validate the control method.     

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.