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．     

CREEP-FATIGUE CRACK GROWTH AND FRACTOGRAPHY OF A TYPE 304 STAINLESS STEEL AT ELEVATED TEMPERATURE

Abstract— Creep-fatigue crack growth behaviour of a Type 304 stainless steel under four types of reversed loading patterns (P-P, P-C, C-P and C-C) was investigated and the results are discussed in the light of fracture mechanics and fractography. The crack growth rate for all of the four types of loading was successfully correlated in terms of the cyclic integral range λ J. It was unnecessary, for practical purpose, to divide Ay into a fatigue component, λ J _f, and a creep component, λ J _c, as has been done elsewhere. The transition of the correlating fracture mechanics parameter from fatigue to creep was not necessarily associated with the fracture morphology. This was related to the longer transition hold time in morphology in C-C type loading compared to C-P type loading, and was attributed to recovery of grain boundary sliding during the compression hold in the C-C type loading.     

Heavy arsenic doping of silicon grown by atmospheric pressure selective epitaxial chemical vapor deposition

Selective epitaxial Si with a high arsenic concentration of 2.2×10¹⁹ atoms/cm³ was deposited at a high growth rate of 3.3 nm/min under atmospheric pressure. It was confirmed that this method had excellent selectivity and produced films having good crystalline quality, abrupt dopant profiles at the interfaces, and smooth surfaces. The growth mechanism is discussed in terms of the relationship between the effects of arsenic surface segregation and etching by hydrogen chloride.     

Effect of the ACAT inhibitor, HL-004, on cholesterol metabolism in macrophages

The effects of a novel acyl-CoA: cholesterol acyltransferase (ACAT) inhibitor, HL-004, on cholesterol metabolism were examined in mice peritoneal macrophages. Cholesteryl ester-rich foam cells were induced by incubating macrophages with acetylated LDL. HL-004 prevented the accumulation of cholesteryl ester in the presence of the cholesterol acceptor, HDL. In the absence of HDL, HL-004 generated large amounts of free cholesterol in the cell. Moreover, HL-004 stimulated the efflux of cholesterol from preestablished foam cells in the presence of HDL. These results suggest that the inhibition of foam cell formation and the stimulation of foam cell regression by HL-004 are attributed to intracellular ACAT inhibition, and that HL-004 would be expected to exhibit an antiatherosclerotic effect through direct action on arterial wall.     

X-ray Photoelectron Spectroscopy Investigation on the Low-Temperature Degradation of 2 mol% Y2O3-ZrO2 Ceramics

2 mol% Y₂O₃-ZrO₂ polycrystals were annealed in water and under vacuum to highlight the effect of the presence of H₂O on the low-temperature degradation transformation. The specimen surfaces with monoclinic phases transformed during annealing in the different environments were analyzed by X-ray photoelectron spectroscopy with special interest on the electron binding energy change of the constituent ions of the 2 mol% Y₂O₃-ZrO₂ ceramics after the degradation transformation. It was found that no change occurred for the electron-bonding energies of core levels of zirconium ions after the transformation, whereas Y-OH bonds were formed during annealing in water. This result suggested a possibility that the preferred hydration of yttrium took place at the surface of Y₂O₃-partially-stabilized ZrO₂, which is likely to be the reason for the low-temperature degradation accelerated by the presence of H₂O.     

An XPS study of passive films on Nickel and alloy 600 in acids

Compositions of surface films formed on nickel and Alloy 600 in I M HCI, 0.5 M H₂SO₄ and I/3 M H₃PO₁ solutions were investigated as a function of polarization potential. The main constituent of surface films formed on Ni in 0.5 M H₂SO₄ or 1/3 M H₃PO₄ solution was hydrated nickel oxyhydroxide, in which the ratio of O₂ to OH⁻ increased when passivation occurred. The surface films formed on Ni and Alloy 600 at lower potentials in 0.5 M H₂SO₄ solution contain S² ions other than SOP_4²⁻ ions, whereas S²⁻ ions were not incorporated in the passive film. Passivation of Alloy 600 took place by the formation of hydrated chromium oxyhydroxide. Pitting led to no substantial change in the average composition of the film.     

Importance of initial surface film in the degradation of stainless steels by atmospheric exposure

The surface compositions of stainless steels types 304, 316, 430, and 444 combined with four types of surface finishes, 2B finish, hairline polishing, mirror polishing, and bright annealing, were measured by ICP-AES, EPMA, and XPS before exposure. The surface finish that most enriched the chromic species in the surface film was mirror polishing, followed by bright annealing, 2B finish, and hairline polishing. The order of corrosion-resistance was type 444, type 316, type 304, and type 430. The surface compositions were correlated with the rating number and pitting depth after exposure to atmospheric environments. The rating number had a high positive correlation with the concentration of Cr in the surface film, and had a slight correlation with the near-surface composition measured by EPMA at 12 kV, but did not show any correlation with bulk composition within the composition range covered in the present work. This same trend was observed for pitting depth. It was concluded that the cationic concentration of Cr in the surface film before atmospheric exposure is the prime factor in controlling the resistance of stainless steels to atmospheric corrosion.     

Investigation of the effect of surface phosphate ester dispersant on viscosity by coarse-grain modeling of BaTiO slurry

To understand the role of phosphate ester dispersant, we investigated the rheology of a BaTiO slurry. For the model case, a coarse-grain molecular dynamics (CGMD) simulation was performed with the butyral polymer didodecyl hydrogen phosphate (DHP) in the toluene/ethanol solvent. By systematically analyzing the effect of DHP from an atomic-scale first principle and from all-atom MD to microscale CGMD simulation, we investigated how the adsorption of a DHP dispersant on a BaTiO surface affects the microstructure rheology of a BaTiO slurry. The first-principle and all-atom MD simulation suggests that DHP molecules prefer to locate near the BaTiO surface. CGMD simulation shows a reduction in viscosity with an increase in dispersants, suggesting that the dispersant population near the BaTiO surface plays a key role in controlling the rheology of the BaTiO slurry. In this study, we propose an approach for understanding the BaTiO slurry with molecular-level simulations, which would be a useful tool for efficient optimization of slurry preparation.     

The surface film formed on amorphous Pd-Ti-P alloy by anodic polarization in 2 m NaCl solution

X-ray photoelectron spectroscopy was used to investigate the effect of the composition and thickness of surface film on the electrocatalytic properties for chlorine gas evolution on amorphous Pd-Ti-P alloy in NaCl solution. The amount of charge for gas evolution exhibited a wavy change with an increase in polarization potential. The gas evolution became active with an increase in palladium content of the surface film and slowed down with increases of titanium and phosphorus contents of the film. However, despite the fact that the formation of surface film consisting mainly of titanium as a cation in the potential region higher than 1.6 V (sce), the catalytic activity for gas evolution increased, suggesting the change in the gas evolution mechanism in the higher potential region.     

Anodic characteristics of amorphorous palladium-base alloys in sodium chloride solutions

The anodic characteristics of a variety of amorphous palladium-base alloys were examined with a view to their use for the production of sodium hypochlorite by electrolysis of dilute sodium chloride solutions at ambient temperature. The corrosion resistance of palladium-metalloid alloys was obtained by alloying with platinum group metals and/or valve metals. Among these alloys, rhodium-containing alloys showed high electrocatalytic activities for chlorine evolution. Surface activation treatment was, however, necessary to obtain sufficiently high activities for chlorine evolution at low overpotentials. Surface-activated amorphous alloys possessed considerably higher current efficiency for chlorine evolution in comparison with currently used anodes.