A neural network compensator for uncertainties of roboticsmanipulators

A neural network controller for trajectory control of robotic manipulators that is used not to internalize the inverse dynamic model of the controlled object but to compensate only the uncertainties of the robotic manipulator is presented. Its performance is compared with that of the conventional adaptive scheme. The results show the ability of the neural network controller to adapt to unstructured effects. A learning method for the neural network compensator with true teaching signals is shown. The tracking error of the robotic manipulator was greatly reduced when this controller was used     

Siliconizing of molybdenum plate using Si2Cl6 and some of its properties

Molybdenum plate was siliconized using Si₂Cl₆ as a silicon source, and the siliconizing conditions and some of its properties were examined. The siliconizing of the molybdenum plate began by the deposition here and there of island-like MoSi₂ deposits 4 to 6m thick in the initial stage (after 10 min induction time), and then coalescence of the deposits proceeded to form a uniform MoSi₂ layer all over the molybdenum plate after 30 min siliconizing time. The weight decrease of the siliconized plate by anodic dissolution in 0.2 M sulphuric acid reduced exponentially with increasing thickness of the MOSi₂ layer, and no weight decrease was observed at all above 16m thickness. The sea water corrosion and sea sand abrasion resistivities of the siliconized molybdenum plate increased with increasing siliconizing temperature and Si₂Cl₆ flow rate.     

Higher-order structures and mechanical properties of stereocomplex-type poly(lactic acid) melt spun fibers

Equimolar blend of poly(l-lactic acid) (PLLA) and poly(d-lactic acid) (PDLA) was melt spun into fibers and the relations among the processing conditions, crystalline structures, thermal properties, and mechanical properties were investigated. Drawing and annealing were performed in order to obtain fiber mainly consisting of the stereocomplex crystal phase. Fibers drawn at various temperatures exhibited either amorphous, highly oriented homo crystal, or the mixture of homo and stereocomplex with a fairly low orientation depending on the drawing temperature. Annealing of the drawn fibers at an elevated temperature higher than the melting temperature of homo crystal increased the stereocomplex content significantly. The fractions of the homo and the stereocomplex crystals strongly depended on the higher-order structure of the drawn fibers and the annealing temperature.     

Higher order structures and mechanical properties of bacterial homo poly(3-hydroxybutyrate) fibers prepared by cold-drawing and annealing processes

Pure bacterial homo poly(3-hydroxybutyrate) (PHB) fibers were prepared by melt spinning, followed by cold-drawing in an amorphous state at a temperature just above its glass transition temperature. Cold drawn fibers obtained were further drawn at higher temperatures, followed by annealing at various temperatures under tension. Relations among the processing conditions, higher order structures and mechanical properties were investigated using wide- and small-angle X-ray diffractions (WAXD and SAXD, respectively), birefringence, differential scanning calorimetry (DSC), and tensile measurements. PHB has two different crystalline forms, 2₁ helix conformation (α-form) and planar zigzag conformation (β-form). A single broad reflection of β-form was detected even in a PHB fiber drawn once at a temperature just above its T_g immediately after quenching and it tended to be stronger after 2nd drawing at higher temperatures. Annealing under low temperature and high tension facilitates the occurrence of β-form. It is suggested that the β-form crystal is formed not only from the tie chains between α-form lamella, but also from completely free amorphous chains. Changes in the amount of two types of crystals were analyzed using the WAXD integrated intensity. Birefringence of these fibers shows negative and positive values, depending on process conditions. Changes in higher order structure on the mechanical properties are also discussed.     

Survey of actual viewing conditions at home and appropriate luminance of LCD‐TV screens

Abstract— To understand actual viewing conditions at home is important for TV design. And the preferred luminance level of LCD TVs under actual viewing conditions is also important in order to obtain both good picture quality and low power consumption. The actual viewing conditions of households and the preferred luminance levels was investigated. In a field test of 83 households, the display luminance, screen illuminance, and viewing locations were measured on site. In laboratory experiments, young and elderly subjects adjusted the luminance of an LCD‐TV screen to their preferred levels under different screen illuminance levels, angular screen sizes, and average luminance levels (ALL) of the images. As a result, two equations, which represent the preferred luminance level of LCD‐TV screens corresponding to different viewing conditions for young and elderly subjects were obtained. When the ALL of the images was 25% and the screen illuminance and angular screen size were set at 100 lx and 20°, respectively, the preferred luminance was 1 60 cd/m² for the young subjects and 248 cd/m² for the elderly subjects. By using the setting of the preferred luminance of an LCD TV under actual viewing conditions, it is possible to conserve energy consumption.     

Catalytic cycle of cytochrome-c3 hydrogenase,a [NiFe]-enzyme,deduced from the structures of the enzyme and the enzyme mimic

Hydrogenases catalyze uptake and production of H₂. Heterolytic cleavage of H₂ bound on [NiFe]-hydrogenase (E) produces two unequal H species to form E:H_aH_b, where H_a and H_b behave differently. The structures of various states of the enzyme established by crystallography and spectroscopy were used to construct a catalytic cycle of the enzyme. The Ni–Fe center of the active enzyme has the Ni–Fe bridging site vacant. The enzyme is suggested to bind H₂ either at Ni or Fe atom. In E:H_aH_b, H_a is considered to be a protein-bound hydron (proton or deuteron) at the entrance to the hydrophobic gas tunnel. The structure of a synthetic hydrogenase-mimic suggests H_b to be the 6th ligand to Fe. Two successive one-electron processes from E:H_aH_b complete the catalytic cycle of H₂ uptake. The reverse of the cycle operates in the H₂ production. The proposed catalytic cycle is consistent with the kinetic, crystallographic and spectroscopic studies.     

Scaling up experiments of honeycomb catalysts for oxidation of hydrogen and methane gases

For a large volume air cleanup system in nuclear fusion facility honeycomb type oxidizing catalyst offers more useful advantage in terms of their low pressure drop than the conventional particle packed bed. Scaling up examination of 35 times large volume Pd catalyst deposit on metal honeycomb Al–Cr-steel alloy had been performed comparing with fundamental small size honeycomb. The catalyst was heated up to over 400 °C with stepwise by combined the inner and external heaters under various flow rate of processing gas containing various concentrations of hydrogen and methane. Then oxidizing reaction rates and the catalytic activation energies were evaluated and thermal property of catalyst bed was estimated considering exothermic oxidizing reaction in the process gas. As a result it was revealed that the scaling up honeycomb catalyst bed would be practically useful for the air cleanup system.