Structure and Nonlinear Optical Properties of Lanthanide Borate Glasses

The third–order nonlinear optical susceptibility, χ⁽³⁾, of lanthanide (lanthanum, praseodymium, neodymium, and samarium) borate glasses has been measured by the third harmonic generation method. The structure of the present glass system has been studied by infrared and Raman spectroscopic methods. The network structures of the present Ln₂O₃–B₂O₃ glasses have been confirmed to be basically similar to each other. Praseodymium, neodymium, and samarium borate glasses exhibit χ⁽³⁾ values that are larger than lanthanum borate glasses, because of the optical resonance effect, in accordance with the f – f transition. Especially, the χ⁽³⁾ value for 30Pr₂O₃·70B₂O₃ glass is 1.8 × 10⁻¹² esu, which is a factor of ∼60 larger than that of SiO₂ glass. This striking enhancement of χ⁽³⁾ is mainly attributed to the large transition moment to the first excitation state.     

Formation of Zirconia Solid Solutions Containing Alumina Prepared by New Preparation Method

In the system ZrO₂–Al₂O₃, a new method for preparing ZrO₂ solid solutions from ZrCl₄ and AlCl₃ using hydrazine monohydrate is investigated. c -ZrO₂ solid solutions containing up to ∼40 mol% Al₂O₃ crystallize at low temperatures from amorphous materials. The formation mechanism is discussed from IR spectral data. The values of the lattice parameter α increase linearly from 0.5072 to 0.5105 nm with increasing Al₂O₃ content. At higher temperatures, transformation of the solid solutions proceeds as follows: c ( SS ) → t ( ss ) → t ( ss ) +α-Al₂O₃→ m +α-Al₂O₃. m -ZrO₂–α-Al₂O₃ composite ceramics are fabricated by hot isostatic pressing for 2 h at 1250°C and 196 MPa. Microstructures and mechanical properties are examined, in connection with increasing Al₂O₃ content.     

Evaluation of standing‐sitting support system with passive rotational seat mechanism in standing motion

Since a decrease in muscle mass of elderly people, the physical burden of them in standing‐sitting motion of a seat are increasing than young people. For this problem, several standing‐sitting support systems have been developed, and evaluations of these systems focusing on a reduction of physical load have been discussed. However, these evaluations are of support systems with an active actuators or of support systems when they use a handrail and a standing aid. Thus, an evaluation of a support system with only passive actuators has not been reported. In this paper, in standing motion with using a standing‐sitting support system with passive rotational seat mechanism which our group proposes, we objectively evaluate an effectiveness of the passive rotational seat mechanism by statistical analysis.     

Acceleration of the redox kinetics of VO2+/VO2 + and V3+/V2+ couples on carbon paper

The redox kinetics of VO²⁺/VO₂ ⁺ and V³⁺/V²⁺ couples on a carbon paper (CP, HCP030 N, Shanghai Hesen, Ltd., China) electrode were investigated in terms of their standard rate constant (k ₀) and reaction mechanism. The values determined for k ₀ for VO²⁺ ?? VO₂ ⁺ and V³⁺ ?? V²⁺ using the CP electrode are 1.0 × 10^?3 and 1.1 × 10^?3 cm s^?1, respectively. The value of k ₀ increases by one or two order(s) of magnitude compared with values obtained using electrodes composed of pyrolytic graphite and glassy carbon. The acceleration of the redox kinetics of vanadium ions is a result of the large surface area of the CP electrode. An inner-sphere mechanism for the reaction on the surface of the electrode is proposed. The kinetic features of vanadium redox reactions on the CP electrode reveal that CP is suitable for use as the electrodes in vanadium redox-flow batteries.     

Azimuthal wave number control of oscillatory thermocapillary convection in a liquid bridge

Thermocapillary convection in a half‐zone liquid bridge of high Prandtl number fluid is widely known to exhibit a three‐dimensional oscillatory flow after the onset of oscillation. The oscillatory flow presents ‘standing’ and ‘traveling’ flows depending upon the temperature difference between the top and bottom rods. In the oscillatory state, the flow shows a modal structure with an azimuthal wave number that depends on the aspect ratio of the liquid bridge and the intensity of the thermocapillarity expressed by the Marangoni number. The present study attempted to control the azimuthal wave number by heating the free surface locally with a prescribed frequency and intensity. The flow in the liquid bridge exhibited different modal structures depending on the heating conditions and a relationship between the frequency and the modal structure was obtained. © 2005 Wiley Periodicals, Inc. Heat Trans Asian Res, 34(7): 460–469, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/htj.20086     

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.