Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

Study on stiffness visualization and safety control based on will-consensus building for tele-palpation robot system

This paper proposes a method for visualizing the stiffness of a soft object in a palpation-support information system by the teleoperation of a robot hand. It is important that a palpation system display a body’s shape and stiffness. In our method, the stiffness of the contact area between the soft object and the robot finger is estimated by a recursive least-squares method with forgetting factor that uses an impedance dynamics model. With the estimated stiffness and direction of contact force, we calculate the scalar parameter for visualization of stiffness. Moreover, we propose a safety control method for the palpation system, which is part of a tele-control method based on will-consensus building. The system configuration, estimated algorithm, and experimental results are presented.     

Shrinkable Nanotubes for Duplex Formation of Short Nucleotides

Molecular monolayer nanotubes produced by self‐assembly of an amphiphile modified with a 2‐nitrobenzyl group as a photoresponsive unit are able to encapsulate dinucleotides via electrostatic attraction. Upon photoirradiation, the 18 nm inner diameter of the nanotubes shrinks to less than 2 nm as a result of photochemical cleavage of the 2‐nitrobenzyl group in the amphiphile. This shrinking of the nanotube channels leads to a propulsive release of the dinucleotides into the bulk solution and simultaneously accelerates formation of the dinucleotide duplexes. The larger nanotube channels without photoirradiation merely release each dinucleotide into the bulk solution, indicating that the squeezing via transportation in the narrow nanotube channels is necessary for duplex formation. In addition to the size effect, water with a lower polarity confined within the narrow nanotube channels helps to stabilize the energetically unfavorable hydrogen‐bonded base pair between the dinucleotides. This system should enable researchers to perform biological reactions that occur only in specific environments and conditions in living organisms.     

Adaptive Control For Robotic Manipulators Executing Multilateral Constrained Task

This paper presents a model‐based adaptive control in task coordinates for robotic manipulators executing multilateral constrained tasks The controller works based on the concept of orthogonality between force and motion in the subspaces derived from the constraints. The control gains are independently adjustable in each subspace. The friction force, depending on the contact force, is compensated adaptively. Asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov‐Like Lemma. Experimental results obtained using a 3 D.O.F. robot are given.     

Chemical vapor deposition of SiO2 films by TEOS/O2 supermagnetron plasma

A TEOS/O₂ supermagnetron double electrode plasma system was used to deposit SiO₂ films. Deposition rates were measured as a function of rf power and substrate stage temperature. With an increase of rf power on both electrodes from 40 to 80W, the deposition rate increased; however, with a further increase of rf power from 80 to 120W, the deposition rate ceased to increase or decreased only a small amount. The presence of O-H bonds from bonded water in the film was evaluated using buffered HF (BHF) etching solution. With an increase of rf power from 40 to 120W, the BHF etch rate decreased; i.e., the number of O-H bonds were reduced. A minimum BHF etch rate was observed at a rf phase difference of 180° between the two rf power sources. A SiO₂ film was deposited on a trench-patterned quartz substrate. A flat surface SiO₂ layer with air gaps (voids) was formed on the high-aspect ratio (depth/width=1.5-2) trench area.     

Low‐Energy Electron Beam Induced Charging and Secondary Electron Emission Properties of FEP Film Used on Satellite Surfaces

Many kinds of insulating materials are used outside a spacecraft. They include FEP films, polyimide films, and so on, and are used as thermal control materials. These materials are exposed to a charged‐particle environment around the spacecraft. Thus then become charged due to charged particles, especially electrons. It has been pointed out that charging of these materials is likely to cause discharges on the surfaces. From this viewpoint, we investigated the charging potential characteristics of 127‐μm‐thick FEP film, a typical thermal control material, by exposing it to electron irradiation at various energies below 20 keV. In the dependence of the charging potential on the electron energy, we found that the electron energy at which no charge‐up occurs is about 2.7 keV. This appears to be the energy at the which secondary electron emission yield becomes unity. This indicates that electron irradiation of FEP film with energies lower than 2.7 keV induces positive charging. From the charge decay characteristics after electron irradiation, the volume resistivity of the film was also obtained as a function of the electric fields in the bulk of the FEP film.     

Effects of plating factors on morphology and appearance of electrogalvanized steel sheets

Because the lightness, the gloss and the press-formability of electrogalvanized steel sheets change depending on the morphology of deposited Zn, control of this factor is essential to improving these properties. The effects of plating factors on the morphology of deposited Zn were systematically discussed both from the crystallographic viewpoint of epitaxy between Zn and steel and from the electrochemical viewpoint of the overpotential for Zn deposition. Plating factors include crystal orientation of steel substrate, current density, flow rate, temperature, addition of inorganic compounds to the solution and pre-adsorption of organic compounds. These plating factors affect the overpotential for Zn deposition and epitaxy between Zn and steel. The crystal orientation index of the Zn basal plane and the platelet crystal size of Zn are decreased with increasing the overpotential for Zn deposition. They are also decreased with decreasing the epitaxy between Zn and steel, even when the overpotential is kept constant. When the overpotential for Zn deposition is increased, the surface roughness of deposited Zn increases because of an increase in the inclination of the Zn basal plane to the steel substrate. When the epitaxy between Zn and steel is decreased without changing the overpotential, the surface roughness is reduced due to the decrease in platelet crystal size of Zn, although the inclination of the Zn basal plane is somewhat increased. The lightness of deposited Zn is enhanced with decreasing the surface roughness of Zn.     

Observations of bound Tween80 surfactant molecules on single-walled carbon nanotubes in an aqueous solution

The slow diffusion of Tween80 surfactant molecules in a single-walled carbon nanotube (SWCNT) aqueous dispersion was directly observed using the pulsed field gradient nuclear magnetic resonance method. The slow diffusion of Tween80 molecules was attributed to the strongly adsorbed molecules on the SWCNTs in the aqueous dispersion. The amount of bound Tween80 molecules was estimated to be approximately 12% of the total amount of Tween80 molecules, contributing to the stability of the SWCNT aqueous dispersion. Using dynamic light scattering and total organic carbon measurements, this SWCNT/Tween80 aqueous dispersion was found to be very stable for at least 3 weeks. The observed zeta potentials of this SWCNT dispersion are between −10 and 0 mV, indicating that the stability of the SWCNTs in the Tween80 solution was maintained by steric interactions between the small amount of adsorbed Tween80 molecules on the SWCNTs, while the effect of electrostatic interactions between adsorbed Tween80 was minimal. This proposed method to investigate the amount of bound Tween80 molecules on SWCNTs has potential benefits in the field of the production of functional materials and nano-toxicity assessments.     

Preparation and characterization of stable dispersions of carbon black and nanodiamond in culture medium for in vitro toxicity assessment

Stable dispersions of carbon black and nanodiamond in culture medium were prepared by adding a pre-mixed dispersion of commercial carbon black or nanodiamond in aqueous bovine serum albumin (BSA) solution to culture medium. Dynamic light scattering revealed that carbon black and nanodiamond dispersions prepared in both NaCl solution and culture medium were highly stable. From DLVO theory and the results of zeta potential measurements, the theoretical effect of the electrostatic interactions between adsorbed BSA molecules was found to be minimal. The asymmetric flow field-flow fractionation measurements revealed that 0.05 or 0.56 mg/mL of BSA molecules were adsorbed on 0.11 or 1.09 mg/mL of carbon black, respectively, indicating 1:2 complexation of BSA with the colloidal particles. In the case of nanodiamond, 0.06 or 0.60 mg/mL of BSA molecules were adsorbed on 0.10 or 1.05 mg/mL of nanodiamond, respectively, indicating 1:2 complexation of BSA, which is the same ratio as in the case of carbon black. The adsorbed BSA molecules served as an effective stabilizing agent for the carbon black and nanodiamond, ensuring dispersion stability for at least 1 week. The preparation of the dispersions can be easily carried out by other researchers for toxicity studies.     

Phase Diagram for a Portion of the System Li2O-Nd2O3-P2O5

In the ternary system Li₂O-Nd₂O₃-P₂0₅, part of the phase diagram relevant to the growth of single LindP₄O₁₂ (LNP) crystals was examined. LNP melts incongruently and decomposes into NdP₃O₉ and liquid at the peritectic temperature of 970°C. For the crystal growth, an Li₂O-P₂O₅ mixture should be used as a flux. The melt compositions from which LNP nucleates were clarified.