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．     

Specific changes in human brain following reperfusion after cardiac arrest

BACKGROUND AND PURPOSE: Very few reports are available on serial changes in human brain after cardiac arrest. The primary objective of this study is to investigate sequential neuroradiological changes in patients remaining in a persistent vegetative state following resuscitation after cardiac arrest. METHODS: We repeatedly studied eight vegetative patients resuscitated from unexpected out-of-hospital cardiac arrest using computed tomographic (CT) scanning and high-field magnetic resonance (MR) imaging at 1.5 T. RESULTS: In seven of the eight patients, CT scans obtained between days 2 and 6 features symmetrical low-density lesions in the bilateral caudate, lenticular, and/or thalamic nuclei. These ischemic lesions were persistently of low density on serial CT scans. In these seven patients, MR images demonstrated what were thought to be hemoglobin degradation products derived from minor hemorrhages localized in the bilateral basal ganglia, thalami, and/or substantia nigra. Diffuse brain edema in the acute stage and diffuse brain atrophy in the chronic stage were consistent neuroradiological findings. No abnormal enhanced lesions were demonstrated by CT scans. CONCLUSIONS: The most characteristic findings on high-field MR images were symmetrical lesions in the bilateral basal ganglia, thalami, and/or substantia nigra with specific changes suggestive of minor hemorrhages that were not evident on CT scans. We speculate that these minor hemorrhages result from diapedesis of red blood cells in these regions during the reperfusion period through the endothelium disrupted by ischemia-reperfusion insult.     

Stabilization of bioethanol recovery with silicone rubber‐coated ethanol‐permselective silicalite membranes by controlling the pH of acidic feed solution

In order to produce highly concentrated bioethanol by pervaporation using an ethanol‐permselective silicalite membrane, techniques to suppress adsorption of succinic acid, which is a chief by‐product of ethanol fermentation and causes the deterioration in pervaporation performance, onto the silicalite crystals was investigated. The amount adsorbed increased as the pH of the aqueous succinic acid solution decreased. The pervaporation performance also decreased with decreasing pH when the ternary mixtures of ethanol/water/succinic acid were separated. Using silicalite membranes individually coated with two types of silicone rubber, pervaporation performance was significantly improved in the pH range of 5 to 7, when compared with that of non‐coated silicalite membranes in ternary mixtures of ethanol/water/succinic acid. Moreover, when using a silicalite membrane double‐coated with the two types of silicone rubber, pervaporation performance was stabilized at lower pH values. In the separation of bioethanol by pervaporation using the double‐coated silicalite membrane, removal of accumulated substances having an ultraviolet absorption maximum at approximately 260 nm from the fermentation broth proved to be vital for efficient pervaporation. Copyright © 2005 Society of Chemical Industry     

Formation of uniform GaAs multi-atomic steps with 20–30 nm periodicity and related structures on vicinal (111)B planes by MBE

We studied morphology of GaAs surfaces and the transport properties of two-dimensional electron gas (2DEG) on vicinal (111)B planes. Multi-atomic steps (MASs) are found on the vicinal (111)B facet grown by molecular beam epitaxy, which will affect electron transport on the facet. We also studied how the morphology of GaAs epilayers on vicinal (111)B substrates depends on growth conditions, especially on the As₄ flux. The uniformity of MASs on the substrates have been improved and smooth surfaces were obtained when the GaAs was grown with high As₄ flux, providing step periodicity of 20 nm. The channel resistance of the 2DEG perpendicular to the MASs is reduced drastically with this smooth morphology. These findings are valuable not only for fabricating quantum devices on the (111)B facets but also those on the vicinal (111)B substrates.     

Mammalian Cytochrome P450-Dependent Metabolism of Polychlorinated Dibenzo-p-dioxins and Coplanar Polychlorinated Biphenyls

Polychlorinated dibenzo-p-dioxins (PCDDs) and coplanar polychlorinated biphenyls (PCBs) contribute to dioxin toxicity in humans and wildlife after bioaccumulation through the food chain from the environment. The authors examined human and rat cytochrome P450 (CYP)-dependent metabolism of PCDDs and PCBs. A number of human CYP isoforms belonging to the CYP1 and CYP2 families showed remarkable activities toward low-chlorinated PCDDs. In particular, human CYP1A1, CYP1A2, and CYP1B1 showed high activities toward monoCDDs, diCDDs, and triCDDs but no detectable activity toward 2,3,7,8-tetrachlorodibenzo-p-dioxin (2,3,7,8-tetraCDD). Large amino acids located at putative substrate-recognition sites and the F-G loop in rat CYP1A1 contributed to the successful metabolism of 2,3,7,8-tetraCDD. Rat, but not human, CYP1A1 metabolized 3,3'',4,4'',5-pentachlorobiphenyl (CB126) to two hydroxylated metabolites. These metabolites are probably less toxic than is CB126, due to their higher solubility. Homology models of human and rat CYP1A1s and CB126 docking studies indicated that two amino acid differences in the CB126-binding cavity were important for CB126 metabolism. In this review, the importance of CYPs in the metabolism of dioxins and PCBs in mammals and the species-based differences between humans and rats are described. In addition, the authors reveal the molecular mechanism behind the binding modes of dioxins and PCBs in the heme pocket of CYPs.     

Reduction and unusual recovery in the reversible hydrogen storage capacity of V1−xTix during hydrogen cycling

The effect of the vanadium content on the cyclic stability of V–Ti binary alloys was investigated. V_1−xTi_x, x = 0.2 and 0.5 samples were hydrogenated and dehydrogenated at 410 K and 553 K respectively, for more than 100 times. During hydrogen cycling, reduction in the reversible hydrogen storage capacity was clearly observed from both samples. No prominent V-effect was found. In fact, the reduction rates of two samples were similar; both samples showed a ∼25% reduction in the reversible hydrogen storage capacity after 100 cycles. In addition, the shape of the pressure–composition-isotherm (PCT) curves was significantly altered over the testing cycle period; the absorption and desorption plateaus got markedly inclined and the hysteresis became evidently smaller. We found that even after the hydrogen storage capacity of V_1−xTi_x was significantly reduced, at low enough temperature V_1−xTi_x was able to absorb hydrogen as much as it did at the first cycle. Furthermore, the reversible hydrogen storage capacity of V_0.8Ti_0.2 at 410 K was recovered to a certain degree after hydrogenating the sample at low temperatures.     

Supercritical fluid extraction of fungal oil using CO2, N2O,CHF3 and SF6

The extraction of oil from fungi (Mortierella ramanniana var.angulispora) was studied using carbon dioxide (CO₂), nitrous oxide (N₂O), trifluoromethane (CHF₃) and sulfur hexafluoride (SF₆) under supercritical conditions. The oil solubility was highest in SC-N₂O followed by SC-CO₂, while both SC-CHF₃ and SC-SF₆ showed poorer solvent power. The recorded oil solubilities at 333 K and 24.5 MPa were 2.3 wt% in N₂O, 0.48 wt% in CO₂, 0.0099 wt% in CHF₃ and 0.0012 wt% in SF₆. The oil solubilities in SC-N₂O and SC-CO₂ were measured over the pressure range 15.7–29.4 MPa and at temperatures ranging from 313–353 K. N₂O always showed greater solvent power than did CO₂ at the same temperature and pressure. The solvent power of a supercritical fluid increases with density at a given temperature, and increases with temperature at constant density. The change in neutral lipid composition of the extracted oil with the extraction ratio was measured. Free fatty acids or diglycerides were extracted more easily than triglycerides or sterol esters. The change in fatty acid composition was also measured. The proportion of γ-linolenic acid in the extract remained constant throughout the extraction.     

EXPERIMENTAL STUDIES ON A NOVEL CHEMICAL HEAT PUMP DRYER USING A GAS-SOLID REACTION

The authors have been studying Chemical Heat Pumps (CHP) from the viewpoints of energy saving and environmental impact. The CHP can store thermal energy in the form of chemical energy by an endothermic reaction, and release it at various temperature levels during heat demand periods by exo/endothermic reactions. The authors have proposed in an earlier study a novel chemical heat pump (CHP) system for environmentally-friendly effective utilization of thermal energy in drying as a chemical heat pump dryer (CHPD). In this exploratory study, we test the effectiveness of operating the proposed CHPDs experimentally. Basic experiments on the CHPDs such as hot dry air production for convective drying are performed on lab-scale CHPD apparatuses using gas-solid reactions in calcium oxide/calcium hydroxide reactant beds. The proposed CHPDs are found to produce hot air by CHP operation for drying. The temperature levels of the produced hot air and the reaction rates/conversions are as good as in the case of hot water supply system using basically same CHP operation. The cold heat for air dehumidification is also found to be generated/recovered by the same CHPD system. The generated heat amounts can be increased by changing the operating conditions although the heat recovery must be enhanced for practical application of CHPDs.     

Effect of active oxygen species on the productivity of torularhodin by Rhodotorula glutinis No. 21

The effect of active oxygen species on the productivity of torularhodin, an effective antioxidant, by soil yeast, Rhodotorula glutinis no. 21, was examined. Methylene blue, methyviologen and AAPH [2,2'-azobis(2-amidinopropane) dihydrochloride] were used as generators of singlet oxygen, superoxide anion radicals and peroxy radicals, respectively. All of them indicated effectiveness at a dose of 1.0 x 10(-10) to 3.0 x 10(-6) M. Addition of these generators to the culture medium had almost no influence on the biosynthesis of beta-carotene, whereas it had marked enhancement on those of torulene and torularhodin. Production of uric acid by xanthineoxidase remained unchanged at a torularhodin concentration of up to 100 microM. This result suggests that torularhodin does not directly affect the productivity of superoxide anions. It has been proved that torularhodin has a more potent effect on the scavenging of peroxyl radicals and inhibits substrate degradation by singlet oxygen more effectively than beta-carotene does. Continuous addition of methylene blue enhanced the torularhodin accumulation more markedly than single addition.     

Electrode conditioning characteristics in vacuum under impulse voltage application in nonuniform electric field

In this paper, we quantitatively investigated the impulse conditioning mechanism under nonuniform electric field electrodes in a vacuum. A negative standard lightning impulse voltage was applied between rod and plane electrodes whose materials were Cu-Cr, stainless steel and Cu and the gap lengths were d=5 and 10 mm, respectively. Experimental results revealed the transition of the breakdown (BD) sport region on the rod electrode and the corresponding BD field strength in the conditioning process. As a result, we found that the BD spot region started at the tip of the rod electrode and moved to the wider region of the rod electrode with lower electric field as the shots of the voltage application increased before the saturation of the BD voltage. Finally, by analyzing the results with an electric field strength, we propose that "the conditioning degree" along the electrode surface distributed directly proportional to the electric field distribution under a nonuniform electric field in a vacuum, irrespective of the electrode materials