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．     

Hinokitiol induces differentiation of teratocarcinoma F9 cells

Hinokitiol, a constituent of the wood of Chamaecyparis taiwanensis, was found to induce differentiation of teratocarcinoma F9 cells. When examined by the agar-overlay method, in which expression of plasminogen activator as a differentiation marker protein was detected, this compound exhibited a dose- and time-dependent induction. Induction of differentiation by hinokitiol occurred irreversibly and required its addition for more than 12h. Among its structure-related compounds tested, tropolone and two colchicine-related compounds exerted potent activities comparable to that of hinokitiol. These findings indicate that free tropolone structure in the molecules plays an essential role in inducing differentiation of F9 cells. Hinokitiol showed a strong inhibitory effect of DNA synthesis in very early stages of culture, suggesting that this effect may be responsible for triggering differentiation of F9 cells.     

The temperature dependence of luminescence from a long-lasting phosphor exposed to ionizing radiation

The temperature dependence of luminescence from a long-lasting phosphor (LLP), SrAl₂O₄ : Eu²⁺,Dy³⁺, exposed to ionizing radiation has been measured to understand the LLP luminescence mechanism. Evaluation of the decay constants of the LLP exposed to -, β- or γ-rays at temperatures from 200 to 390 K showed that the decay constant is divided into four components ranging from 10⁻⁴ to 10⁻¹ s⁻¹ with activation energies of 0.02–0.35 eV.

Total luminous intensity from the LLP with changing irradiation temperature has its maximum value around the room temperature. Irradiation at elevated temperature (390 K) has the total luminescence pattern with monotonous decrease as temperature rises. As a result of evaluating the temperature dependence of luminescence, the luminescence mechanism is considered as follows:

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Preparation of pyrochlores. A1−xHxTaO3·nH2O (A=Na,K)

Pyrochlores of A_1?xH_xTaO₃·nH₂O (A=Na,K) were prepared under the hydrothermal conditions. The values of x for these compounds were increased from 0.3 to 0.5 for A=Na and from 0.2 to 0.5 for A=K by treatment with the distilled water. The compounds with x<0.5 were decomposed to a mixture of NaTaO₃ and Na₂Ta₄O₁₁ for A=Na, or to a mixture of KTaO₃ and a tetragonal tungsten bronze phase, and those with x=0.5 to a single phase of A₂Ta₄O₁₁ at elevated temperatures. Below the decomposition temperatures, defect pyrochlores with oxygen vacancies, $\text{A}{}_{\mathrm{<mtext>1?</mtext><mtext>x</mtext>}}\text{TaO}{}_{\mathrm{<mtext>3?</mtext><mtext>x</mtext><mtext>2</mtext>}}$, were produced. They were hygroscopic, and in the case of A=K and x=0.5 the original phase was recovered by leaving in air for several hours.     

Improvement of levitation characteristics in a magnetic bearing system using HTSC‐permanent magnet hybrid structure

Magnetic bearing using pinning force of a permanent magnet and a high‐temperature superconductor has been developed. Additional permanent magnet is introduced to increase the levitation force of the magnetic bearing. In this hybrid magnetic bearing system, levitation force is mainly given by the repulsive force of the permanent magnets, and stability for the lateral direction is given by pinning force of the superconductor. The experimental device is developed. A ring‐type superconductor and a bulk one are examined. Levitation characteristics of the hybrid magnetic bearing are measured. The bulk superconductor shows better characteristics of both levitation and lateral stability than the ring one. Levitation force of the hybrid system becomes about twice as large as that of the nonhybrid one. Although, the repulsive force of the permanent magnet decreases the lateral stability of the system, its influence becomes small by choosing an adequate position of the permanent magnets and the superconductor. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 150(1): 71–77, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10350     

Detailed Measurements of Nuclear Spin Polarizations in a Single InAlAs Quantum Dot Through Overhauser Shift of Photoluminescence

We investigated optical pumping of nuclear spin polarizations in a single self-assembled In_0.75Al_0.25As/Al_0.3Ga_0.7As quantum dot. The nuclear spin polarization exhibits the abrupt jump and hysteresis in the excitation power dependence at a particular excitation polarization. Measurement of circular polarization rate of the photoluminescence reveals that the abrupt change of the nuclear spin polarization is created mainly by the spin flip-flop process between nuclei and an electron of a positive charged exciton in this single quantum dot. Model calculation explains well the experimentally observed bistable behavior in InAlAs quantum dot. By using this abrupt change, the sign and magnitude of electron and hole g-factors in z-direction are verified.      

Resonant-tunnelling hot-electron transistor (RHET) using a GaInAs/(AlGa)InAs heterostructure

A common-emitter current gain of 10 has been measured at 77 K for a 100 nm-base resonant-tunnelling hot-electron transistor (RHET) using a GaInAs/(AlGa)InAs heterostructure. The current gain for 25 nm-base RHETs has reached 25, which is the highest value yet reported for hot-electron transistors, and the collector current peak-to-valley ratio has reached 15.0 for the same device.     

Neutronic and thermodynamic feasibility of UF6-NpF6 fueled transmutation reactor

Transmutation of neptunium, which is contained in radioactive wastes discharged from nuclear reactors, was investigated as a substitutional method for geologic disposal. We proposed a transmutation reactor fueled with a mixture of gaseous ²³³UF₆ and ²³⁷NpF₆. Neutronic and thermodynamic analysis of the reactor revealed the feasibility of the concept. The reactor has two principal advantages: (1) use of the fuel gas enables on-line reprocessing, (2) ²³⁷Np can be transmuted by a high neutron flux. Our calculation indicated that the transmutation rate of ²³⁷Np was 335 g/year/MW_th, which is much larger than the annual yield of ²³²Np in PWR (6.19 g/year/MW_th).     

Hydrothermal upgrading of wood biomass: Influence of the addition of K2CO3 and cellulose/lignin ratio

The hydrothermal treatment of two different wood biomass samples such as cherry (hard wood) and cypress (soft wood), whose composition is different i.e. lignin, cellulose and hemicellulose were performed at 280 °C for 15 min with aq. K₂CO₃ with different concentrations (0–1 M). The soft wood biomass contains higher lignin content than hard wood biomass. The cellulose rich cherry wood biomass produced higher proportion of acetic acid than cypress. The lignin rich cypress produced the hydrocarbons with major portion of phenolic hydrocarbons and derivatives than cherry. The total oil yields from both cherry and cypress wood biomass produced 50 wt% of liquid hydrocarbons at 280 °C for 15 min with 0.5 M K₂CO₃ solution. The volatility distribution of liquid hydrocarbons showed the characteristic features of soft and hard wood biomasses.     

High-performance polymer alloys of polybenzoxazine and bismaleimide

Two series of high-performance polymer alloys were prepared by mixing typical benzoxine monomers, 3-phenyl-3,4-dihydro-2H-1,3-benzoxazine (P-a) or 6,6-(1-methylethyliden)-bis-(3,4-dihydro-3-phenyl-2H-1,3-benzoxazine) (B-a), with a typical bismaleimide, 4,4-bismaleimidodiphenyl methane by various ratios followed by thermal treatment up to 240 °C. DSC and IR of the alloys were examined to follow the curing reaction. These analyses showed that the obtained polymer alloys are AB co-cross-linked polymer networks through the formation of ether linkage between the hydroxyl group of polybenoxazine and the double bond of bismaleimide. Viscoelastic analysis and softening temperature measurement revealed that the polymer alloys have much higher glass transition temperatures than those of each homopolymer. The thermal stability also increased with the increase of bismaleimide content as evidenced by TGA.