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．     

Establishment time of liquid flow in a bath agitated by bottom gas injection

The establishment time of gas-liquid two-phase flows in a cylindrical bath agitated by bottom gas injection through a central single-hole bottom nozzle was investigated. Because the turbulence intensity in the bath was comparable to or larger than the unity, the conventional definition of the flow establishment time based on the history of mean velocity was not suitable for the present case. In fact, it was difficult to determine the flow establishment time based on the well-known 90 or 99 pct criterion for the mean velocity. Accordingly, two methods of determining the flow establishment time by focusing on the turbulence components instead of the mean velocity components were proposed. Velocity measurements were made with a two-channel laser Doppler velocimeter. The flow establishment time was correlated as a function of gas flow rate. Close agreement was obtained by the two methods.     

CREEP-FATIGUE CRACK GROWTH AND FRACTOGRAPHY OF A TYPE 304 STAINLESS STEEL AT ELEVATED TEMPERATURE

Abstract— Creep-fatigue crack growth behaviour of a Type 304 stainless steel under four types of reversed loading patterns (P-P, P-C, C-P and C-C) was investigated and the results are discussed in the light of fracture mechanics and fractography. The crack growth rate for all of the four types of loading was successfully correlated in terms of the cyclic integral range λ J. It was unnecessary, for practical purpose, to divide Ay into a fatigue component, λ J _f, and a creep component, λ J _c, as has been done elsewhere. The transition of the correlating fracture mechanics parameter from fatigue to creep was not necessarily associated with the fracture morphology. This was related to the longer transition hold time in morphology in C-C type loading compared to C-P type loading, and was attributed to recovery of grain boundary sliding during the compression hold in the C-C type loading.     

Changes in Aging Behavior and Defect Structure of Yttria-Fully-Stabilized ZrO2 with Sc2O3 Doping

Methods of suppressing decreased conductivity in 8 mol% Y₂O₃-stabilized–92 mol% ZrO₂ (8YSZ) with aging were investigated. Different amounts of Sc₂O₃ were doped into 8YSZ. The electrochemical properties of Sc₂O₃-doped 8YSZ were measured, and the microstructural and local structural changes were characterized. The present results indicate that an appropriate amount of Sc₂O₃ doping, 3 or 4 mol%, effectively suppresses decreased conductivity with aging in 8YSZ.     

Heavy arsenic doping of silicon grown by atmospheric pressure selective epitaxial chemical vapor deposition

Selective epitaxial Si with a high arsenic concentration of 2.2×10¹⁹ atoms/cm³ was deposited at a high growth rate of 3.3 nm/min under atmospheric pressure. It was confirmed that this method had excellent selectivity and produced films having good crystalline quality, abrupt dopant profiles at the interfaces, and smooth surfaces. The growth mechanism is discussed in terms of the relationship between the effects of arsenic surface segregation and etching by hydrogen chloride.     

Investigation of the effect of surface phosphate ester dispersant on viscosity by coarse-grain modeling of BaTiO slurry

To understand the role of phosphate ester dispersant, we investigated the rheology of a BaTiO slurry. For the model case, a coarse-grain molecular dynamics (CGMD) simulation was performed with the butyral polymer didodecyl hydrogen phosphate (DHP) in the toluene/ethanol solvent. By systematically analyzing the effect of DHP from an atomic-scale first principle and from all-atom MD to microscale CGMD simulation, we investigated how the adsorption of a DHP dispersant on a BaTiO surface affects the microstructure rheology of a BaTiO slurry. The first-principle and all-atom MD simulation suggests that DHP molecules prefer to locate near the BaTiO surface. CGMD simulation shows a reduction in viscosity with an increase in dispersants, suggesting that the dispersant population near the BaTiO surface plays a key role in controlling the rheology of the BaTiO slurry. In this study, we propose an approach for understanding the BaTiO slurry with molecular-level simulations, which would be a useful tool for efficient optimization of slurry preparation.     

Topology optimization for fluid–thermal interaction problems under constant input power

This paper deals with density-based topology optimization considering fluid and thermal interactions, in which the Navier–Stokes and heat transport equations are coupled. We particularly focus on designing heat exchangers. In the engineering context, heat exchangers are designed while considering a certain amount of input power. Therefore it is important to maximize the performance of a heat exchanger under a constant input power. In this paper we propose a way to control the input power by introducing an extra integral equation. To be more precise, in the fluid analysis, the inlet pressure is determined by solving the extra integral equation together with the Navier–Stokes equation. By doing this we can keep the inlet power constant even when the flow channels are changed in the optimization process. Consequently, the system of equations of the fluid field takes an integrodifferential form. On the other hand, in the heat transport analysis, a single governing equation is defined for simultaneously modeling both the solid and fluid parts. The design variable is a fluid fraction whose distribution represents the topology of the solid and fluid domains. When designing heat exchangers, two different heat conditions are considered in the formulation of the optimization problems, namely temperature-dependent and temperature-independent heat sources. Through the numerical examples for designing flow channels in a heat exchanger, it is shown that distinct topologies can be obtained according to the input power and the heat source conditions.     

Triglyceride analysis by combined argentation/nonaqueous reversed phase high performance liquid chromatography

Full analysis of triglycerides of natural fats and oils has been investigated by the combination of argentation high performance liquid chromatography (HPLC) with nonaqueous reversed phase (NARP) HPLC. An infrared detector was used in argentation HPLC, because it indicated molar responsibility to all triglycerides. After peak trapping with argentation HPLC, each triglyceride fraction was analyzed with NARP chromatography using the glyceride-selective post-column reactor detector. The results of the analyses of triglycerides of palm oil and cocoa butter by the proposed method agreed well with those reported earlier.     

Comparison between SiO2 films deposited by atomic layer deposition with SiH2[N(CH3)2]2 and SiH[N(CH3)2]3 precursors

Thin SiO₂ layers were deposited by atomic layer deposition (ALD) using either Bis-dimethylamino-silane (BDMAS: SiH₂(N(CH₃)₂)₂) or Tris-dimethylamino-silane (TDMAS: SiH(N(CH₃)₂)₃) precursors. The purpose of this study is to evaluate these precursors for their suitability for ALD of hafnium (Hf)-silicate gate dielectrics. The advantages of these precursors are that the melting points and vapor pressures are moderate. The thickness of SiO₂ deposited using ALD process is controlled by the number of growth cycles and the growth rate was different for each precursor, that for BDMAS being 1.5 times that for TDMAS at the same reactor pressure. The carbon impurity in the SiO₂ film deposited using BDMAS was about half an order of magnitude less than that using for TDMAS. Furthermore, the carbon impurity was reduced to about the detection limit of secondary ion mass spectrometry after high temperature annealing at 1000 °C during 5 s.     

Surface modification of biodegradable plastics by ion beams

Biodegradable plastics can be used as conventional plastics, while on disposal they decompose to water and carbon dioxide by microorganisms existing in natural environment. Products using biodegradable plastics have recently been developed in many companies pursuing ecology. In this study, surface modification of biodegradable plastics was carried out by inert ion beams for improvement of photo deterioration under an ultraviolet ray. The hardness of biodegradable plastics tended generally to decrease with irradiation of an ultraviolet ray. In this method, the hardness of ion-bombarded biodegradable plastics was kept at an initial value under an ultraviolet ray, because the modified layer by ion bombardment intercepted an ultraviolet ray. The hardness of He⁺ ion-bombarded biodegradable plastics showed larger value than that of Ar⁺ ion bombardment. He⁺ ion bombardment at ion energy of 10 keV produced the suitable property with both of high transmittance of a visible ray and high interception of an ultraviolet ray in a surface layer of biodegradable plastics.