High-strength–high-modulus polyimide fibers II. Spinning and properties of fibers

The polyimides based on 3,3′,4,4′-biphenyltetracarboxylic dianhydride (BPDA) described in Part I of this series were dissolved in p-chlorophenol and spun into fibers using a coagulating bath of ethanol. The fibers as spun had in general low tenacities and low moduli, but a heat treatment at 300–500°C under tension produced a remarkable increase in strength and modulus, and fibers with a tensile strength of 26 g/den (3.1 GPa) and an initial modulus higher than 1,000 g/den (120 GPa) could be obtained. Thus, the annealed fibers of polyimides are comparable to aramid fibers in mechanical properties. To heating in air and in the saturated steam, the polyimide fibers showed higher resistance than the aramid fibers. The polyimide fibers surpassed the aramid fibers in resistance to acid treatment and ultraviolet (UV) irradiation, but were inferior in resistance to alkali treatment. The annealed fibers of polyimides displayed distinct X-ray diffraction patterns. The chain repeat distance of 20.5 Å determined on the fibers of polyimide prepared from BPDA and o-tolidine, and 20.6 Å determined on the fibers of polyimide derived from BPDA and 3,4′-diaminodiphenyl ether are reasonable when the dimensions of monomeric units and the shapes of the molecular chains are considered. The X-ray reflections of both polyimide fibers were indexed satisfactorily on the basis of postulated unit cells.     

Analysis and experimental validation of force bandwidth for force control

Controlling robots in contact with the environment is an important problem in industry applications. In the conventional force control, much research has paid attention to develop novel force control systems and implemented force sensors to detect external force. This paper shows that narrow bandwidth of force sensor has a big influence on the force control system. Generally, to solve the instability in force control, the velocity feedback gain is enlarged. The system becomes unstable with small velocity feedback gain, and robot's response becomes slow with large one. Inasmuch as there is a tradeoff between the stability and the response, it is considered that force control by robots is difficult. This paper proposes a force control system with disturbance observer. It is possible to obtain the force information with wide bandwidth by using the disturbance observer. This paper shows that bandwidth of force sensing is very important for contact motion control. By using the wide bandwidth of force sensing, both stability and response are improved. Furthermore, force control is attainable by the construction of the easiest force control architecture. Therefore, the ideal zero-stiffness-force control is attained. The numerical and experimental results show viability of the proposed method.     

Integrated reproduction of human motion components by motion copying system

Currently, the development of leading‐edge technology for recording and loading human motion on the basis of haptic information is required in the fields of manufacturing and human support. Human movement is an assembly of motion components. Since human movements should be supported by a robot in real time, it is necessary to integrate the motion components that were saved earlier. Once such motion integration is realized, future technology for use in daily human life can be developed. This paper proposes the integrated reproduction of the decomposed components of human motion by using a motion copying system. This system is the key technology for the realization of the acquisition, saving, and reproduction of real‐world haptic information. By using the proposed method, it is possible not only to achieve expert skill acquisition, skill transfer to robots, and power assist for each motion component, but also to open up new areas of applications. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 181(1): 28–35, 2012; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.21263     

Multifunctional Initiator with Platinum-Acetylide Dendritic Core for Living Polymerization of Isocyanides

A novel multifunctional initiator has been developed by peripheral modification of a Pt-acetylide dendrimer. Pd–Pt μ-ethynediyl units were introduced to the first-generation dendrimer by a divergent method. The dendritic initiator was applicable to the living polymerization of aryl isocyanides, producing high molecular weight polymers with a narrow polydispersity index in quantitative yields. The ³¹P NMR spectrum of the resulting polymer suggested that all Pd–Pt μ-ethynediyl units in the dendritic molecule actually functioned as an initiator.     

浙江与日本粳稻品种品质的比较

对2个浙江晚粳优质米品种（秀水11和秀水63）和日本品种（越光和日本晴）进行品质比较.结果表明,2个浙江品种的平均垩白粒率（28.85%）、平均垩白度（6.0%）分别是日本品种均值的约3倍和约6倍;平均直链淀粉含量（17.65%）较日本品种高约2%,差异达显著水平.蒸煮试验表明,2个浙江品种蒸煮品质除饭香味相仿外,其余蒸煮指标显著不及相应蒸煮处理的日本品种,其先浸后蒸处理的蒸煮品质优于现淘现蒸处理的日本晴,与越光相仿.越光籽粒外观品质明显不及日本晴,而蒸煮品质明显优于日本晴,说明理化分析指标与食味品质具有不一致性.因此晚粳稻品质育种及稻米品质鉴定应当在评价稻米理化分析指标的基础上,注重对食味品质的评价.     

Preparation of Cu(In,Ga)(S,Se)2 thin films by sequential evaporation and annealing in sulfur atmosphere

Cu(In,Ga)(S,Se)₂ thin films with high Ga/III ratio (around 0.8) were prepared by sequential evaporation from CuGaSe₂, CuInSe₂, In₂Se₃ and Ga₂Se₃ compounds and then annealing in H₂S gas atmosphere. The annealing temperature was varied from 400 to 500 °C. These samples were characterized by means of XRF, EPMA, XRD and SEM. The S/(S+Se) mole ratio in the thin films increased with increase in the annealing temperature, keeping the Cu, In and Ga contents nearly constant. The open circuit voltage increased and the short circuit current density decreased with increase in the annealing temperature. The best solar cell using Cu(In,Ga)(S,Se)₂ thin film with Ga/(In+Ga)=0.79 and S/(S+Se)=0.11 annealed at 400 °C demonstrated V_oc=535 mV, I_sc=13.3 mA/cm², FF=0.61 and efficiency=4.34% without AR-coating.     

Measurement and correlation of mutual diffusion coefficients for styrene-butadiene rubber(SBR)-n-nonane systems

The mutual diffusion coefficients for styrene-butadiene rubber(SBR)-n-nonane systems were measured using a sorption apparatus with a quartz spring at 100 and 130°C for mass fractions of n-nonane ranging from 0 to 0.16. The mutual diffusion coefficients were correlated with good agreement by the free-volume theory.     

Transmission of Force Sensation by Environment Quarrier Based on Multilateral Control

In recent years, realization of a haptic system has been strongly desired in the fields of medical treatment and expert's skill acquisition. The bandwidth of force sensing and friction compensation are very important problems for reproduction of vivid force sensation. In this paper, an environment quarrier is proposed for bilateral teleoperation instead of force sensors. The environment quarrier is a novel force-sensing method that consists of a twin robot system. Two of the same type of robot are required and they are controlled in the same position, velocity, and acceleration by bilateral acceleration control based on a disturbance observer. One robot is in contact motion and the other is unconstrained. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one. The environment quarrier can observe the external force with high bandwidth and friction compensation. In this paper, the idea of multilateral control is introduced for attainment of simultaneity. Furthermore, this paper shows the controller design of the multilateral control in the modal space. The experimental results show the viability of the proposed method