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.     

Electrical conductivity and domain structure in ferroelastic Tl2SeO4

We have carried out the optical observation, electrical conductivity and ²⁰⁵Tl NMR measurements, and subsequently investigated the origin of the large conductivity above ferroelastic phase transition temperature T_c (=661 K) on the basis of the domain structure and the crystal structure. Electrical conductivity exhibits the discontinuous increase around T_c with increasing temperature and becomes approximately 5 × 10⁻³ S m⁻¹ above T_c. Moreover, from the ²⁰⁵Tl NMR measurements, it is found that mobile Tl ions exist above T_c. Furthermore, from the analysis of the domain structure based on the crystal structure in the low-temperature ferroelastic phase, it is also found that the anomalously large fluctuations of SeO₄ tetrahedrons exist above T_c. It is deduced from these results that the high electrical conductivity above T_c is caused by the mobile Tl ions closely related to the anomalously large fluctuations of SeO₄ tetrahedrons accompanied by the ferroelastic phase transition.     

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     

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     

Control of Thermal Conductance of Peltier Device Using Heat Disturbance Observer

In industry, temperature control and heat flow control are now applied in many thermal devices, including Peltier devices, which facilitates heat transfer by the Peltier effect. Generally, temperature control compensates for heat flowing from the external environment, while heat actively flows into the system during heat flow control. Thus, temperature control and heat flow control differ from each other. However, there have been no detailed discussions of a thermal control process in which the thermal conductance control ranges between 0 and ∞. This paper focuses on thermal conductance control and the construction of a thermal conductance control system for a Peltier device using a heat disturbance observer. When using the thermal conductance controller, the thermal conductance control is altered and the system becomes thermally compliant with the external environment. This paper also presents experimental results that confirm the validity of the proposed control system. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 185(4): 44–52, 2013; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22411     

A 10 Gb/s optical heterodyne detection experiment using a 23 GHzbandwidth balanced receiver

A balanced receiver for multigigabit-per-second coherent optical transmission systems is described. A balanced optical receiver with a frequency bandwidth of 23 GHz is achieved by connecting an InGaAs twin-p-i-n photodiode to a 0.5-30.0 GHz GaAs monolithic distributed amplifier fabricated with a soldier bump flip-chip interconnection technique. An experiment which demonstrated that this receiver has the potential for use in 10-Gb/s optical CPFSK (continuous-phase frequency shift keying) heterodyne detection systems was conducted     

A highly integrated 40-MIPS (peak) 64-b RISC microprocessor

A 1-million transistor 64-b microprocessor has been fabricated using 0.8-μm double-metal CMOS technology. A 40-MIPS (million instructions per second) and 20-MFLOPS (million floating-point operations per second) peak performance at 40 MHz is realized by a self-clocked register file and two translation lookaside buffers (TLBs) with word-line transition detection circuits. The processor contains an integer unit based on the SPARC (scalable processor architecture) RISC (reduced instruction set computer) architecture, a floating-point unit (FPU) which executes IEEE-754 single- and double-precision floating-point operations a 6-KB three-way set-associative physical instruction cache, a 2-KB two-way set-associative physical data cache, a memory management unit that has two TLBs, and a bus control unit with an ECC (error-correcting code) circuit