Simultaneous bipedal locomotion based on haptics for teleoperation

ABSTRACT

This paper proposes a novel, simultaneous bipedal locomotion method using haptics for remote operation of biped robots. In general, traditional biped walking methods require very high computational power and advanced controllers to perform the required task. However, in this proposed method, a master exoskeleton attached to the human’s lower body is used to obtain the trajectory and haptic information to generate the trajectory of the slave biped robot in real time. Lateral motion of the center of mass of the biped is constrained in this experiment. Also, it is considered that no communication delay is presented in between the two systems in this experiment, and they are not discussed in this paper. Since a direct motion transmission is used in the proposed method, this method is quite straight forward and a simultaneous walking can be realized at the same time with high performance. Also, it does not require an exact dynamic model of the biped or specific method to plan the trajectory. The gait pattern of the biped is directly determined by that of the human. Also, the operator can feel the remote environment through the exoskeleton robot. Results obtained from the experiments validate the proposed method.     

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.     

Effect of the atmosphere on chemical composition and electrochemical properties of solid electrolyte interface on electrodeposited Li metal

Many efforts have been paid to realize the superior anodes for future Li batteries in either the dry Ar atmosphere or the dry air atmosphere. In this work, in order to clarify the effects of such atmospheres, the most reactive anodes of Li were freshly electrodeposited under the dry Ar or under the dry air condition. The Solid Electrolyte Interface (SEI) formed during the electrodeposition of Li anodes is revealed to have a different chemical composition and protective feature. The Li deposited under the dry air was revealed to have longer cycle life in the electrolyte than that deposited in Ar, even in the electrolyte containing ionic liquid. From the XPS results, the SEI formed in dry air is proved to be different from that formed in Ar gas atmospheres, that is, the SEI formed in dry air consists of Li₂CO₃ and Li nitride. In order to improve the performance of the anodes, the atmosphere for the initial preparation of the anode/electrolyte interface should be tuned.     

Selective preparation of oligomeric naphthylene ether and its applications to epoxy resin for silicon carbide power semiconductor device materials

In this study, a novel method for selective synthesis of naphthylene ether trimers by self‐condensation of 2,7‐dihydroxynaphthalene in the presence of catalytic amount of potassium hydroxide was reported. An epoxy resin from the trimers was prepared and properties of the cured epoxy resin were examined. The cured resin showed not only good physical thermal stability, such as high glass transition temperature and low thermal expansion coefficient, but also good chemical thermal stability like high thermal decomposition temperature. Additionally, low moisture absorption of the cured resin was confirmed. From these results, the newly prepared epoxy resin with naphthylene ether skeletons was considered to be suitable for advanced applications such as silicon carbide power semiconductor device. © 2016 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 43339.     

TWO-DIMENSIONAL SIMULATION IN TRANSITIONAL JET DIFFUSION FLAME WITH/WITHOUT A DUCT

The numerical study was performed to examine the dynamic structure of methane and air jet diffusion flame with and without a duct in the transitional flow regime, that is, Re = 1000-2000. The flame sheet model of infinite chemical reaction and unit Lewis number were assumed in the simulation. The temperature dependence of the viscosity and diffusivity of mixed gases was also considered. The mechanism of vortex growth was explained by using the streaklines visualized with marker particles, and the interrelation between vortical and thermal structures is clarified for two cases with and without a duct. The presence of a duct leads to suppression of vortex growth in the streamwise direction of the methane jet, and therefore the flame spreading is significantly reduced. Furthermore, oscillatory shear stress and heat flux are discussed to understand vortex-flame interactions. It is found that in the transitional flow regime, there are similarities between oscillatory momentum and heat transport inside the flame in both cases.     

EFFECT OF DRYING METHOD ON MESOPOROSITY OF RESORCINOL-FORMALDEHYDE DRYGEL AND CARBON GEL

Resorcinol-formaldehyde hydrogels were synthesized by sol-gel polycondensation of resorcinol with formaldehyde in a slightly basic aqueous solution. RF cryogels, RF xerogels, and RF xerogels (MW gels) were respectively prepared from RF hydrogels by freeze drying, hot air drying, and microwave drying. Carbon cryogels, carbon xerogels and carbon MW gels were subsequently obtained by pyrolyzing RF drygels in an inert atmosphere. Freeze drying and microwave drying were effective to prepare mesoporous RF drygels and carbon gels. RF cryogels and carbon cryogels showed high mesoporosity over wide ranges of the molar ratio of resorcinol to catalyst (R/C) and the ratio of resorcinol to water (R/W) used in sol-gel polycondensation. Although RF xerogels had a few mesopores, carbon xerogels had no mesopores. RF MW gels and carbon MW gels showed mesoporosity if appropriate values of R/C and R/W were selected.     

Mixing speed-controlled gold nanoparticle synthesis with pulsed mixing microfluidic system

Gold nanoparticles with diameters of a few tens of nanometer and a narrow size distribution were synthesized using a pulsed mixing method with a microfluidic system which consists of a Y-shaped mixing microchannel and two piezoelectric valveless micropumps. This mixing method enables control of the mixing speed of gold salts and reducing agent by changing the switching frequency of the micropumps, which was our focus to improve the particle size distribution, which is an essential parameter in gold nanoparticle synthesis. In the proposed method, the mixing time was inversely proportional to the switching frequency and the minimum mixing time was 95 ms at a switching frequency of 200 Hz. During synthesis experiments, the mean diameter of the synthesized gold nanoparticles was found to increase, and the coefficient of variation of particle size was found to decrease with decreasing mixing time. We successfully improved the coefficient of variation to less than 10% for a mean diameter of around 40 nm.     

Mercury oxidation by hydrochloric acid over TiO2 supported metal oxide catalysts in coal combustion flue gas

Mercury oxidation by hydrochloric acid over the metal oxides supported by anatase type TiO₂ catalysts, 1 wt.% MO_x/TiO₂ where M = V, Cr, Mn, Fe, Ni, Cu, and Mo, was investigated by the Hg⁰ oxidation and the NO reduction measurements both in the presence and absence of NH₃. The catalysts were characterized by BET surface area measurement and Raman spectroscopy. The metal oxides added to the catalyst were observed to disperse well on the TiO₂ surface. For all catalysts studied, the Hg⁰ oxidation by hydrochloric acid was confirmed to proceed. The activity of the catalysts was found to follow the trend MoO₃ ~ V₂O₅ > Cr₂O₃ > Mn₂O₃ > Fe₂O₃ > CuO > NiO. The Hg⁰ oxidation activity of all catalysts was depressed considerably by adding NH₃ to the reactant stream. This suggests that the metal oxide catalysts undergo the inhibition effect by NH₃. The activity trend of the Hg⁰ oxidation in the presence of NH₃ was different from that observed in its absence. A good correlation was found between the NO reduction and the Hg⁰ oxidation activities in the NH₃ present condition. The catalyst having high NO reduction activity such as V₂O₅/TiO₂ showed high Hg⁰ oxidation activity. The result obtained in this study suggests that the oxidation of Hg⁰ proceeds through the reaction mechanism, in which HCl competes for the active catalyst sites against NH₃. NH₃ adsorption may predominate over the adsorption of HCl in the presence of NH₃.     

Deposition of DLC film with adhesive W-DLC layer on stainless steel and its tribological properties

Tribological properties of a diamond-like carbon (DLC) coating with an adhesive tungsten-containing DLC (W-DLC) layer were investigated. The coatings were deposited onto AISI316L steel substrates and Si wafers using plasma enhanced chemical vapor deposition and tungsten co-sputtering of the metal target. Methane and argon gases were used as the precursor of the coatings. In this study, three types of coatings were evaluated: DLC/W-DLC on AISI316L (DLC-1), DLC/W-DLC on Si wafer (DLC-2), and DLC on Si wafer (DLC-3). The structural characterizations were performed by transmission electron microscopy and tapping mode atomic force microscopy. At the boundary between the W-DLC layer and the AISI316L substrate, microscopic decohesion or delamination was not observed. The surface roughness of the DLC-1 coating was greater than that of the DLC-2 coating. This feature was derived from the surface roughness of the initial surface of the AISI316L substrate. Friction tests were performed using a rotation-type ball-on-flat configuration tribometer. The observed friction of the DLC-1 coating was unstable compared with the DLC-2 or DLC-3 coatings. This was due to wear debris which had risen to the friction surface resulting in unstable friction on the DLC-1 coating. During the friction studies, the top DLC layer was removed from the adhesive W-DLC layer because the adhesive strength at this part was not enough. In order to achieve the low and stable friction of the DLC coating with the W-DLC layer on AISI316L, it is necessary to improve the smoothness of the surface and the adhesion between the DLC coating and the W-DLC layer.