Gain and phase margin of optimal memoryless regulator of systems with time-delay

A class of linear quadratic regulators of the system with time-delay in the states is constructed by a memoryless feedback, and its robustness is evaluated. First, a static non-linear perturbation is inserted in the input channel, and a robust stability condition is derived. As its special case, it is shown that the regulator has infinite gain margin and at least 50% gain reduction tolerance. Next, a dynamic linear perturbation is inserted in the same point, and an alternative stability condition is derived. It assures that the regulator has at least 60o phase margin. These results coincide with those of the finite dimensional LQ regulator.     

Phosphorus flame retardants in indoor dust and their relation to asthma and allergies of inhabitants

Organophosphate esters are used as additives in flame retardants and plasticizers, and they are ubiquitous in the indoor environment. Phosphorus flame retardants (PFRs) are present in residential dust, but few epidemiological studies have assessed their impact on human health. We measured the levels of 11 PFRs in indoor floor dust and multi‐surface dust in 182 single‐family dwellings in Japan. We evaluated their correlations with asthma and allergies of the inhabitants. Tris(2‐butoxyethyl) phosphate was detected in all samples (median value: 580 μg/g in floor dust, 111 μg/g in multi‐surface dust). Tris(2‐chloro‐iso‐propyl) phosphate (TCIPP) was detected at 8.69 μg/g in floor dust and 25.8 μg/g in multi‐surface dust. After adjustment for potential confounders, significant associations were found between the prevalence of atopic dermatitis and the presence of TCIPP and tris(1,3‐dichloro‐2‐propyl) phosphate in floor dust [per log₁₀‐unit, odds ratio (OR): 2.43 and 1.84, respectively]. Tributyl phosphate was significantly associated with the prevalence of asthma (OR: 2.85 in floor dust, 5.34 in multi‐surface dust) and allergic rhinitis (OR: 2.55 in multi‐surface dust). PFR levels in Japan were high compared with values reported previously for Europe, Asia‐Pacific, and the USA. Higher levels of PFRs in house dust were related to the inhabitants' health status.     

Data-efficient learning of robotic clothing assistance using Bayesian Gaussian process latent variable model

ABSTRACT

Motor-skill learning for complex robotic tasks is a challenging problem due to the high task variability. Robotic clothing assistance is one such challenging problem that can greatly improve the quality-of-life for the elderly and disabled. In this study, we propose a data-efficient representation to encode task-specific motor-skills of the robot using Bayesian nonparametric latent variable models. The effectivity of the proposed motor-skill representation is demonstrated in two ways: (1) through a real-time controller that can be used as a tool for learning from demonstration to impart novel skills to the robot and (2) by demonstrating that policy search reinforcement learning in such a task-specific latent space outperforms learning in the high-dimensional joint configuration space of the robot. We implement our proposed framework in a practical setting with a dual-arm robot performing clothing assistance tasks.     

Chiral selection in supercoiling and wrapping of DNA

This paper gives an account of our recent studies on the mechanisms for chiral selection in super-coiling and wrapping of DNA. We first present a compact model of double-stranded DNA (Model 1), which consists of two elastic chains that mutually intertwine in a right-handed manner to form a double-stranded helix. Numerical analysis of this model suggests an intrinsic propensity of DNA to writhe in the left direction upon bending. Based on this asymmetric elasticity of DNA, we present a further simplified model of DNA (Model 2), which is a single-chained homopolymer with the propensity to writhe in the left direction upon bending. This simplified model is incorporated into a Langevin dynamics study to explore the origin of the uniform left-handed wrapping of DNA around a nucleosome core particle in nature. We finally show that the propensity of DNA to writhe in the left direction upon bending gives rise to the selective left-handed wrapping, provided that the size of the core particle is appropriate. This result suggests the fundamental significance of the asymmetric elasticity of helical biopolymers in their structural dynamics and functions.     

Preparation of bismuth nanowire encased in quartz template for Hall measurements using focused ion beam processing

ABSTRACT: Forming electrodes on opposite sides of an individual bismuth nanowire was attempted to prepare for Hall measurements. Although a 1-mm-long bismuth nanowire which is completely covered with a quartz template has been successfully fabricated to prevent oxidation, it is very difficult to attach Hall electrodes on the opposite sides of the nanowire due to the quartz covering. One side of the cylindrical quartz template was removed by polishing without exposure of the nanowire to the atmosphere; the thickness between the polished template surface and the nanowire was estimated to be several micrometers. Focused ion beam processing was successfully employed to expose both surfaces of the nanowire under high vacuum by removing part of the quartz template. A carbon thin film was then deposited in situ on the wire surface to fabricate an electrical contact on the bismuth nanowire sample. Furthermore, the energy dispersive X-ray analysis was performed to the area processed by focused ion beam, and the bismuth component of the nanowire was successfully detected. It was confirmed that the focused ion beam processing was applicable to attach electrodes to bismuth nanowire for Hall measurement.     

Preparation and mesostructure control of highly ordered zirconia particles having crystalline walls

Mesostructured zirconia particles having monoclinic-type crystalline walls were prepared using a low-temperature crystallization technique. Crystalline zirconia particles with highly-ordered mesostructures were obtained through the sol–gel process of zirconium sulfate tetrahydrate at 333 K in the presence of molecular self-assemblies of cetyltrimethylammonium bromide (CTAB) or mixtures of CTAB and anionic molecules such as sodium dodecyl sulfate and sodium p-toluenesulfonate. Variations in the molar ratios of CTAB and the chemical species of anionic molecules led to the variations in the periods of highly-ordered zirconia having crystalline walls. Calcination of the mesostructured zirconia particles prepared using templates consisting solely of CTAB yielded crystalline mesoporous zirconia particles.     

Thermosetting bismaleimide resins generating covalent and multiple hydrogen bonds

Prepolymerizations of 4,4′‐bismaleimidodiphenylmethane (BMI), diallyl isocyanurate (DAIC), and melamine (ML) at 160–170°C and subsequent compression molding at 200–280°C yielded cured BMI/DAIC/ML resins with feed molar ratios of 4/1/1, 3/1/1, and 2/1/1 (BMI‐DAIC‐ML411, 311, and 211). Similarly, cured BMI/DAIC 1/1 and BMI/ML 3/1 resins (BMI‐DAIC11 and BMI‐ML31) were prepared. The FT‐IR analysis revealed that the maleimide and allyl groups were almost consumed for all the cured resins, and the hydrogen bonding interaction became stronger with decreasing BMI contents for BMI‐DAIC‐MLs. Based on the cured structures elucidated from the FT‐IR result, the numbers of multiple hydrogen bonds and cross‐linking covalent bonds (N_MHB and N_CB), and total cross‐linking bond energy (E_TB) were evaluated to be 0, 7.92, and 618 for BMI‐DAIC‐ML411, 0.71, 7.81, and 627 for BMI‐DAIC‐ML311, and 0.95 mol kg^?1, 7.61 mol kg^?1, and 617 kcal kg^?1 for BMI‐DAIC‐ML211, respectively. A higher order of glass transition and 5% weight loss temperatures for BMI‐DAIC‐MLs was 411 > 311 > 211 in accordance with a higher order of N_CB. BMI‐DAIC‐MLs displayed a weak tan δ peak at 70–150°C due to dissociation of the hydrogen bonds. The flexural strength and modulus of BMI‐DAIC‐ML311 were higher than those of BMI‐DAIC‐ML411 in accordance with the difference of E_TB. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 43121.     

Mechanical role of reinforcement in seismic behavior of steel-strip reinforced earth wall

In the current design practices of steel-strip reinforced earth walls (SSREWs), the length of the reinforcing material is determined based on the equilibrium between the reinforcement tension and the earth pressure acting on the wall. Here, the resistance of the reinforcing material laid in the active failure zone (AFZ) is not considered. Moreover, the mechanical role of the reinforcing material against the integrity of the SSREW has not been sufficiently verified. Regarding the seismic stability of SSREW, although it is investigated by treating the entire reinforced earth wall as a rigid body, this inspection method is for gravity-retaining walls, and the difference in the seismic behavior between the SSREW and the rigid body is not clear. In this study, therefore, dynamic centrifuge model tests on 6 types of SSREWs were conducted to clarify the following items: (1) the basic earthquake behavior of a SSREW, (2) the mechanical role of the reinforcing material laid in the AFZ and (3) the mechanical role of the reinforcing material against the integrity of the SSREW. The results indicated that the reinforcing material laid in the AFZ can restrain the amount of deformation of the wall during earthquakes. Furthermore, the more stable the AFZ is, the smaller the maximum wall displacement will be.     

Cytoskeletal Protein 4.1G Is Essential for the Primary Ciliogenesis and Osteoblast Differentiation in Bone Formation

The primary cilium is a hair-like immotile organelle with specific membrane receptors, including the receptor of Hedgehog signaling, smoothened. The cilium organized in preosteoblasts promotes differentiation of the cells into osteoblasts (osteoblast differentiation) by mediating Hedgehog signaling to achieve bone formation. Notably, 4.1G is a plasma membrane-associated cytoskeletal protein that plays essential roles in various tissues, including the peripheral nervous system, testis, and retina. However, its function in the bone remains unexplored. In this study, we identified 4.1G expression in the bone. We found that, in the 4.1G-knockout mice, calcium deposits and primary cilium formation were suppressed in the trabecular bone, which is preosteoblast-rich region of the newborn tibia, indicating that 4.1G is a prerequisite for osteoblast differentiation by organizing the primary cilia in preosteoblasts. Next, we found that the primary cilium was elongated in the differentiating mouse preosteoblast cell line MC3T3-E1, whereas the knockdown of 4.1G suppressed its elongation. Moreover, 4.1G-knockdown suppressed the induction of the cilia-mediated Hedgehog signaling and subsequent osteoblast differentiation. These results demonstrate a new regulatory mechanism of 4.1G in bone formation that promotes the primary ciliogenesis in the differentiating preosteoblasts and induction of cilia-mediated osteoblast differentiation, resulting in bone formation at the newborn stage.