Right atrial contractile performance in patients with myocardial infarction

To evaluate right atrial (RA) contractile performance in patients with myocardial infarction, we validated a cineangiographic method of RA volume measurement, and investigated RA volume change in 'normal' individuals and patients with a previous myocardial infarction. Sixteen silicone rubber RA casts made from human cadavers were filmed in the postero-anterior and left lateral projections. The cast volumes calculated following Simpson's rule were in good agreement with those measured by water replacement (r = 0.992, P < 0.01). At cardiac catheterization, biplane RA cineangiography was performed in 19 'normal' individuals (N group), in 14 patients with a previous antero-septal infarction (AMI group) and in seven patients with a previous inferior infarction (IMI group). The RA volume-time curve was constructed at 20-40 ms intervals for one cardiac cycle. RA volume at the beginning of the atrial contraction (RAVd), which was defined as the 'preload' of the RA, tended to be larger in both the AMI and IMI groups compared with 'normal' individuals. The RA ejection volume was significantly larger in both the AMI (18.4 +/- 2.1 ml.m-2, P < 0.01) and IMI groups (19.4 +/- 2.8, P < 0.01) than in the N group (14.5 +/- 1.9), even for a comparable level of RAVd (range from 26 to 36 ml.m-2) (18.6 +/- 2.1, P < 0.01, 18.2 +/- 2.0, P < 0.01, 14.7 +/- 1.9, respectively). These results suggest that RA contraction increases in patients with myocardial infarction by increasing both the 'preload' and 'contractility' of the RA.     

Thermal Behavior of BaTiO3 Particles Synthesized by Plasma Chemical Vapor Deposition

The thermal behavior of nanoparticles BaTiO₃, prepared by a radio-frequency plasma chemical vapor deposition (RF-plasma CVD) method, was characterized by various analysis methods. The BaCO₃ phase was included in the powder as byproducts, which is also observed in hydrothermal BaTiO₃ powder. The BaCO₃ phase decomposed and disappeared by annealing at 873 K for 30 min. H₂O, N₂, CO₂ and H₂, were detected by a thermal desorption spectra measurement from BaTiO₃ powder. The annealed powder became well-crystallized particles without grain growth, although as-prepared powder included polycrystalline particles. We successfully observed in-situ grain growth for BaTiO₃ nanoparticles by thermal transmission electron microscope. At the initial step of normal grain growth, very fine particles with 40–60 nm diameters started to merge into the larger grains around 1083 K. The migration rate was measured by video images and a grain boundary diffusion coefficient D_gb was calculated.     

Surface Chemistry of Lead Titanate and Its Impact on Binder Removal

Carbon residue after binder burnout was characterized for several nonstoichiometric lead titanate powders. Thermal decomposition of the poly(methyl methacrylate) (PMMA) binder was performed in nitrogen at 600°C. A drastic decrease in carbon retention was obtained in the case of the titanium-rich samples. The amount of carbon retention varies from 0.2 mg/m² to 1.2 mg/m² by changing the Pb/Ti molar ratio from 0.92 to 1.08. The surface reaction between PMMA and lead titanate particles was studied by diffuse reflectance Fourier transform infrared spectroscopy (DRIFTS). Surface hydroxyls reacted with ester groups in the PMMA or the methylmethacrylate monomer produced upon pyrolysis. The DRIFTS results showed that titaniumrich samples are less reactive and produce less surfacebound organic groups. Interestingly, titanium-rich samples contained more surface hydroxyls. Isoelectric point measurements, however, show that titanium-rich samples are more acidic. Thus, the reactivity of the surface hydroxyls is determined primarily by their acid-base characteristics rather than their concentration. Lead titanate powder was exposed to MMA vapor in a tube furnace at the indicated temperatures using nitrogen carrier gas as a model experiment. DRIFTS difference spectroscopy and Raman spectroscopy were performed on these samples after the exposure. MMA reacts with lead titanate powder in manner similar to PMMA. Analysis for sp ² and sp ³ absorbance of Raman spectra of these exposed powders at 400°–600°C showed pyrolysis behavior of surface-reacted species. The relative amount of sp ² bonded carbon decreases with increasing exposure temperature.     

Observation of enhanced backscattering from a plane mirror viewed through polymer-film-dispersed liquid crystals

We report experimental results on enhanced backscattering from a plane mirror that is viewed through polymer-film-dispersed nematic liquid crystals. The distribution of the averaged intensity of the light reflected from the mirror placed behind the polymer film is investigated with an image-processing system when a Gaussian beam wave is incident. The enhanced light peak is observed in an incident beam direction, the result of which is predicted by a theory based on the circular Gaussian statistic random-phase-screen model. We pay attention to the enhancement dependence on parameters such as the distance between the polymer film and the flat mirror. The observed result is similar to a previous study by Jakeman et al. in which a random diffusive glass plate was used as a random-phase screen [J. Phys. D 21, 32 (1988)].     

Stick-slip motion control based on cutter location data for an orthogonal-type robot

In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool’s movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.     

iOS application for quadrotor remote control

With the progress of electronics technology, the development of civilian UAV (unmanned aerial vehicle) applications becomes possible. In addition, smartphones have rapidly gained popularity and become very important due to the simple operability and mobility. Hence, there is a need to have an easy and flexible way to control a UAV using such technology. In this study, a remote controller using an iOS device is developed for a quadrotor to enable remote control with easy operations. Four basic programs for obtaining compass information, controlling a gimbal, autopilot function for return, and video preview function are developed and implemented for an iOS device. The basic functionalities of the programs are evaluated and confirmed through experiments using a quadrotor and an iOS device.     

Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

In general, manipulators used for industry and in academic laboratories have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it is necessary to design parameters related to energy regions and the gains of some partly stable controllers based on the computed torque method. Here, the switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

Evolutionary Learning of a Fuzzy Behavior Based Controller for a Nonholonomic Mobile Robot in a Class of Dynamic Environments

This paper presents an approach for evolving optimum behaviors for a nonholonomic mobile robot in a class of dynamic environments. A new evolutionary algorithm reflecting some powerful features in the natural evolutionary process to have flexibility to deal with changes in the environment is used to evolve optimum behaviors. Furthermore, a fuzzy set based multi-objective fitness evaluation function is adopted in the evolutionary algorithm. The multi-objective evaluation function is designed so that it allows incorporating complex linguistic features that a human observer would desire in the behaviors of the mobile robot movements. To illustrate the effectiveness of the proposed method, simulation results are compared using a conventional evolutionary algorithm.