Effect of the preparation condition on the properties of titania-silica derived from tetraisopropyl titanate(IV) and tetraethyl orthosilicate

Titania-silica mixed oxide was prepared by hydrolyzing tetraethyl orthosilicate and tetraisopropyl titanate(IV) with a mixture of ethanol and 0.01 N aqueous acetic acid. Surface Ti content, BET surface area, and the number of acid sites increased with an increase in 0.01 N aqueous acetic acid. Thus hydrolysis of both alkoxides occurred simultaneously with a large amount of the acetic acid solution, and there was extensive interaction between TiO₂ and SiO₂ phases. With small amount of 0.01 N aqueous acetic acid, however, titanium hydroxide was first formed and, then, it was covered with the silica phase produced in a later stage of the hydrolysis. Increase in the acetic acid solution also led to the formation of a large amount of tetrahedral Ti species, which were active for the epoxidation of oct-1-ene usingt-butyl hydroperoxide as an oxidant.     

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     

Safety and structural analysis of polymers produced in manufacturing process of alpha-lipoic acid

Alpha-Lipoic acid has recently been permitted for use in foodstuffs and is contained in tablets and capsules. Although alpha-lipoic acid is synthesized from adipic acid, the safety of polymers produced during the purification and drying processes has been an issue of concern. Hence, we examined the safety profiles of thermally denatured polymer (LAP-A) and ethanol-denatured polymer (LAP-B) produced in the manufacturing process of alpha-lipoic acid. Furthermore, we conducted structural analysis of these polymers by 1H-NMR and FAB-MS spectroscopy. In a consecutive ingestion test, male and female mice ingested diet containing 0.1 and 0.2% LAP-A and -B for 4 weeks. Blood uric acid, potassium and lactate dehydrogenase (LDH) tended to increase without dose-dependency. Relative liver weights were also increased. However, male dogs that were orally administered LAP-B (500 mg/kg) once did not show any abnormalities in blood parameters or general condition. These findings indicate that alpha-lipoic acid polymers are not acutely toxic; however, chronic ingestion of these polymers may affect liver and kidney functions.     

Label-free protein biosensor based on aptamer-modified carbon nanotube field-effect transistors

We have fabricated label-free protein biosensors based on aptamer-modified carbon nanotube field-effect transistors (CNT-FETs) for the detection of immunoglobulin E (IgE). After the covalent immobilization of 5'-amino-modified 45-mer aptamers on the CNT channels, the electrical properties of the CNT-FETs were monitored in real time. The introduction of target IgE at various concentrations caused a sharp decrease in the source-drain current, and a gradual saturation was observed at lower concentrations. The amount of the net source-drain current before and after IgE introduction on the aptamer-modified CNT-FETs increased as a function of IgE concentration. The detection limit for IgE was determined as 250 pM. We have also prepared CNT-FET biosensors using a monoclonal antibody against IgE (IgE-mAb). The electrical properties of the aptamer- and antibody-modified CNT-FETs were compared. The performance of aptamer-modified CNT-FETs provided better results than the ones obtained using IgE-mAb-modified CNT-FETs under similar conditions. Thus, we suggest that the aptamer-modified CNT-FETs are promising candidates for the development of label-free protein biosensors.     

Effect of medium-chain triacylglycerols on anti-obesity effect of fucoxanthin

Dietary effects of medium-chain triacylglycerols (MCT) and fucoxanthin (Fc) on abdominal fat weight were determined using KK-Ay obese mouse. Experimental diet contained MCT(0.9%), Fc (0.1%), or MCT (0.9%) +Fc (0.1%). The abdominal fat weight of mice fed with Fc was significantly lower than that of mice fed with MCT. Uncoupling protein 1 (UCP1), a key molecule for metabolic thermogenesis, was clearly expressed in the white adipose tissue (WAT) of mice fed Fc, but little expression in that of the mice fed MCT. The anti-obesity effect of Fc was increased by mixing Fc with MCT. This increase would be due to the increase in the absorption rate of Fc by MCT.     

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