Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons

Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.     

Development Of Cvt Control System And Its Use For Fuel‐Efficient Operation Of Engine

Continuously variable transmission (CVT) provides an automobile with the ability to change the gear ratio continuously, which can then improve not only ride quality such as acceleration performance but also fuel‐efficiency. However, to take advantage of the ability, a control system that can precisely control the gear ratio is required. This paper proposes such a control system for a belt‐driven CVT system. For controller design, first the CVT system is modeled by analytical and experimental approaches. The resultant static and dynamic characteristics provide a nonlinear first‐order model with an uncertain time constant and time delay. The nonlinear steady‐state gain is adjusted to one by a gain‐scheduled pre‐compensator. Thereby the plant model becomes a linear first‐order lag system with a dead time. The next step is controller design using the plant model. To guarantee stability and control performance against the parameter variation and time delay, the μ‐synthesis, a robust control method, is employed for feedback control. In addition, a feedforward controller is incorporated into the feedback control system to obtain better output response. The feedforward controller is given by a combination of the inverse system of the plant and a reference model that gives desired output response. As a result, the control system becomes a two‐degree‐of‐freedom control system. To evaluate the performance of the control system and its effectiveness on the fuel‐efficiency, computer simulation and driving tests were conducted. The simulation and experiment results prove that the proposed control system can make the gear ratio track a reference output quickly and precisely in the presence of the uncertainties. The results also show that the control system improves fuel‐efficiency by changing the gear ratio so that the engine torque and its revolution speed can satisfy optimum‐efficiency operating condition.     

Thermal and optical properties of epoxy/zirconia hybrid materials synthesized via in situ polymerization

Epoxy/zirconia hybrid materials were synthesized from a bisphenol-A type epoxy resin, zirconium-tetra-n-propoxide and acetic acid via in situ polymerization. Acetic acid was used to control the hydrolysis and condensation reaction of the zirconium-tetra-n-propoxide. As a result, the zirconia produced by the in situ polymerization was uniformly dispersed into the epoxy matrix on a nano scale or less, and the hybrid materials exhibited an excellent optical transparency. With the increasing zirconia contents, the storage modulus in the rubbery region increased and the peak area of tanδ in the glass transition temperature region decreased. These results indicate that their heat resistance of the hybrid materials could be improved by hybridization with zirconia. Furthermore, the refractive indices of the hybrid materials were significantly improved with the increasing zirconia contents.     

Organic LED full-color passive-matrix display

Abstract— A full-color 5.2-inch 1/4-VGA passive-matrix organic LED display has been developed, adopting selective deposition for the different emitting materials. The display features 320 (×3) × 240 pixels with an equivalent pixel size of 0.33 × 0.33 mm, white peak luminance of over 150 cd/m², and power consumption of 6 W.     

AN EXPERIMENTAL AND STATISTICAL INVESTIGATION OF SURFACE FATIGUE CRACK INITIATION AND GROWTH

Surface fatigue crack studies were carried out and statistically analysed from rotating bend fatigue tests in the high cycle region for three metals, copper, stainless steel and mild steel with four ferrite grain sizes. Quantitative observations of the initiation and growth behavior, including coalescence of closely spaced cracks, are discussed and a limiting condition for coalescence is proposed. Statistical properties of initiation, propagation and propagation rate of surface cracks are examined and the effect of different metals and grain sizes is discussed.     

Studies on anti-inflammatory agents. V. Synthesis and pharmacological properties of 3-(difluoromethyl)-1-(4-methoxyphenyl)-5- [4-(methylsulfinyl)phenyl]pyrazole and related compounds

A series of novel 1,5-diphenylpyrazole derivatives bearing hydrophilic substituents was prepared. The anti-inflammatory and analgesic activities of these compounds were evaluated by using the adjuvant arthritis and Randall-Selitto assays in rats, and the structure-activity relationships were studied. The optimal compound was 3-(difluoromethyl)-1-(4-methoxyphenyl)-5-[4-(methylsulfinyl)phenyl]pyraz ole (10) with oral ED50 values of 0.31 and 2.6 mg/kg on adjuvant-induced arthritis and carrageenin-induced foot edema, respectively. Compound 10 showed analgesic activities not only toward inflamed paw but also toward normal paw (ED30 = 0.55 and 1.8 mg/kg, respectively) in the Randall-Selitto assay, and moreover, 10 was effective in the tail-pinch assay (ED50 = 21 mg/kg) similarly to morphine. The asymmetric synthesis and pharmacological properties of the enantiomers of 10 are also reported.     

Power generation of the touching Cu/Bi-Te/Cu composites under the periodically alternating temperature gradients

The thermo-emf ΔV of the touching p- and n-type Cu/Bi-Te/Cu composites with different thicknesses of t _Bi-Te and t _Cu was measured as a function of time by alternating the temperature difference ΔT at periods of T = 20, 60, 120, 240 and ∞ sec, where t _Bi-Te was varied from 0.1 to 2.0 mm and t _Cu from 0 to 4.0 mm. As a result, ΔV changes significantly with t _Bi-Te, t _Cu and T. The effective thermo-emf ΔV _eff increases significantly with an increase of 1/T and exhibited a local maximum at 1/T = 1/240 s⁻¹. The resultant | α | and the effective temperature difference ΔT _eff were increased significantly by optimizing t _Bi-Te and t _Cu at 1/T = 1/240 s⁻¹. The power generation ΔW _eff (= ΔV _eff²/4R _calc) estimated using the measured ΔV _eff and calculated R _calc also exhibited a local maximum at 1/240 s⁻¹ for an optimum combination of t _Bi-Te = 0.1 mm and t _Cu = 2.0 mm, so that the maxima ΔW _eff at 1/T = 1/240 s⁻¹ for the p- and n-type composites were 2.28 and 2.92 times higher than those obtained at 1/T = 0 s⁻¹. This significant increase in ΔW _eff is owing to both the increase in ΔT _eff and the increase in ZT due to the increase in |α|. The power generation was thus found to be enhanced significantly by imposing the alternating temperature gradients on touching Cu/Bi-Te/Cu composites.     

Influence of the introduction of flexible alkyl chains on the thermal behavior and mechanical properties of mesogenic epoxy thermosets

A mesogenic epoxy resin (DGETAM) was cured with a series of curing agents having different lengths of long alkyl chain (nBAB, n = 4, 8, 12). Properties of the curings were compared with those of the DGEBA cured with the same curing agents revealing the achievement of a balance between certain levels of thermal properties and excellent mechanical properties. Moreover, some curing systems were prepared with twin mesogenic type epoxy resins (DGEnMA, n = 4, 6, 8, 10, 12) having different lengths of alkyl chain as a flexible spacer and the same curing agents (n′BABs). Combinations of the same concentrations of chemical structures in the basic units of the network structure were applied, and the thermal and mechanical properties of their curing systems were investigated. The fracture energy of each system increased considerably with the increase of the alkyl chain length that adjoins the two mesogenic groups in the epoxy resins. © 2016 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 44244.     

Thermal conduction theoretical analysis of temperature distribution during multiple-electrode submerged arc welding

In recent years, in order to reduce the costs of transportation and construction of pipelines, which are often constructed using multiple-electrode submerged arc welding (SAW), higher joint performance is required. Therefore, there has arisen the need to understand theoretically and control appropriately metallurgical and mechanical characteristics in heat-affected zone (HAZ), which has a significant influence on the strength and toughness of welded joints. Commonly, metallurgical phenomena in HAZ are evaluated based on the highest temperature and the cooling rate. Therefore, in order to control metallurgical and mechanical characteristics in HAZ by means of the welding conditions, evaluating the temperature distribution and the temperature history near the melted zone is essential. However, a detailed investigation of the temperature distribution for multiple-electrode SAW has not yet been carried out enough. In this study, in order to investigate the temperature distribution and histories during multiple-electrode SAW, the experimental results are compared with the theoretical results. In the theoretical analysis, the temperature rise equation in multiple heat sources welding is developed using the method of summation. Furthermore, on temperature distribution during welding, the effects of multiple heat sources, such as the number of heat sources and the distance between each electrodes, are considered quantitatively through the thermal conduction theoretical analysis. As the result, the distance between lead heat source and final heat source primally influences the area with the difference between a single heat source welding and multiple heat sources welding. Based on the results, it is expected to control temperature distribution near melted zone by more appropriate heat input characteristics, which is depended on heat source arrangement.     

Programmed High‐Hole‐Mobility Supramolecular Polymers from Disk‐Shaped Molecules

In this paper a simple, casting solution technique for the preparation of two‐dimensional (2D) arrays of very‐high molecular weight (MW) 1D‐Pc supramolecular inorganic polymers is described. The soluble fluoroaluminium tetra‐tert‐butylphthalocyanine (ttbPcAlF) is synthesized and characterized, which can be self‐assembled to form 2D arrays of very‐high‐MW 1D‐Pc supramolecular inorganic polymers. High‐resolution transmission electron microscopy (HRTEM) demonstrates that the 1D‐ttbPcAlF, having a cofacial ring spacing of ～0.36 nm and an interchain distance of ～1.7 nm, self‐assembles into 2D‐nanosheets (～140 nm in length, ～20 nm in width, and equivalent to MW of 3.2 × 10⁵ g mol^?1). The film cast from a 1,2‐dichloroethane (DCE) solution shows a minimum hole‐mobility of ～0.3 cm² V^?1 s^?1 at room temperature by flash‐photolysis time‐resolved microwave conductivity (TRMC) measurements and a fairly high dark dc‐conductivity of ～1 × 10^?3 S cm^?1.