Isolation and characterization of a parvovirus of rabbits

The isolation and characterization of a new virus from rabbit stool are described. The virus replicated in rabbit kidney cell cultures and agglutinated human group O erythrocytes at 4 degrees C. It was stable at acid pH and resistant to chloroform and heat treatment. The growth of the virus was inhibited by 5-iodo-2-deoxyuridine, and virions were stained red with acridine orange, suggesting that they contain single-stranded deoxyribonucleic acid. The density of virions was 1.41 to 1.44 g/ml in CsCl, and the sedimentation value was 137S in sucrose at 4 degrees C. The infectious particles had cubic symmetry and were 27 to 28 nm in diameter by electron microscopy. By these properties this virus can be classified as a member of the parvovirus group. Antibody response was demonstrated in the rabbit from which this virus was recovered. A number of rabbits from a commercial source were found to contain hemagglutination-inhibiting antibody to this virus.     

Migration of suspended particles in plane stationary ultrasonic field

The time-averaged motion of microscopic particles in plane stationary sound fields is investigated. A generalized kinetic theory of particle migration in which the effect of particle diltusion is taken into account is formulated and the particle distributions at the rather early stage and after a sufficient sound irradiation are derived analytically from the theory. It is found that the nodal change of particle concentration of microscopic polystyrene latex dispersions is well predicted by the present theory, independently of the particle size, the sound frequency and the energy density of sound. The condition of formation of the Kundt's tube striation is also characterized theoretically.     

Detection of parafoveal scotoma by multifocal electroretinograms

We investigated the relation between multifocal electroretinograms (M-ERGs) and artificial parafoveal scotoma. M-ERGs were recorded from normal subjects using a circular piece of black paper attached to a monitor. Lower response density around the 10 to 15 degree parafovea region was not observed up to 3 degree scotoma (visual angle), but was detected above 5 degree scotoma in field topography of M-ERGs. The shape of the scotoma in field topography was not circular but somewhat oval. The results from two cases of parafoveal retinal degeneration were in good accordance with this basic study in normal subjects. We proved that detection of parafoveal scotoma by M-ERG is limited in comparison with the results obtained by automated static perimetry.     

Modeling and feedback control of a flexible arm

When a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested as soon as possible at the end of rotation. In this paper, we first derive a partial differential equation and a set of boundary conditions governing the vibration. Then, a feedback control system which incorporates a dynamic compensator is designed using sensor outputs. A set of experiments has been constructed to demonstrate control strategies for a flexible arm, where a strain gage was used as a vibration sensor and a microcomputer was equipped as a controller. Several satisfactory experimental results are shown.     

H- beam extraction from a cesium seeded field effect transistor based radio frequency negative hydrogen ion source

H(-) beam was successfully extracted from a cesium seeded ion source operated using a field effect transistor inverter power supply as a radio frequency (RF) wave source. High density hydrogen plasma more than 10(19) m(-3) was obtained using an external type antenna with RF frequency of lower than 0.5 MHz. The source was isolated by an isolation transformer and H(-) ion beam was extracted from a single aperture. Acceleration current and extraction current increased with the increase of extraction voltage. Addition of a small amount of cesium vapor into the source enhanced the currents.     

Stability analysis of a control system with nonlinear input uncertainty based on disturbance observer

In disturbance observer (DO)‐based control, control input attenuates a disturbance using observer output. Thus, the input may not achieve the attenuation if the input term includes uncertainty. Therefore, in order to correctly suppress the disturbance, it is essential to consider the uncertainty existing in the input term, and thus this article focuses on a nonlinear uncertainty in the input term. This article analyzes the stability and robustness of a DO‐based nonlinear control system with both the disturbance and the input uncertainty. We address the case that the disturbance and the uncertainty depend on time and states of a controlled system. The disturbance and the uncertainty are gathered in an integrated disturbance, and the integrated disturbance depends on many variables: the states, the control input, and the time. Therefore, a norm estimations for the disturbance and a time variation of the disturbance is difficult without knowledge of the state trajectory. Hence, a slope‐restriction for the disturbance is used for the stability analysis. Based on the mathematical analysis, we show input‐to‐state stability conditions due to extend the application class of the DO‐based controller to a control system with the disturbance and the nonlinear input uncertainty. The analytical results are verified by numerical simulations.     

Analyses of biped walking posture by dynamical-evaluating index

In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high.     

Fine Patterning and Characterization of Gel Films Derived from Methyltriethoxysilane and Tetraethoxysilane

Pregrooves of 1.6 µm pitch for optical data storage have been embossed successfully by pressing a stamper against x CH₃Si(OC₂H₅)₃(100 - x )Si(OC₂H₅)₄-derived gel films (60 ≤ x ≤ 100 mol%) on glass-disk substrates of 130 mm diameter. When x is <40 mol%, the resultant films are too hard to emboss patterns uniformly. The shrinkage of the patterns is ∼4% for all the films when 60 lessthan equal to x lessthan equal to 100 mol%, even after heat treatment at 350°C, so that the nearly net negative shape of the stamper is preserved. The methyl groups in the films decompose at temperatures from 500° to 600°C.     

Synthesis and polymerization of a self-condensable macromonomer

Summary A novel self-condensable macromonomer that has a polymerizable group at one terminal and an initiator at the other was synthesized by the combination of the conventional macromonomer technique and the SmI₂-induced transformation. Namely, living poly(tetrahydrofuran) [poly(THF)] carrying α-methacryloyl group was prepared by using methacryloyl chloride and silver trifluoromethanesulfonate. The living chain end was capped with sodium 2-bromoisobutyrate, and the sequential reduction of the terminal C-Br bond with SmI₂ gave a terminating samarium enolate. The resulting samarium enolate copolymerized the α-methacryloyl group with methyl methacrylate, giving a hyperbranched block copolymer whose dendritic part consists of two kinds of polymer segments. Received: 4 January 1999/Accepted: 2 February 1999     

Modeling and robust force control of constrained one-link flexible arms

In this article modeling and robust force control of constrained flexible one-link arms on the basis of a distributed parameter model are discussed. Since the tip of the flexible arm contacts a given constraint surface, a constraint condition should be satisfied. By using the Lagrange multiplier method and the Hamilton's principle, we derive dynamic equations of the joint angle, the vibration of the flexible arm, and the constraint force. The boundary condition of the derived distributed parameter system is related to the contact force and is nonhomogeneous. We introduce a change of variables to derive a homogeneous boundary condition. On the basis of a finite-dimensional modal model of the distributed parameter system, we analyze the stability of the force feedback by using the root locus technique and the compliance control. To compensate the spillover instability an optimal controller with low-pass property and a robust H_∞ controller are constructed. Experiments have been carried out and results confirm that the controllers perform remarkably well. © 1998 John Wiley & Sons, Inc.