PID landing orbit motion controller for an indoor blimp robot

Blimp robots are attractive as indoor flying robots because they can float in the air, land safely with low energy, and stay in motion for a long time compared with other flying robots. However, controlling blimp robots is difficult because they have nonlinear characteristics, are influenced by air streams, and can easily be influenced by inertia. Therefore, a robust and adaptive control system is needed for blimp robots. The applied research that has studied the features of indoor flying robots in recent years has prospered. Operating an indoor blimp robot for a long time is difficult because the payload is small, multiple batteries cannot be stacked, and the design of a thruster that gives freedom to the entire blimp robot is difficult. Therefore, an autonomous charge that allows operation for a long time is needed. We have developed a method of landing with orbital control of the charge point that gives autonomy to a blimp robot. The possibility of landing with orbital control is shown. This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005 An erratum to this article is available at .     

Contents of eight harmful elements in baby toys and their migration tests

Levels of eight harmful elements, i.e., antimony, arsenic, barium, cadmium, chromium, lead, mercury and selenium, were investigated in 45 baby toys and 10 paints, which were mainly made of polyvinyl chloride. All samples contained barium at levels of 0.3-3,700 mg/kg, several samples contained cadmium (0.2-26 mg/kg), chromium (0.5-280 mg/kg) and lead (1.5-1,300 mg/kg), and one sample contained antimony (5.3 mg/kg). They might have been used as colorants of the toy materials and paints. They were then evaluated using the migration test of ISO 8124-3, in which samples were ground up, and then soaked in 0.07 mol/L HCl at 37 degrees C for two hours. Barium, cadmium, chromium and lead migrated from some of the samples, but at levels lower than the migration limits required by ISO 8124-3. Compared with the Japanese official method, the ISO method resulted in higher migration, but there are significant differences in the migration limits, test method, and so on between them. Further investigation is needed in this area.     

Molecular, seasonal, and spatial distributions of organic aerosols from fourteen Chinese cities

Organic aerosols were studied at the molecular level in 14 coastal and inland mega-cities in China during winter and summer 2003. They are characterized by the abundant presence of n-alkanes (annual average, 340 ng m(-3)), fatty acids (769 ng m(-3)), sugars (412 ng m(-3)), and phthalates (387 ng m(-3)). In contrast, fatty alcohols, polyols/polyacids, lignin and resin products, sterols, polycyclic aromatic hydrocarbons (PAHs), and hopanes were detected as relatively minor components. n-Alkanes show a weak odd/even carbon predominance (CPI = 1.1) and PAHs show a predominance of benzo(b)fluoranthene, suggesting a serious contribution from fossil fuel (mainly coal) combustion. Their concentrations (except for phthalates and polyols/polyacids) were 2-15 times higher in winter than summer due to a significant usage of coal burning and an enhancement of atmospheric inversion layers. Phthalates were found to be more abundant in summer than winter, probably due to enhanced vaporization from plastics followed by adsorptive deposition on the pre-existing particles. Concentrations of total quantified compounds are extremely high (approximately 10 microg m(-3)) in the midwest (Chongqing and Xi'an) where active industrialization/urbanization is going on. This study shows that concentrations of the compounds detected are 1-3 orders of magnitude higher than those reported from developed countries.     

Short- and long-term strength characteristics of particulate-filled cast epoxy resin

Particulate-filled thermosetting composites are widely used, yet little systematic work has been done on their long-term strength characteristics. In this study short-term tensile, flexural, and impact tests as well as tensile creep-rupture tests were made for unfilled and filled epoxy to clarify the effects of filler size, filler content, and temperature. Fillers used were silica, alumina particles, and glass beads. Test temperatures were varied from 25 to 110°C. As a result of short-term testing, it was found that the Petch relation held between strength and filler size if brittle fracture occurred, while a strength and filler size if brittle fracture occurred, while a strengthening effect existed when ductile fracture occurred. On creeprupture testing, a strengthening is observed with filler size and content for silica and glass beads. The Arrhenius plot of rupture time for various filler sizes and contents converges to a characteristic point corresponding to the glass transition temperature of the material. Using this relation, a modified Larson-Miller master rupture curve is proposed which can predict the long-term strength of particulate-filled thermosetting composites as functions of rupture time, temperature, filler size, and content.     

Lysine‐241 Has a Role in Coupling 2OG Turnover with Substrate Oxidation During KDM4‐Catalysed Histone Demethylation

The JmjC histone lysyl demethylases (KDMs) play important roles in modulating histone methylation states and have the potential to be regulated by oxygen availability. Lys241 of the KDM4 subfamily is proposed to be important in oxygen binding by KDM4A. We report evidence that, although Lys241 is unlikely to be directly involved in oxygen binding, it has an important role in coupling 2‐oxoglutarate cosubstrate oxidation with lysine demethylase activity. The results suggest that compounds promoting the uncoupling of substrate oxidation are of interest as JmjC‐KDM inhibitors.     

1H NMR,thermal, and conductivity studies on PVAc based gel polymer electrolytes

The lithium‐ion conducting gel polymer electrolytes (GPE), PVAc‐DMF‐LiClO₄ of various compositions have been prepared by solution casting technique. ¹H NMR results reveal the existence of DMF in the gel polymer electrolytes at ambient temperature. Structure and surface morphology characterization have been studied by X‐ray diffraction analysis (XRD) and scanning electron microscopy (SEM) measurements. Thermal and conductivity behavior of polymer‐ and plasticizer‐salt complexes have been studied by differential scanning calorimetry (DSC), TG/DTA, and impedance spectroscopy results. XRD and SEM analyses indicate the amorphous nature of the gel polymer‐salt complex. DSC measurements show a decrease in T_g with the increase in DMF concentrations. The thermal stability of the PVAc : DMF : LiClO₄ gel polymer electrolytes has been found to be in the range of (30–60°C). The dc conductivity of gel polymer electrolytes, obtained from impedance spectra, has been found to vary between 7.6 × 10^?7 and 4.1 × 10^?4 S cm^?1 at 303 K depending on the concentration of DMF (10–20 wt %) in the polymer electrolytes. The temperature dependence of conductivity of the polymer electrolyte complexes appears to obey the VTF behavior. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Heterogeneous nucleation of organic vapours on a cold substrate

The heterogeneous phase transition of the organic vapours, cyclohexane and p-xylene, on a cold substrate was observed by cooling the substrate at a slow rate under reduced pressure conditions. Either organic vapour at a vapour pressure lower than 130 Pa formed directly solid crystals but p-xylene vapour at a higher vapour pressure formed liquid condensates with subsequent formation of solid crystals. The dependence of the critical supersaturation ratios on the critical temperatures and the physical properties of the organic vapours has been clarified by the equation derived on the basis of classical nucleation theory.     

Precipitation-hardenable Mg–2.4Zn–0.1Ag–0.1Ca–0.16Zr (at.%) wrought magnesium alloy

A new precipitation-hardenable wrought magnesium alloy based on the Mg–Zn system with an excellent combination of high tensile yield strength, good ductility and low tensile-compression anisotropy has been developed. The Mg–2.4Zn–0.1Ag–0.1Ca(–0.16Zr) (at.%) alloys show significantly higher age-hardening responses compared to that of the binary Mg–2.4Zn alloy due to the increased number density and refinement of rod-like MgZn₂ precipitates. The addition of Zr to the Mg–2.4Zn–0.1Ag–0.1Ca alloy resulted in a significant refinement of the grain size. A high number density of precipitates was observed in the Mg–2.4Zn–0.1Ag–0.1Ca–0.16Zr alloy in both the as-extruded condition and following isothermal ageing at 160 °C. The tensile yield strength of the as-extruded and aged alloys was 289 and 325 MPa, with an elongation of 17% and 14%, respectively. These alloys show relatively low compression and tensile anisotropy. The origins of these unique mechanical properties are discussed based on the detailed microstructural investigation.     

ESR studies of the effect of zeolite structures on motional dynamics of NO2

Electron spin resonance (ESR) spectroscopy was used to study the effect of zeolite structure on the motional dynamics of NO₂ adsorbed on the zeolites. The temperature-dependent ESR spectral line shapes were quantitatively analyzed using the slow-motion ESR theory. It was observed that the motional dynamics of NO₂ is strongly dependent on the structure of the zeolite (Beta-type, ZSM-5, mordenite, L-type and ferrierite zeolites). The following important observations were made. (1) In zeolites with similar channel structures, the diffusion rate of NO₂ is proportional to the channel size, and the order of the diffusion rates is Beta-type>ZSM-5>ferrierite and L-type>mordenite. (2) The diffusion of NO₂ is faster in the zeolites with multi-dimensional channels (Beta-type, ZSM-5 and ferrierite) than that in those with uni-dimensional channels (L-type and mordenite).     

New Preparation Method of CdS Clusters Encapsulated in Y-Type Zeolites

CdS clusters encapsulated in Y-type zeolite were prepared by a novel technique with non-aqueous systems. The mechanical mixture of CdCl₂· 2.5H₂O crystal with Y-type zeolite was heated at 773 K, followed by the H₂S treatment at 373 K, resulting in the formation of CdS clusters with the size <2.3 nm.