Teleoperation via computer network

In a teleoperation system, providing force information to a human operator can improve task performance. When a communication block between a master and a slave has a transmission delay, the system is easily destabilized. Anderson and Spong guaranteed passivity in the communication block by using scattering transformation and overcame this instability caused by the time delay. But this method can be applied to the communication block with a constant time delay. In a traditional teleoperation system, its communication block has a constant time delay. But time delay irregularly changes in a computer network because many users share telecommunication lines. This paper shows that the variable time delay destabilizes bilateral master-slave manipulator with scattering transformation and a new compensation method which keeps the time delay constant. This new compensation method has been implemented in a single-axis master-slave manipulator.     

Prospective method of lightning protection schemes in distribution system

Grounding wires and enclosed ZnO elements have been incorporated generally in 6.6‐kV distribution systems by TEPCO for the reduction of lightning overvoltages. At present, the reliability to lightning surges is tolerably good. However, the facility of grounding wires is not inexpensive and its maintenance is hard due to corrosion and disconnection in some areas. A typical model simulating TEPCO field adopting enclosed ZnO elements has been developed and we have evaluated relative failure risks systematically according to conditions with and without grounding wires against lightning overvoltages. Two kinds of failures discussed in the paper are the flashover of insulation and the overduty of ZnO elements, and two kinds of induced and direct lightning overvoltages are studied in flashover. The greatest problem with no grounding wire is the increase of ZnO elements' duty, but it was demonstrated that a short partial grounding wire around ZnO elements or the selection of heavier ZnO elements provides a solution. The main objectives of this study are to clarify the relative failure risks systematically according to realistic field conditions, the risk of small stroke currents having long duration to ZnO elements' duty, and countermeasures against ZnO elements' overduty. © 1999 Scripta Technica, Electr Eng Jpn, 127(1): 1–10, 1999     

Changes in lipids and their contribution to the taste of migaki-nishin (dried herring fillet) during drying

This study was conducted to investigate the changes in lipids and their effect on the taste of migaki-nishin during drying. Lipid was extracted from herring fillets following different drying stages to measure the degree of lipid oxidation and changes in lipid composition, and fatty acid profile. Peroxide value, carbonyl value and acid value of the lipids were significantly increased (P < 0.05) during the drying period. Marked increase in free fatty acids, with decreases in triglyceride and phospholipid content were observed in proportion to drying time and this result suggested that hydrolysis was induced by lipases and phospholipases. The decreases in polyunsaturated fatty acids (PUFAs), especially eicosapentaenoic acid (EPA) and docosahexaenoic acid (DHA), were observed in the total lipids and phospholipid fraction. In addition, significant increase in PUFAs especially DHA was found in the free fatty acid fraction. Sensory evaluation showed that an addition of DHA to mentsuyu significantly (P < 0.05) enhances the intensities of thickness, mouthfulness and continuity. These results suggest that during drying period lipid oxidation was not only occurred but also lipolysis predominantly released DHA, which might have a contribution to kokumi enhancement of migaki-nishin.     

Characteristic long-chain fatty acid of Pleurocybella porrigens

As part of an investigation on the chemical constituents and contaminants of the basidiomycete Pleurocybella porrigens (Japanese name: Sugihiratake), we analyzed the UV-detected constituents of this mushroom using HPLC. One of the major UV peaks detected was isolated and identified as a-eleostearic acid, a long-chain fatty acid with a conjugated triene moiety, based on the results of spectroscopic methods. alpha-Eleostearic acid was concluded to be a characteristic fatty acid of P. porrigens, because it was not detected in eight other edible mushrooms examined. Free long-chain fatty acids in P. porrigens and other edible mushrooms were analyzed by HPLC after derivatization with acidic 2-nitrophenylhydrazine hydrochloride. Oleic acid was the main fatty acid in P. porrigens, and saturated long-chain fatty acids such as linoleic acid, palmitic acid, and stearic acid, together with a-eleostearic acid, were also detected.     

Multi-objective genetic algorithm-based sample selection for partial least squares model building with applications to near-infrared spectroscopic data

In this study, multi-objective genetic algorithms (GAs) are introduced to partial least squares (PLS) model building. This method aims to improve the performance and robustness of the PLS model by removing samples with systematic errors, including outliers, from the original data. Multi-objective GA optimizes the combination of these samples to be removed. Training and validation sets were used to reduce the undesirable effects of over-fitting on the training set by multi-objective GA. The reduction of the over-fitting leads to accurate and robust PLS models. To clearly visualize the factors of the systematic errors, an index defined with the original PLS model and a specific Pareto-optimal solution is also introduced. This method is applied to three kinds of near-infrared (NIR) spectra to build PLS models. The results demonstrate that multi-objective GA significantly improves the performance of the PLS models. They also show that the sample selection by multi-objective GA enhances the ability of the PLS models to detect samples with systematic errors.     

Accelerated weathering-induced degradation of poly(lactic acid) fiber studied by near-infrared (NIR) hyperspectral imaging

Hydrolysis degradation of a set of drawn poly(lactic acid) (PLA) fibers was induced by an accelerated weathering test, radiating ultraviolet (UV) light under a certain temperature and humidity. The fine features of the transient behavior of the PLA fibers were captured by near-infrared (NIR) hyperspectral imaging. The PLA fibers showed a gradual decrease in mechanical property (e.g., tensile strength), indicating hydrolysis degradation. Thus, the detailed analysis of the spectral variation, in turn, offers useful information on the molecular-level degradation behavior of the drawn PLA fibers. The variation of the spectral intensity as well as band position shift of the crystalline band of PLA was analyzed. The spectral intensity of the crystalline band of PLA showed gradual decrease, suggesting the decrease in molecular weight induced by the hydrolysis degradation. In addition, the crystalline band also exhibited a coinciding shift to the lower wavenumber direction with the weathering test, revealing cleavage-induced crystallization of the PLA samples. Consequently, the hydrolysis degradation induced by the weathering test substantially accelerates predominant degradation of the amorphous structure of the PLA and such variation of the molecular structure, in turn, brings less ductility to the PLA fiber.     

Influence of lithium doping on the structural and electrical characteristics of ZnO thin films

Thin films of undoped and lithium-doped Zinc oxide, (Zn_1 − xLi_x)O; x = 0, 0.05, 0.10 and 0.20 were prepared by sol-gel method using spin-coating technique on silicon substrates [(111)Pt/Ti/SiO₂/Si)]. The influence of lithium doping on the structural, electrical and microstructural characteristics have been investigated by means of X-ray diffraction, leakage current, piezoelectric measurements and scanning electron microscopy. The resistivity of the ZnO film is found to increase markedly with low levels (x ≤ 0.05) of lithium doping thereby enhancing their piezoelectric applications. The transverse piezoelectric coefficient, e₃₁^? has been determined for the thin films having the composition (Zn_0.95Li_0.05)O, to study their suitability for piezoelectric applications.     

A numerical investigation of evaporation characteristics of a fuel droplet suspended from a thermocouple

Numerical simulations of combined natural convection–conduction in a droplet of n-dodecane suspended from a thermocouple were carried out, taking into consideration evaporation, and the effect of thermocouple diameter on the evaporation characteristics was investigated. The calculated temperature history of the droplet is in good agreement with experimental results; both show that the rate of heating decreases with increasing thermocouple diameter. The maximum error in temperature due to the thermocouple increases linearly with increasing thermocouple diameter. Thus, in investigations involving a droplet suspended from a thermocouple, it is preferable to use a thermocouple with the smallest possible diameter.     

Development of a mathematical model for predicting water vapor mass generated in micro-explosion

This paper describes a mathematical model for predicting the mass of water vapor generated in micro-explosion. First, a single droplet experiment was carried out. A W/O (water/oil) emulsified fuel droplet suspended by a thermocouple was heated by a halogen spot heater, and micro-explosion was observed using a high-speed video camera. The progress of the coalescence of the dispersed water droplet was observed while droplet was heated, and an aggregated water droplet was formed in the oil layer. Based on the measured micro-explosion characteristics, a mathematical model for predicting water vapor mass generated in micro-explosion was proposed. The size of the aggregated water droplet just before micro-explosion was measured to verify the proposed mathematical model. Under certain assumptions, mass and energy conservation equations were applied to micro-explosion process, and an equation to calculate water vapor mass generated in micro-explosion was derived. The derived equation and some measurement results provide enough information to calculate water vapor mass generated in micro-explosion. The calculated diameter of the water droplet, which changed to vapor in micro-explosion, was compared to that of the aggregated water droplet just before micro-explosion. The calculated results roughly agreed with experimental ones, and the validity of the proposed model was verified.