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Tsuyoshi Tokinaga,Takumi Yonezawa,Masateru Saito,Yoshifumi Morita,Hirofumi Tanabe,Balint Kiss 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The objective of the study involved developing a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. Based on our previous analysis of the therapist"s guiding movements in standing-up training of patients, a passive-type robot was adopted. However, the link weight of the robot acts as a load at the patient’s waist. In this work, we designed a counterbalance mechanism for the robot in order to reduce the load at the patient’s waist and determined the optimal parameters for the mechanism. We confirmed by simulation that the specifications of the forces acting on the end-effectors of the robots were satisfied, and thus the proposed counterbalance mechanism was effective.
Shinya Nagasaki,Takumi Saito,Satoru Tsushima,Jared Goguen,Tammy Yang 한국원자력학회 2017 Nuclear Engineering and Technology Vol.49 No.8
The interaction of NpO+ 2 with Cl- was studied using visibleenear-infrared spectroscopy in NaCl-Ca- Cl2-NaClO4, NaCl-NaClO4, and CaCl2-NaClO4 solutions with ionic strength (I) of 6M. The spectra of NpO+2 around 980 nm varied with Cl- concentration in the NaCl-CaCl2-NaClO4 and NaCl-NaClO4 solutions at [Cle] ≥ 3.5M, but not in the CaCl2-NaClO4 solution. Assuming the 1:1 interaction between NpOþ+ and Cl-, the apparent equilibrium constants at I = 6M were evaluated. The presence of Ca2+ was found to destabilize overall interaction between NpOþ 2 and Cle. The observations were consistent with the density functional theory calculation.
Sorption of Se(-II) on illite, MX-80 bentonite, shale, and limestone in Na – Ca – Cl solutions
Andrew Walker,Joshua Racette,Takumi Saito,Tammy (Tianxiao) Yang,Shinya Nagasaki 한국원자력학회 2022 Nuclear Engineering and Technology Vol.54 No.5
Selenium has been identified as an element of interest for the safety assessment of a deep geologicalrepository (DGR) for used nuclear fuel. In Canada, groundwaters at DGR depths in sedimentary rockshave been observed to have a high ionic strength. This paper examines the sorption behavior of Se(-II)onto illite, MX-80 bentonite, Queenston shale, and argillaceous limestone in NaeCaeCl solutions ofvarying ionic strength (0.1e6 mol/kgw (m)) and across a pH range of 4e9. Little ionic strength dependence for Se(-II) sorption onto all solids was observed except that sorption at high ionic strength (6 m)was generally slightly lower than sorption at low ionic strength (0.1 m). Illite and MX-80 exhibited theexpected results for anion sorption, while shale and limestone exhibited more constant sorption acrossthe pH range tested. A non-electrostatic surface complexation model successfully predicted sorption ofSe(-II) onto illite and MX-80 using the formation of an inner-sphere surface complex and an outer-spheresurface complex. Optimized values for the formation reactions of these surface species were proposed
Racette Joshua,Walker Andrew,Nagasaki Shinya,Yang Tianxiao Tammy,Saito Takumi,Vilks Peter 한국원자력학회 2023 Nuclear Engineering and Technology Vol.55 No.10
The adsorption behaviour of Se(-II) onto granite and MX-80 bentonite in CaeNaeCl solutions has been studied utilizing adsorption experiments and surface complexation modelling. Adsorption kinetic experiments allude to steady-state adsorption periods after 7 days for granite and 14 days for MX-80 bentonite. Batch adsorption experiments were carried out to determine the influence that the physicochemical solution properties would have on Se(-II) adsorption behaviour. Adsorption of Se(-II) onto granite and MX-80 bentonite follows the trend of anionic adsorption, with a decrease in Rd values as the solution pH increased. There is also an ionic strength influence on the adsorption of Se(-II) onto granite with a decrease in the Rd value as the ionic strength increased. This effect is not found when observing Se(-II) adsorption onto MX-80 bentonite. Final experiments with a representative groundwater, determined that the adsorption of Se(-II) onto granite and MX-80 bentonite returned Rd values of (1.80 ± 0.10) m3kg1 and (0.47 ± 0.38) m3kg1, respectively. In support of the experiments, a surface complexation modelling approach has been employed to simulate the adsorption of Se(-II) onto granite and MX-80 bentonite, where it was determined that two different surface complexes, ≡S_Se and ≡SOH2 þ_H2Se were capable of simulating Se(-II) adsorption behaviour.