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T. Mase,R. Kitahata,T. Hirogaki,E. Aoyama 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
With the advancement of the motion control of industrial robots in recent years, there is a demand for a method that can easily measure the accuracy of the synchronous control of a 2-axis dual-arm robot. Therefore, in this study, we propose a new measurement method that creates a ball rolling motion in a circular orbit on the work plate and uses the rolling motion error with respect to the reference circle. In this study, we conducted experiments on the teaching method when controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. Results showed that an error occurred in the maximum inclination angle of the plate, which we kept the ball steady by correcting a teaching program. As the load is applied to the wrist joints by the plate, the effect of the correction of the teaching point angle cannot be obtained. However, the method of correcting the angular velocity between the teaching points was found to be effective.
Alkam, T.,Mamiya, T.,Kimura, N.,Yoshida, A.,Kihara, D.,Tsunoda, Y.,Aoyama, Y.,Hiramatsu, M.,Kim, H. C.,Nabeshima, T. Springer Science + Business Media 2017 Psychophamacology Vol.234 No.12
<P>Increased risk of attention-deficit/hyperactivity disorder (AD/HD) is partly associated with the early developmental exposure to nicotine in tobacco smoke. Emerging reports link tobacco smoke exposure or prenatal nicotine exposure (PNE) with AD/HD-like behaviors in rodent models. We have previously reported that PNE induces cognitive behavioral deficits in offspring and decreases the contents of dopamine (DA) and its turnover in the prefrontal cortex (PFC) of offspring It is well known that the dysfunction of DAergic system in the brain is one of the core factors in the pathophysiology of AD/HD. Therefore, we examined whether the effects of PNE on the DAergic system underlie the AD/HD-related behavioral changes in mouse offspring. PNE reduced the release of DA in the medial PFC (mPFC) in mouse offspring. PNE reduced the number of tyrosine hydroxylase (TH)-positive varicosities in the mPFC and in the core as well as the shell of nucleus accumbens, but not in the striatum. PNE also induced behavioral deficits in cliff avoidance, object-based attention, and sensorimotor gating in offspring. These behavioral deficits were attenuated by acute treatment with atomoxetine (3 mg/kg, s.c.) or partially attenuated by acute treatment with MPH (1 mg/kg, s.c.). Taken together, our findings support the notion that PNE induces neurobehavioral abnormalities in mouse offspring by disrupting the DAergic system and improve our understanding about the incidence of AD/HD in children whose mothers were exposed to nicotine during their pregnancy.</P>
Howells, Calvyn T.,Marbou, Khalid,Kim, Haeri,Lee, Kwang Jin,Heinrich, Benoî,t,Kim, Sang Jun,Nakao, Aiko,Aoyama, Tetsua,Furukawa, Seiichi,Kim, Ju-Hyung,Kim, Eunsun,Mathevet, Fabrice,Mery, St&eacut The Royal Society of Chemistry 2016 Journal of Materials Chemistry A Vol.4 No.11
<P>We demonstrate that blending fluorinated molecules in PEDOT:PSS hole transport layers (HTL) induces charge transfers which impact on both charge extraction and photogeneration within organic photovoltaic (OPV) devices. OPVs fabricated with modified HTL and two photoactive polymer blends led systematically to power conversion efficiencies (PCE) increases, with PTB7:PC70BM blend exhibiting PCE of ∼8.3%,<I>i.e.</I>∼15% increase compared to pristine HTL devices. A reduced device-to-device characteristics variations was also noticed when fluorinated additives were used to modify the PEDOT:PSS. Shading lights onto the effect of HTL fluorination, we show that the morphology of the polymer:PCBM blends remains surprisingly unaffected by the fluorinated HTL surface energy but that, instead, the OPVs are impacted not only by the HTL electronic properties (work function, dipole layer, open circuit voltage, charge transfer dynamic) but also by alteration of the complex refractive indices (photogeneration, short circuit current density, external quantum efficiencies, electro-optic modelling). Both mechanisms find their origin in fluorination induced charge transfers. This work points towards fluorination as a promising strategy toward combining both external quantum efficiency modulation and power conversion efficiency enhancement in OPVs. Charge transfers could also be used more broadly to tune the optical constants and electric field distribution, as well as to reduce interfacial charge recombinations within OPVs.</P>