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Thermo-electronic Properties of the Copper-oxide Cu6O8YCl1−xBrx
Kenji Kawashima,Hiroki Takeda,Hazuki Tozawa,Jun Akimitsu 한국물리학회 2013 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.63 No.3
We report the thermal conductivity and the Seebeck coefficient of polycrystalline samples ofCu6O8YCl1−xBrx. The lattice constant a linearly increases with increasing Br− concentration x,indicating an expansion of the Cu6O8 cage. At 350 K, the thermal conductivity Κ is small andundergoes very little change with x, suggesting the existence of an anharmonic vibration. On theother hand, the Seebeck coefficient S is enhanced by substituting Br− for Cl−. These facts indicatethat the thermoelectronic properties are sensitive to the Cu6O8 cage size in the Cu6O8YCl system.
Development of a Pneumatically Driven Forceps Manipulator IBIS IV
Kotaro Tadano,Kenji Kawashima 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to theoperator is a problem. We have proposed a pneumatic surgical manipulator that is capable of estimating external force,without the use of force sensors. However, the force estimation had a sensitivity of only 3[N] because of inertia andfriction effect. In this paper, we newly developed an improved model of the surgical manipulator IBIS IV to solve thisproblem. The base part of the forceps becomes compact and succeeded in reduce the weight. We conducted someexperiments including in-vivo experiment and confirmed that the effectiveness and improvement of the manipulator. Keywords: Medical Robots and Systems, Telerobotics, Force control, Pneumatic actuators
Effective feedback algorithm for application of MI-simulation to turbulent orifice flow
Mitsuhiro Nakao,Kenji Kawashima,Toshiharu Kagawa 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Measurement-integrated simulation (MI-simulation) is a numerical simulation in which experimental results are fed back to the simulation. The calculated values become closer to the experimental values. In this paper, we propose a new feedback method based on the conservation of momentum for MI-simulation built-in standard k-εmodel to turbulent orifice flow. The axial velocities in simulation are compensated by using proportional controllerusing the estimated pressure distribution based on the conservation of momentum. The signals are fed back to the axial velocity control volumes in the cross section downstream of the orifice. The effectiveness of the method was confirmed compared with the experimental results at downstream of orifice.
Superconductivity in KSn2 with the MgZn2-type Structure
Shota Miyazaki,Kenji Kawashima,Tsukasa Ipponjima,Michinori Fukuma,Daiki Hyakumura,Jun Akimitsu,Masaaki Yoshikawa 한국물리학회 2013 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.63 No.3
We report here the sysnthesis and discovery of a new superconductor potassium distannide KSn2. KSn2 has a hexagonal crystal structure with a space group of P63/mmc, which is called the MgZn2-type (C14) structure belonging to the famous family of Laves phases. The calculated lattice constantsa and c are 0.6427(4) and 1.043(6) nm, respectively. From the magnetic susceptibility measurement,KSn2 shows a superconducting transition at around 3.2 K.
Kotaro Tadano,Kenji Kawashima 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.4
In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. In this paper, a manipulator for supporting forceps has been developed which has 3-DOFs actuated by pneumatic cylinders. We also developed a master manipulator using a delta mechanism and a gimbal mechanism with a force sensor and motors with reduction gears. In the developed masterslave system, we applied different impedance control to each manipulator. The force control type of impedance control is adopted from the measured pressures in the pneumatic cylinders without using force sensors at the slave manipulator. For the master manipulator, the motion control type of impedance control is implemented. The experimental results indicated that the operator could feel the force at the slave side to a satisfactory extent.