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Development of a Master-Slave System for Active Endoscope Using a Multi-DOF Ultrasonic Motor
Takemura, Kenjiro,Harada, Dai,Maeno, Takashi Institute of Control 2002 Transaction on control, automation and systems eng Vol.4 No.1
Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.
Takemura, Yasutaka,Lee, Du-Yeong,Lee, Seung-Eun,Park, Jea-Gun IOP 2016 Nanotechnology Vol.27 No.48
<P>For the double MgO based perpendicular magnetic tunneling junction (p-MTJ) spin-valves with a top Co<SUB>2</SUB>Fe<SUB>6</SUB>B<SUB>2</SUB> free layer <I>ex situ</I> annealed at 400 °C, the tunneling–magnetoresistance ratio (TMR) strongly depended on the platinum (Pt) seed layer thickness (<I>t</I> <SUB>Pt</SUB>): it peaked (∼134%) at a specific <I>t</I> <SUB>Pt</SUB> (3.3 nm). The TMR ratio was initially and slightly increased from 113%–134% by the enhancement of the magnetic moment of the Co<SUB>2</SUB>Fe<SUB>6</SUB>B<SUB>2</SUB> pinned layer when <I>t</I> <SUB>Pt</SUB> increased from 2.0–3.3 nm, and then rapidly decreased from 134%–38.6% by the degrading face-centered-cubic crystallinity of the MgO tunneling barrier when <I>t</I> <SUB>Pt</SUB> increased from 3.3–14.3 nm.</P>
Effect of molding condition on tensile properties of hemp fiber reinforced composite
Takemura, K.,Minekage, Y. The Korean Society for Composite Materials 2007 Advanced composite materials Vol.16 No.4
In this study, the effect of molding condition on the tensile properties for plain woven hemp fiber reinforced green composite was examined. The tensile properties of the composite were compared with those of the plain woven jute fiber composite fabricated by the same process. Emulsion type biodegradable resin or polypropylene sheet was used as matrix. The composites were processed by the compression molding where the molding temperature and its heating time were changed from 160 to $190^{\circ}C$ and from 15 to 25 min, respectively. The following results were obtained from the experiment. The tensile property of hemp fiber reinforced polypropylene is improved in comparison with polypropylene bulk. The strength of composite is about 2.6 times that of the resin bulk specimen. Hemp fiber is more effective than jute fiber as reinforcement for green composite from the viewpoint of strength. The molding temperature and time are suitable below $180^{\circ}C$ and 20 min for hemp fiber reinforced green composite. Hemp fiber green composite has a tendency to decrease its tensile strength when fiber content is over 50 wt%.
Atomic Layer Epitaxy of Nitrogen-Doped ZnSe
TAKEMURA, YASUSHI,KONAGAI, MAKOTO,YAMASAKI, KANAME,LEE, C.H.,TAKAHASHI, KIYOSHI 全北大學校 基礎科學硏究所 1994 基礎科學 Vol.16 No.-
Atomic layer epitaxy of nitrogen-doped ZnSe was studied. The ZnSe films were grown on GaAs(001) substrates at 250℃ with a continuous flow of nitrogen and alternate supplies of zinc and selenium. The grown films were characterized by photoluminescence spectra at 4.2K, and it was found that nitrogen was incorporated as a shallow acceptor in the films. The Schottky diodes were prepared by evaporation gold on the nitrogen-doped films grown on p-type GaAs substrates. A rectifying characteristic that was consistent with the structure, assuming p-type conductivity of ZnSe, was observed. Catacitance-voltage measurement of the structure also indicated p-type conductivity of the films.
Environmental Pollutants Drained From Highway Pavement Road
Takemura, Shinsaku,Goto, Naoshige,Mitamura, Osamu The Korean Society of Limnology 2005 생태와 환경 Vol.38 No.S
Environmental polluting materials from road surface drainage are a significant nonpoint source influenced to the eutrophication of lake and ecosystems with a transport development in recent years. To elucidate the discharge characteristics, the changing patterns in concentrations of polluting materials such as suspended solid (SS), chemical oxygen demand (COD), nitrogenous and phosphorus nutrients in drainage waters, were investigated during rainfall. Load variation of COD concentration in drainage water samples was closely related to that of SS concentration. This indicates that SS contained a greater part of organic matter. A quite difference between the past pavement and the new well-drainage pavement system was observed in the concentrations of SS and COD in drainage waters. Appreciable concentrations of nitrite and nitrate were determined in drainage waters. The present results indicate that the drainage water from road surfaces is a significant nonpoint source, and that the well-drainage pavement system introduced to skid prevention has an effect on the decreases of pollutants.