Control performance in the horizontal plane of a fish robot withmechanical pectoral fins

The mechanism of locomotion of aquatic animals can provide us with new insight into the maneuverability and stabilization of underwater robots. This paper focuses on biomimesis in the maneuvering performance of aquatic animals to develop a new device for maneuvering underwater robots. In this paper, guidance and control in the horizontal plane of a fish robot equipped with a pair of two-motor-driven mechanical pectoral fins on both sides of the robot in water currents is presented. The fish robot demonstrates high performance in terms of maneuverability in such activities as lateral swimming. The use of fuzzy control enables the fish robot to perform rendezvous and docking with an underwater post in water currents     

Pressure and temperature dependence of cation distribution in Mg-Mn olivine

Synthetic (Mg_0.51, Mn_0.49)₂SiO₄ olivine samples are heat-treated at three different pressures; 0, 8 and 12 GPa, all at the same temperature (～500° C). X-ray structure analyses on these single crystals are made in order to see the pressure effect on cation distribution. The intersite distribution coefficient of Mg and Mn in M1 and M2 sites, K _D = (Mn/Mg) _M1/(Mn/Mg) _M2, of these samples are 0.192 (0 GPa), 0.246 (8 GPa) and 0.281 (12 GPa), indicating cationic disordering with pressure. The small differences of cell dimensions between these samples are determined by powder X-ray diffraction. Cell dimensions b and c decrease, whereas a increases with pressure of equilibration. Cell volume decreases with pressure as a result of a large contraction of the b cell dimension. The effect of pressure on the free energy of the cation exchange reaction is evaluated by the observed relation between the cell volume and the site occupancy numbers. The magnitude of the pressure effect on cation distribution is only a fifth of that predicted from the observed change in volume combined with thermodynamic theory. This phenomenon is attributed to nonideality in this solid solution, and nonideal parameters are required to describe cation distribution determined in the present and previous experiments. We use a five-parameter equation to specify the cationic equilibrium on the basic of thermodynamic theory. It includes one energy parameter of ideal mixing, two parameters for nonideal effects, one volume parameter, and one thermal parameter originated from the lattice vibrational energy. The present data combined with some of the existing data are used to determine the five parameters, and the cation distribution in Mg-Mn olivine is described as a function of temperature, pressure, and composition. The basic framework of describing the cationic behavior in olivine-type mineral is worked out, although the result is preliminary: each of the determined parameters is not accurate enough to enable us to make a reliable prediction.     

The use of sintered diamond anvils in the MA8 type high-pressure apparatus

A new multi-anvil type high-presure apparatus has been developed using sintered diamond anvils to generate pressures over 30 GPa and temperatures up to about 2000°C. A maximum sample volume of about 1 mm³ is available in this system. The pressure was confirmed by dissociation of forsterite into Mg-perovskite and periclase. The basic techniques and problems in utilizing sintered diamond in the MA8 type high-pressure apparatus are discussed with an emphasis on the future prospect of incorporating simultancous X-ray diffraction observation.     

Jointing of two tunnel shields using artificial underground freezing

Freezing was used in the jointing section of two shields (diameter 3.14 m) which ran across at right angles and at 25-m depth under the crossing of main roads for the construction of a 2.4-m diameter sewer tunnel. The object of freezing was to create a frozen barrier to prevent the inflow of water and fine sand into the area to be excavated.

Thirty-five freeze pipes (length about 7 m) were placed from one shield conically in the direction of the flank of another shield with freeze pipes attached to its inside wall. The cooling unit was placed on unoccupied land at about 60 m distant from the jointing section and the freeze pipes were connected with the cooling unit by supply and return pipelines.

The cooling unit had a cooling capacity of 79,000 kcal/h at an evaporation temperature of −27°C and a condensation temperature of +40°C. Freezing was continued for 180 days and the CaCl₂ brine temperature was −25 to −30°C. These works were accomplished without the sinking of shaft and the use of injection, in complete safety with no traffic restriction on the road surface.     

Shock metamorphism on the moon

Shock metamorphism of the lunar samples is discussed. All types of lunar glasses formed by various-size collision-type impact are found as impact glass, ropy glass and agglutinates. The agglutinates bonded by crystal and glassy materials contain hydrogen and helium from the solar wind components. Lunar shocked minerals of plagioclase and silica show anomalous compositions and densities. There are typical two formation processes on planetary materials formed by shock events; that is (1) shocked quartz formed by silica-rich target rocks (esp. on evolved planets of the Earth and Mars), and (2) shocked silica with minor Al contents formed from plagioclase-rich primordial crusts of the Moon. The both shocked silica grows to coarse-grain normal crystals after high-temperature metamorphism which cannot distinguish the original main formation event of impact process.     

Application of an S‐shaped curve model to the temporal development of tafoni of salt‐weathering origin

To describe temporal change in tafone development, an S‐shaped curve equation is proposed: Z = Z_c [1 ? (n + 1) exp (? β t ) + n exp (? (1 + 1/n) β t )] , where Z is observed tafone depth, Z_c is ultimate tafone depth, t is time, and n and β are constants. The applicability of this model is examined using tafone data selected from seven sites, which are categorized into three different salt‐weathering environments: a spray/splash‐dominant (occasionally wave‐affected) supra‐tidal zone, aerosol‐affected coastal regions, and inland desert areas. The results indicate that the equation can well describe tafone development in each of these environments. An investigation based on the values of n and β, determined through a best fit of the equation to the data, suggests that n characterizes site‐specific environmental conditions and β reflects the magnitude of factors controlling the recession mechanism of tafone surfaces. It is found that (1) the maximum rate of tafone growth dramatically decreases from supra‐tidal, through coastal, to desert environments, and (2) the growing mode of tafoni is different depending on the environmental settings. The erosional force to facilitate the development of tafoni at supra‐tidal sites is estimated to be about 400 times greater than that in the general coastal area. Copyright © 2011 John Wiley & Sons, Ltd.     

Distribution of the diffuse component of cosmic soft X-rays

The celestial distribution of the intensity of diffuse soft X-rays is mapped by reference to a critical review of observations available. The soft X-rays of extragalactic origin are subtracted, taking the interstellar absorption into account. The distribution of the galactic component thus obtained shows irregularities, but the general behaviour can be accounted for in terms of a cylindrical distribution of the X-ray emissivity with the scale height of 100300 pc in the direction perpendicular to the galactic plane. Correlations with various celestial objects, such as supernova remnants, radio spurs, flaring stars, and so forth, are discussed.