To determine the usefulness of equations previously proposed for the apparent maximum reaction rate and apparent Michaelis constant of an immobilized enzyme, starch hydrolysis by glucoamylase immobilized on a porous c...
详细信息
To determine the usefulness of equations previously proposed for the apparent maximum reaction rate and apparent Michaelis constant of an immobilized enzyme, starch hydrolysis by glucoamylase immobilized on a porous ceramic support was considered as a model system. Initial reaction rates, v0, were measured for a wide range of initial starch concentrations, S(b0), to make a nonlinear plot Of S(b0)/v0 versus S(b0), and the apparent kinetic parameters were determined from the slopes and intercepts of tangents to the nonlinear plot at given values of S(b0). The equations were found to accurately express the diffusional effect on the kinetic parameters.
The growth process of Fe/FeN multilayers prepared by rf sputtering is studied in situ, combining resistivity measurements and RHEED observations. The structural change from semi-continuous film with random orientation...
详细信息
The growth process of Fe/FeN multilayers prepared by rf sputtering is studied in situ, combining resistivity measurements and RHEED observations. The structural change from semi-continuous film with random orientation to continuous film with preferred orientation is detected during growth. Alternate growth of the (110)-oriented Fe layer and the (200)-oriented FeN layer are observed.
Technical illustrations (TI) are always drawn in any assembly manual. This means that a TI is more informative than instruction in assembly tasks. Without TI, we have to read assembly instructions, it is difficult to ...
Technical illustrations (TI) are one of the main methods to show a way to assemble/disassemble a mechanical assembly. The information including not only the shape of a constituent and an order of operations necessary ...
This research aims to understand an assembly instruction manual by fusing the result obtained from understanding technical illustrations (TIU) and that obtained from understanding instructions (IU). In the first versi...
This paper is concerned with the design of a discrete time Model Reference Adaptive Control system (WACS) for motion control under unknown nonlinear friction. Static and Coulomb friction forces are represented by a de...
详细信息
This paper is concerned with the design of a discrete time Model Reference Adaptive Control system (WACS) for motion control under unknown nonlinear friction. Static and Coulomb friction forces are represented by a deadzone element for the input, which is active at low velocities. and disturbance. which may take different values depending on the motion direction. respectively. Then, the WAes for the nonlinear friction is a cascade combination of a nonlinear block which contains the deadzone and the disturbance term and a linear dynamic block. Experimental results from a rotary servo system demonstrate the effectiveness of the proposed WAeS
Using intracellular recording techniques, we recorded the responses of tectal neurons of the frog to moving visual configurations. Most of the responses sampled in this experiment originated from class 3 retinal gangl...
详细信息
Using intracellular recording techniques, we recorded the responses of tectal neurons of the frog to moving visual configurations. Most of the responses sampled in this experiment originated from class 3 retinal ganglion cells. We classified EPSPs according to their shapes into two quantitative criterions, rise time and peak amplitude. Rise time histograms for observed EPSPs had a single peak. This implies the localization of activated synapses, which is consistent with the morphological findings in frog's optic tectum. Amplitude histograms had several peaks which are regularly spaced by 0.3 to 0.6 mV. Through such examination, we successfully identified unitary EPSPs evoked by class 3 retinal fibers. We also observed unitary IPSPs in the same manner. These results were mainly obtained from responses elicited by manual movement of black cardboard. In the experiment where a computer controlled stimulus (a moving light slit) was used, the relationship between the position of the stimulus and rise time of EPSPs was examined.
This research aims to understand an assembly instruction manual by fusing the result obtained from understanding technical illustrations (TIU) and that obtained from understanding instructions (IU). In the first versi...
详细信息
This research aims to understand an assembly instruction manual by fusing the result obtained from understanding technical illustrations (TIU) and that obtained from understanding instructions (IU). In the first version of the system, we assume a TIU and an IU are carried out independently.< >
This paper proposes a coordinate dynamic control method for the transfer of a common heavy object by several wheeled mobile robots. The coupler, which comprises an active prismatic link and a passive rotary joint, is ...
详细信息
This paper proposes a coordinate dynamic control method for the transfer of a common heavy object by several wheeled mobile robots. The coupler, which comprises an active prismatic link and a passive rotary joint, is installed on each robot so that even an ordinary nonholomonic mobile robot with inferior mobility can correctly manipulate the object. A hierarchical coordinative control system composed of a leader and other staff robots is designed to synchronously control the motions of the robots under severe dynamic interactions. The leader robot successively defines the desired motion of the object along its reference trajectory and broadcasts the information to the staff robots. Each staff robot controls the motions of its own body and the onboard prismatic link so as to achieve the desired object behavior without sideways slippages. When the prismatic link approaches the limit for its movement, the staff robot requests the leader to temporarily modify the desired behavior of the object. The control algorithm is formulated on the basis of the kinematics and the dynamics of the wheeled mobile robot. Simulation results illustrate the validity of the method.
暂无评论