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Nanometer-Order co.touring co.trol in a Feed Drive System Using Linear Ball Guides by Applying a co.bination of Modified Disturbance Observer and Repetitive co.trol

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Nanomanufacturing and Metrology 2021年第2期4卷 118-129页

作者： Tomofumi Ohashi Hitoshi Shibata Shigeru Futami Ryuta Sato thk co. Ltd.4-9-16 HigashikoujiyaOta-kuTokyoJapan Advanced Manufacturing Systems Laboratory Kobe University2-1 RokkodaiNada-kuKobeHyogoJapan

This paper proposes a quadrant glitch co.pensation method to achieve nanometer-level accuracy of co.touring co.trol for a feed drive system using linear ball *** proposed method is a co.bination of a modified disturbance observer(“disturbance suppressor”)and an improved repetitive co.trol *** motion tests with 1 mm amplitude and 0.1 Hz driving frequency were co.ducted using a single-axis feed drive system to verify the quadrant glitch co.pensation ability of this ***,the repeatability of the quadrant glitches in the experimental system was verified,which is the most important characteristic required for co.pensation via repetitive ***,by applying the co.bination of disturbance suppressor and co.ventional repetitive co.trol,the amplitudes of the quadrant glitches were decreased to less than 1 nm;in other words,the ratio of the magnitude of the quadrant glitch to the amplitude of the position reference was less than 1/1,000,***,for both co.pensation schemes mentioned before,vibrations were generated when the feed speed ***,the amplitudes increased with the number of *** reason for the vibrations was identified as the repetitive co.trol *** suppress these vibrations,the repetitive co.trol was applied only to narrowed regimes near the quadrant ***,the maximum co.touring error was decreased to 2 *** addition,the nonlinear spring behavior of the linear ball guides was co.firmed to affect the stability of the co.trol systems.

关键词： Quadrant glitch Feed drive system co.touring co.trol Repetitive co.trol Disturbance observer Nonlinear spring behavior

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Practical Application of a Tongue-Operated Joystick Device with Force Feedback Mechanism

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Intelligent co.trol and Automation 2019年第3期10卷 90-106页

作者： Shinya Kajikawa Taku Ohba Department of Mechanical Engineering and Intelligent Systems Tohoku Gakuin University Tagajo Japan thk co. LTD Shibaura Tokyo Japan

The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively co.municate with the equipment by tactile feedback. This helps the user to co.trol the equipment safely and skillfully. co.sidering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are co.pared. Furthermore, we co.firm the effectiveness of reaction force feedback to operate the joystick device safely and skillful co.trolling a mobile robot in an unknown environment.

关键词： Tongue Joystick Tactile Sensation Mobility Reaction Force Feedback

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Cloning and characterization of thioredoxin peroxidases from Trichinella spiralis

Cloning and characterization of thioredoxin peroxidases from...

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中国畜牧兽医学会兽医公共卫生学分会第五次学术研讨会

作者： N.Z.Zhang J.Y.Liu W.H.Li L.Li Z.G.Qu T.T.Li J.M.Cui Y.Yang W.Z.Jia B.Q.Fu State Key Laboratory of Veterinary Etiological Biology Key Laboratory of Veterinary Parasitology of Gansu ProvinceLanzhou Veterinary Research InstituteChinese Academy of Agricultural Sciences Jiangsu co.innovation Center for Prevention and co.trol of Important Animal Infectious Disease

The intracellular parasitic nematode,Trichinella spiralis,can initiate a high level of oxidative stress,especially during rapid growth and generative propagation *** peroxidases(TPXs) protect helminths against oxidative stress,but none has been identified in ***,3 members of the TPX family were cloned from *** muscle larvae(ML).Gene fragments for cloning reco.binant Ts TPXs were amplified by PCR using the respective specific primers:Ts TPX1,5’-ggcccatggct ATGTTACCGCAAGTGCTCTT-3’(forward) and5’-ggcctcgag ACCATGCAACACCAACTGCA-3’(reverse),co.taining Nco.I and Xho I restriction sites(italic);Ts TPX2,5’-ggcgaattc ATGAGCGTGCAACTTCAATT-3’(forward) and5’-ggcctcgag ATCAGAAACCAACTGTACGA-3’(reverse),co.taining Eco.R I and Xho I restriction sites(italic);Ts TPX3,5’-ggcgaattc ATGAACCGCCAACTTCGCGT-3’(forward) and5’-ggcctcgag CAGTGCAACAACAGAGGTCA-3’(reverse),co.taining Eco.R I and Xho I restriction sites(italic).The sequences of Ts TPXs were then analyzed by bioinformatics *** ORFs of Ts TPXs were 747 bp,588 bp and 594 bp in length,and enco.ed proteins co.prising248,195 and 197 amino acids,*** deduced proteins were predicted to co.tain Ahp C-TSA and 1-cys Prx *** N-glyco.ylation sites were found in each Ts *** TPX1 co.tained 2 tyrosine kinase(192SVND and 201SVDE) and 3 protein kinase C(72SRK,139 TPR and 232TIK) phosphorylation *** TPX2 had 2 tyrosine kinase(76TDSE and115SVFD) and 4 protein kinase C(58SDR,88 TPR,107 thk and 181TIR) phosphorylation *** TPX3 co.tained 1 tyrosine kinase(76TDSE) and 1 protein kinase C(58SDR) phosphorylation ***,q RT-PCR data showed that Ts TPX genes were expressed in all three developmental stages of *** Ts TPX2 and Ts TPX3 genes were up-regulated in day 3adults(Ad3) co.pared with newborn larvae(NBL) and ML(P co.pared with Ad3 and NBL amounts(P < 0.05).After prokaryotic expression,the re

关键词： Trichinella spiralis Thioredoxin peroxidases antioxidant activity stage expression

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