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京都大学 / 新制・課程博士 / 博士(工学) / 甲第23911号 / 工博第4998号 / 新制||工||1780(附属図書館) / 京都大学大学院工学研究科物質エネルギー化学専攻 / (主査)教授 阿部 竜, 教授 陰山 洋, 教授 藤田 晃司 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

Many biopharmaceuticals, already approved for sale or currently under development, are post-translationally modified proteins, such as recombinant monoclonal antibodies or recombinant hormones. These are generally expressed in continuous (stable) mammalian cell lines, which are capable of long-term, commercial-scale production of recombinant proteins of the highest complexity. Yet, the development of a stable cell line capable of expressing heterologous proteins is very costly and can take up to 9–15 months. Therefore, transient gene expression (TGE) in animal cells has become the method of choice for many researchers who wish to obtain small to moderate quantities (1-500 mg) of novel complex recombinant proteins for further functional and structural characterisation within weeks of cDNA discovery. TGE is more cost-effective than the time-consuming establishment of stable cell clones, but a key factor in ensuring that these transient systems have practical application is the availability of efficient and robust transfection agents/methods. While chemical transfection methods currently dominate transient systems, the underlying fundamentals such as the formation of DNA complexes or their mode of function are not fully understood and the characteristics of the complexes and their subsequent ability to transfect cells are variable. This often renders the development of a successful transfection protocol for a new cell line random and researchers frequently have to resort to a trial-and-error approach, testing different media and/or conditions during DNA complex formation, as well as having to fine-tune the cell culture regime pre-, during, and post-transfection. This thesis aimed to explore novel transfection agents and develop DNA complex structure/property—transfection efficiency relationships for these reagents. Two different chemical approaches to transient transfection were investigated: i) a recently suggested inorganic nanoparticle based transfection system which utilises the anion exchange capacity of nanoparticles of a particular family of anionic clays, layered double hydroxides (LDHs), and ii) a modified polyethyleneimine (PEI)-based system, which aimed to reduce the inherent cytotoxicity of high molecular weight (MW) PEI, which is a very effective transfection agent, by constructing high MW mimics from low MW building blocks that are linked to each other via biodegradable linkers such as azomethine groups. While the LDH nanoparticles failed to give satisfactory transfection results for plasmid DNA, they were able to functionally deliver smaller nucleic acids such as siRNA. A mechanism different to that currently accepted for the transfection of mammalian cells with plasmid DNA using LDH nanoparticles as carriers is proposed. The modified polymeric transfection agents were shown to result in significantly less cell death, while maintaining the ability to transfect mammalian cells with almost similar efficiency to that obtained with high MW polyethyleneimine. Generic DNA complex structure/property—transfection efficiency relationships were developed by systematically studying the influence of particle size and zeta potential on transfection results.

Fused Deposition Modelling (FDM) is one of the most widely used Rapid Prototyping processes that uses the technique of depositing a semi-solid material in layers to build up a part and finds application in a variety of situations, be it making a mould for the rapid production of an industrial tool or the production of models for preoperative planning of complex cranial reconstructive surgery. When it comes to directly producing the end products, the process is still in its infancy, using inferior materials and flat layer deposition, bringing forth shortcomings such as poor surface quality, low strength for curved parts, and undesirably higher number of layers. Some of these shortcomings can be overcome if material deposition is modelled in curved layers as against the traditional flat-layer slicing and deposition. While the stair case effect can be significantly minimized, mechanical properties of the parts will also be enhanced due to continuity in fibres and the elimination of the inherent weakness between laminations. However, this being a fairly new idea, there are no existing facilities for practically implementing and experimentally testing this concept of Curved Layered Fused Deposition Modeling (CLFDM). The current research is to develop both hardware and software systems to build a working FDM system and implement CLFDM. The project involves the construction of an FDM system and then development of mathematical models for curved slicing. The numerical data generated from curved slicing algorithms is integrated with the hardware system for the practical implementation of CLFDM. Efficient curved slicing algorithms are developed and successfully used on the FDM system built for the practical implementation of CLFDM. Several case studies involving geometrical complications of increasing complexities have been successfully modelled and physically produced using CLFDM.

Fused Deposition Modelling (FDM) is one of the most widely used Rapid Prototyping processes that uses the technique of depositing a semi-solid material in layers to build up a part and finds application in a variety of situations, be it making a mould for the rapid production of an industrial tool or the production of models for preoperative planning of complex cranial reconstructive surgery. When it comes to directly producing the end products, the process is still in its infancy, using inferior materials and flat layer deposition, bringing forth shortcomings such as poor surface quality, low strength for curved parts, and undesirably higher number of layers. Some of these shortcomings can be overcome if material deposition is modelled in curved layers as against the traditional flat-layer slicing and deposition. While the stair case effect can be significantly minimized, mechanical properties of the parts will also be enhanced due to continuity in fibres and the elimination of the inherent weakness between laminations. However, this being a fairly new idea, there are no existing facilities for practically implementing and experimentally testing this concept of Curved Layered Fused Deposition Modeling (CLFDM). The current research is to develop both hardware and software systems to build a working FDM system and implement CLFDM. The project involves the construction of an FDM system and then development of mathematical models for curved slicing. The numerical data generated from curved slicing algorithms is integrated with the hardware system for the practical implementation of CLFDM. Efficient curved slicing algorithms are developed and successfully used on the FDM system built for the practical implementation of CLFDM. Several case studies involving geometrical complications of increasing complexities have been successfully modelled and physically produced using CLFDM.

Thesis (M.S.)--University of Texas at El Paso, 2008. / Title from title screen. Vita. CD-ROM. Includes bibliographical references. Also available online.

Thesis (M.Sc.(Chemistry))--University of Pretoria, 2008. / Includes bibliographical references (leaves 85-104).

Since the last three decades, several studies have been conducted related to improvement in bearing capacity of pavements, embankments, and shallow foundations resting on geosynthetic reinforced soil. Most of the work has been carried out on single layer soil e.g., sand or clay layer only. Very few studies are available on a double layer soil system; but no study is available on the local soil of Carbondale, Illinois. The present study investigates the physical and engineering properties of a local soil and commonly available sand and improvement in the bearing capacity of a local soil for a rectangular footing by replacing top of the local soil with sand layer and placing geogrids at different depths. Seven tests on the model footing were performed to establish the load versus settlement curves of unreinforced and reinforced soil supporting a rectangular foundation. The improvement in bearing capacity is compared with the bearing capacity of the local soil and double layer unreinforced soil system. The test results focus on the improvement in bearing capacity of local soil and double layer unreinforced soil system in non-dimensional form i.e., BCR (Bearing Capacity Ratio). The results obtained from the present study show that bearing capacity increases significantly with the increasing number of geogrid layers. The bearing capacity for double layer soil increases, by placing three inch sand layer at the top of local soil, was not significant. The bearing capacity of the local soil increased at an average of 7% with three inches sand layer. The bearing capacity for the double layer soil increases with an average of 16.67% using one geogrid layer at interface of soils (i.e., local soil and sand) with u/B equal to 0.67. The bearing capacity for the double layer soil increases with an average of 33.33% while using one geogrid in middle of sand layer having u/B equal to 0.33. The improvement in bearing capacity for double layer soil maintaining u/B equal to 0.33 and h/B equal to 0.33; for two, three and four number geogrid layer were 44.44%, 61.11%, 72.22%, respectively. The results obtained from this research work may be useful for the specific condition or similar type of soil available anywhere to improve the bearing capacity of soil for foundation and pavement design.

The ability to form multiple component heterostructures of two-dimensional materials promises to provide access to hybrid materials with tunable properties different from those of the bulk materials or two-dimensional constituents. By taking advantage of the unique properties of different constituents, numerous applications are possible for which none of the individual components are viable. The synthesis of multiple component heterostructures, however, is nontrivial, relying on either the cleaving and stacking of bulk materials in a “scotch tape” type technique or finding coincidentally favorable growth conditions which allow layers to be grown epitaxially on each other in any order. In addition, alloying of miscible materials occurs when the modulation wavelength is small. These synthetic challenges have limited the ability of scientists to fully utilize the potential of multiple component heterostructures. An alternative synthetic route to multiple component heterostructures may be found through expansion of the modulated elemental reactant technique which allows access to metastable products, known as ferecrystals, which are otherwise inaccessible. This work focuses on the expansion of the modulated elemental reactants technique for the formation of ferecrystals containing multiple constituents. As a starting point, the synthesis of the first alloy ferecrystals (SnSe)1.16-1.09([NbxMo1-x]Se2) will be discussed. The structural and electrical characterization of these compounds will then be used to determine the intermixing of the first three component ferecrystal heterojunction ([SnSe]1+δ)([{MoxNb1-x}Se2]1+γ)([SnSe]1+δ)({NbyMo1-y}Se2). Then, by synthesizing ([SnSe]1+δ)m([{MoxNb1-x}Se2]1+γ)1([SnSe]1+δ)m({NbxMo1-x}Se2)1 (m = 0 - 4) compounds with increasing thicknesses of SnSe, the interdiffusion of miscible constituents in ferecrystals will be studied. In addition, by comparison of the ([SnSe]1+δ)m ([{MoxNb1-x}Se2]1+γ)1([SnSe]1+δ)m({NbxMo1-x}Se2)1 (m = 0 - 4) compounds to the ([SnSe]1+δ)m(NbSe2)1 (m = 1 - 8) compounds the electronic interactions of the MoSe2 and NbSe2 layers will be determined. Finally, the effects of different alloying strategies and the interdiffusion of miscible constituents will be further examined by the synthesis of ordered ([SnSe]1.15)1([TaxV1-x]Se2)1([SnSe]1.15)1([VyTa1-y]Se2)1 and ([SnSe]1+δ) ([TaxV1-x]Se2) compounds with the effect of isoelectric doping on the charge density wave transition in (SnSe)1.15(VSe2) also being explored. This work contains previously published and unpublished co-authored material.

This thesis addresses the problem of how to control an autonomous mobile robot navigation in indoor environments, in the face of sensor noise, imprecise information, uncertainty and limited response time. The thesis argues that the effective control of autonomous mobile robots can be achieved by organising low level and higher level control activities into a layered architecture. The low level reactive control allows the robot to respond to contingencies quickly. The higher level control allows the robot to make longer term decisions and arranges appropriate sequences for a task execution. The thesis describes the design and implementation of a two layer control architecture, a task template based sequencing layer and a fuzzy behaviour based low level control layer. The sequencing layer works at the pace of the higher level of abstraction, interprets a task plan, mediates and monitors the controlling activities. While the low level performs fast computation in response to dynamic changes in the real world and carries out robust control under uncertainty. The organisation and fusion of fuzzy behaviours are described extensively for the construction of a low level control system. A learning methodology is also developed to systematically learn fuzzy behaviours and the behaviour selection network and therefore solve the difficulties in configuring the low level control layer. A two layer control system has been implemented and used to control a simulated mobile robot performing two tasks in simulated indoor environments. The effectiveness of the layered control and learning methodology is demonstrated through the traces of controlling activities at the two different levels. The results also show a general design methodology that the high level should be used to guide the robot's actions while the low level takes care of detailed control in the face of sensor noise and environment uncertainty in real time.