Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.     

Design criterion for fatigue strengthening of riveted beams in a 120-year-old railway metallic bridge using pre-stressed CFRP plates

This study presents a design criterion developed for fatigue strengthening of a 120-year-old metallic railway bridge in Switzerland and presents a pre-stressed un-bonded reinforcement (PUR) system developed to apply the strengthening. The PUR system uses carbon fiber reinforced polymer (CFRP) plates; however, unlike conventional pre-stressed CFRP reinforcement methods, preparation of the existing metallic bridge surface is not required. This decreases the time required for on-site strengthening procedures. The principle of the constant life diagram (CLD) and two fatigue failure criteria (Johnson and Goodman) are described. Analytical formulations are developed based on the CLD method to determine the minimum CFRP pre-stress level required to prevent fatigue crack initiation. The PUR system uses an applied pre-stress force to reduce the mean stress level (and stress ratio) to shift an existing fatigue-susceptible metallic detail from the ‘at risk’ finite life regime to the ‘safe’ infinite life regime. The applied CLD method is particularly valuable when the stress history of the detail is not known and it is difficult to assess the remaining fatigue life. Moreover, it is shown that the currently adopted approach in many structural codes which emphasizes stress range as the dominant parameter influencing fatigue life are non-conservative for tension–tension stress patterns (i.e., stress ratios of 0 < R < 1). Analyses show that the modified Johnson formula accurately reflects the combined effect of stress range, mean stress level, and material properties, and offers a relatively easy design procedure. Details of a retrofit field application on members of a riveted wrought iron railway bridge are given. A wireless sensor network (WSN) system is used for long-term monitoring of the on-site CFRP stress levels and temperature of the retrofitted details. WSN measurements indicate that increases in ambient temperature result in increased CFRP pre-stress levels.     

Understanding community receptivity to water re-use: Ku-ring-gai Council case study.

This social research project investigated community receptivity to using rainwater and greywater as alternative domestic water sources. It was focused in the Ku-ring-gai local government area in northern Sydney, and involved a household questionnaire followed by community leader interviews and resident focus groups. Trends, such as a prolonged drought and increasing population, compound the current crisis and concern facing Sydney's available water supply. Substitution of domestic potable water has been promoted as part of the solution. The research results revealed that community receptivity was highest for external uses, such as watering gardens and flushing toilets, and progressively decreased with increasing personal contact. Receptivity to greywater reuse fell more rapidly with the community believing there was a higher health risk associated with its use. Gender and cultural background were revealed as significant variables and give insight into the design of strategies to target these demographic groups. This evidence provides a reliable stocktake of current receptivity revealing that the community has good awareness and positive association with water reuse for many household activities. This now needs to be harnessed through programs targeted at developing skills, resources and motivation for new water reuse practices and technologies across diverse social groupings.     

Stormwater reuse: designing biofiltration systems for reliable treatment.

Stormwater reuse is increasing in popularity as a technique for overcoming water shortages in urban Australia. However, technology for the reliable treatment of stormwater for reuse is still not fully developed. This paper presents the first steps in refining biofilters for stormwater reuse. Six different filter media were selected, to target specific stormwater pollutants, as well as support plant growth. They were tested in the laboratory, where the filters were dosed three times per week with semi-synthetic stormwater for five weeks. Pollutant removal performance was monitored, and revealed that all soil-based filters performed similarly (while sand filters behaved somewhat differently). All filters removed more than 80% of solids and greater than 90% of lead, copper, and zinc. Three filter types were able to remove some phosphorus (particularly in the top 30 cm of the media). Apart from sand, all filter media were net producers of nitrogen, leading to an important conclusion that non-vegetated, soil-based filters are not suitable for targeting nutrients. However, since heavy metals are the primary pollutant of concern with respect to stormwater reuse for irrigation (the most popular end-use), it was concluded that biofilters may be promising technologies for treatment of stormwater for reuse.     

XML data update management in XML-enabled database

With the increasing demand for a proper and efficient XML data storage, XML-Enabled Database (XEnDB) has emerged as one of the popular solutions. It claims to combine the pros and limit the cons of the traditional Database Management Systems (DBMS) and Native XML Database (NXD). In this paper, we focus on XML data update management in XEnDB. Our aim is to preserve the conceptual semantic constraints and to avoid inconsistencies in XML data during update operations. In this current era when XML data interchange mostly occurs in a commercial setting, it is highly critical that data exchanged be correct at all times, and hence data integrity in XML data is paramount. To achieve our goal, we firstly classify different constraints in XML documents. Secondly, we transform these constraints into XML Schema with embedded SQL annotations. Thirdly, we propose a generic update methodology that utilizes the proposed schema. We then implement the method in one of the current XEnDB products. Since XEnDB has a Relational Model as the underlying data model, our update method uses the SQL/XML as a standard language. Finally, we also analyze the processing performance.     

Repair evaluation of concrete cracks using surface and through-transmission wave measurements

Surface opening cracks are common defects in large civil structures like bridges. They allow penetration of water or other agents that result in loss of durability earlier than expected. Their repair can be conducted by the injection of epoxy material that seals the crack sides keeping out any aggressive substances in addition to the recovery of strength. In order to evaluate crack parameters before impregnation as well as to determine the final repair effectiveness, a combination of Rayleigh and longitudinal waves is applied. Rayleigh waves demonstrate the filling condition of the material into the shallow layer near the surface while tomography using longitudinal waves through the thickness yields information about the area inside the structure. Wave propagation dispersion features are exploited by the proposed tomography at different frequencies, demonstrating that higher frequencies lead to more accurate characterization.     

Three-dimensional atom probe analysis of solute distribution in thermomechanically processed TRIP steels

Complex multiphase microstructures were obtained in transformation induced plasticity C–Mn–Si–(Nb–Al–Mo) steels by simulated controlled thermomechanical processing. These microstructures were characterized using transmission electron microscopy, X-ray diffraction and three-dimensional atom probe tomography (APT), which was used to determine the partitioning of elements between different phases and microconstituents. The measured carbon concentration (∼0.25 at%) in the ferrite of carbide-free bainite was higher than expected from para-equilibrium between the austenite and ferrite, while the concentrations of substitutional elements were the same as in the parent austenite suggesting that incomplete bainite transformation occurred. In contrast, the distribution of substitutional elements between the ferrite lath and austenite in carbide-containing bainite indicated a complete bainite reaction. The average carbon content in the retained austenite (3.2 ± 1.6 at%) was somewhat higher than the T₀ limit. On the basis of the APT measured composition, the calculated M_s temperatures for retained austenite were above room temperature, indicating its low chemical stability.     

An adaptive neural control scheme for articulatory synthesis of CV sequences

Reproducing the smooth vocal tract trajectories is critical for high quality articulatory speech synthesis. This paper presents an adaptive neural control scheme for such a task using fuzzy logic and neural networks. The control scheme estimates motor commands from trajectories of flesh-points on selected articulators. These motor commands are then used to reproduce the trajectories of the underlying articulators in a 2nd order dynamical system. Initial experiments show that the control scheme is able to manipulate the mass-spring based elastic tract walls in a 2-dimensional articulatory synthesizer and to realize efficient speech motor control. The proposed controller achieves high accuracy during on-line tracking of the lips, the tongue, and the jaw in the simulation of consonant–vowel sequences. It also offers salient features such as generality and adaptability for future developments of control models in articulatory synthesis.     

Physical and mechanical properties of sandstone containing a single fissure after exposure to high temperatures

In order to investigate the physical and mechanical properties of sandstone containing fissures after exposure to high temperatures,fissures with different angles α were prefabricated in the plate sandstone samples,and the processed samples were then heated at 5 different temperatures.Indoor uniaxial compression was conducted to analyze the change rules of physical properties of sandstone after exposure to high temperature,and the deformation,strength and failure characteristics of sandstone containing fissures.The results show that,with increasing temperature,the volume of sandstone increases gradually while the quality and density decrease gradually,and the color of sandstone remains basically unchanged while the brightness increases markedly when the temperature is higher than 585 ℃;the peak strength of sandstone containing fissures first decreases then increases when the temperature is between 25℃and 400℃.The peak strain of sandstone containing fissures increases gradually while the average modulus decreases gradually with increasing temperature,and the mechanical properties of sandstone show obvious deterioration after 400 ℃.The peak strain of sandstone containing fissures increases gradually while the average modulus decreases gradually with increasing temperature;with increasing angle αof the fissure,the evolution characteristics of the macro-mechanical parameters of sandstone are closely related to the their own mechanical properties.When the temperature is 800 ℃,the correlation between the peak strength and average modulus of sandstone and the angle α of the fissure is obviously weakened.The failure modes of sandstone containing fissures after high temperature exposure are of three different kinds including:tensile crack failure,tensile and shear cracks mixed failure,and shear crack failure.Tensile and shear crack mixed failure occur mainly at low temperatures and small angles;tensile crack failure occurs at high temperatures and large angles.     

Behavioural responses to risk on remote outcomes

Computer mediation of communication allows interaction with events remote in space or time. However, the uptake and use of videotechnology requires an understanding of its effects upon willingness to take risks. To understand how responses to remote events are influenced by computer mediation, the present study compared responses to collocated outcomes with those conveyed over a videolink or as pre-recordings. Willingness to risk on an outcome was quantified using wagering behaviour during a simulated game of roulette: measuring preferred outcome format, levels of risk sought, and times required to make decisions. Participants tended to be more confident of winning and preferred the collocated version of roulette. Participants took greater risks with pre-recorded video outcomes and tended to spend more time locating bets. For videolinked outcomes, participants were more cautious, hedging their bets, and taking more time deliberating the odds. Although the amounts wagered did not change, a potential predictability in pre-recordings appears to encourage risk taking, while the reduced presence inherent in real-time videolinks engenders caution.