Closed-loop control of hydraulic telescopic handler

Automatization is supposed to improve working conditions and safety in the construction industry, as it already did in manufacturing industries. This paper presents the development of a robotic control system for a commercially available hydraulic telescopic handler. The target application for the telescopic handler is semi-automated assembly of facade panels. The base handler was upgraded with two additional hydraulic axes, position sensors and closed-loop control system, while the original handler safety assurance mechanisms were preserved. The control approach is based on a PI controller with velocity feedforward and valve overlap compensation. The direct and inverse kinematic models of handler mechanism were developed to enable control of end-effector motion along a straight line in the Cartesian coordinate system. The motion performances were evaluated following the ISO 9283 standard with payload of 2000 kg. Results show the repeatability of positioning bellow 7.0 mm and the straight line tracking error smaller than 63 mm.     

Controllable Broadband Absorption in the Mixed Phase of Metamagnets

Materials with broad absorption bands are highly desirable for electromagnetic filtering and processing applications, especially if the absorption can be externally controlled. Here, a new class of broadband‐absorption materials is introduced. Namely, layered metamagnets exhibit an electromagnetic excitation continuum in the magnetic‐field‐induced mixed ferro‐ and anti­ferromagnetic phase. Employing a series of complementary experimental techniques involving neutron scattering, muon spin relaxation, specific heat, ac and dc magnetization measurements, and electron magnetic resonance, a detailed magnetic phase diagram of Cu₃Bi(SeO₃)₂O₂Br is determined and it is found that the excitations in the mixed phase extend over at least ten decades of frequency. The results, which reveal a new dynamical aspect of the mixed phase in metamagnets, open up a novel approach to controllable microwave filtering.     

Part III: the influence of serial repitching of Saccharomyces pastorianus on the production dynamics of some important aroma compounds during the fermentation of barley and gluten‐free buckwheat and quinoa wort

The present paper is the last report of a comprehensive study regarding the influence of the serial repitching of Saccharomyces pastorianus TUM 34/70 on the composition of a barley, buckwheat or quinoa fermentation medium. In particular, it focuses on the production dynamics of important volatile compounds typically associated with the aroma of beer. Samples were taken every 24 h after 11 serial repitchings of a single starter culture, analysed for the particular aroma compound content by distillation followed by gas chromatography with flame ionization detection. The term ‘serial repitching factor’ is used for the first time to support the visual evaluation of the influence of serial repitching. Results showed that the levels of methanol in the quinoa wort fermentation were only slightly higher than in barley and in practical terms independent of successive fermentation. The behaviour of acetaldehyde in quinoa was similar to that in barley. However, there was a final 2‐fold lower production of some important aroma compounds compared with barley and buckwheat and for this reason quinoa cannot be recommended as a gluten‐free substitute to produce a bottom‐fermented beer. Regarding the buckwheat wort fermentation, a 2‐ to 3‐times lower final acetaldehyde content than in barley is desirable, whereas a relatively high methanol content is not desirable. Barley and buckwheat showed comparable sum concentrations and similar overall profiles of some important aroma compounds. From this perspective, buckwheat appears to be a promising substitute for barley as a brewing raw material. The overall conclusions of our comprehensive study (Parts I–III) are that buckwheat shows adequate brewing properties to substitute for barley in the commercial preparation of a bottom‐fermented gluten‐free beer‐like beverage, and yeast can be repitched at least 11 times. In contrast, quinoa in practical terms shows no substitutional potential for barley in beer; however, it has many nutritious advantages, thus the commercial preparation of a unique, bottom‐fermented gluten‐free ‘non‐beer‐like’ beverage – where the yeast could be repitched six times at most – appears feasible. Copyright © 2015 The Institute of Brewing & Distilling     

Kinetic modeling of the peroxide cross-linking of polymers: From a theoretical model framework to its application for a complex polymer system

Peroxides react with polymers in a variety of ways. The fundamental comprehension and prediction of pertinent kinetics of reactions is consequently indispensable. Based on the mechanisms of reactions of cross-linking process, a new theoretical kinetic model framework was developed. The kinetic model was then applied to the reactions of cross-linking process of various peroxides and a chosen complex polymer compound, namely partially hydrogenated poly(acrylonitrile-co-1,3-butadiene). Whereas the initial macromolecular backbone structure was determined utilizing attached proton test carbon nuclear magnetic resonance, the evolution of overall concentration of cross-links was monitored through viscoelastic characteristics of the system. The model demonstrated good agreement with experimentally measured data and, moreover; the evolution of concentrations of various crucial species inherent to the cross-linking process were predicted. The most significant advantage of the developed kinetic model is that it may be readily applied to an assortment of polymer/peroxide systems.     

The effect of nano-structured alumina coating on the bond strength of resin-modified glass ionomer cements to zirconia ceramics

The purpose of this study was to evaluate the effect of Y-TZP ceramic surface functionalization with a nano-structured alumina coating on bond strength of the resin modified glass ionomer dental cement. A total of 160 disc-shaped specimens were produced and randomly divided into two groups of 80. Half of the discs in each group received an alumina coating which was fabricated by exploiting the hydrolysis of aluminum nitride (AlN) powder. The shear bond strengths of the resin-modified glass ionomer cement FUJI+ (GC Japan) and the composite resin luting agent RelyX Unicem (3M ESPE, USA) were then studied for the coated and uncoated surfaces The SEM analyses revealed that the application of an alumina coating to the Y-TZP ceramics created a highly retentive surface for bonding. The bond strengths for the coated groups in both cements were significantly higher than the uncoated groups.     

Polypropylene/silica micro‐ and nanocomposites modified with poly(styrene‐b‐ethylene‐co‐butylene‐b‐styrene)

The effects of different silica loadings and elastomeric content on interfacial properties, morphology and mechanical properties of polypropylene/silica 96/4 composites modified with 5, 10, 15, and 20 vol % of poly(styrene‐b‐ethylene‐co‐butylene‐b‐styrene) SEBS added to total composite volume were investigated. Four silica fillers differing in size (nano‐ vs. micro‐) and in surface properties (untreated vs. treated) were chosen as fillers. Elastomer SEBS was added as impact modifier and compatibilizer at the same time. The morphology of ternary polymer composites revealed by light and scanning electron microscopies was compared with morphology predicted models based on interfacial properties. The results indicated that general morphology of composite systems was determined primarily by interfacial properties, whereas the spherulitic morphology of polypropylene matrix was a result of two competitive effects: nucleation effect of filler and solidification effect of elastomer. Tensile and impact strength properties were mainly influenced by combined competetive effects of stiff filler and tough SEBS elastomer. Spherulitic morphology of polypropylene matrix might affect some mechanical properties additionally. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015 , 132, 41486.     

Interoperability requirements for automated manufacturing systems in construction

Multi-disciplinary software interoperability in the Architecture, Engineering, Construction and Operations industry is becoming a new and widely adopted business culture. Technical advances in interoperability architectures, frameworks, methods and standards during the last decade resulted in higher maturity of product and process models. Mature models, in effect, enable data exchange by an increasing number of software applications in the industry. This establishes trust in data exchange and results in the lower cost impact of inefficient interoperability. The negative cost impact increases with advancing life-cycle phase, from planning and design phase to construction phase and to operation and maintenance phase. Interoperability in the planning and design phase is most mature and well published, while interoperability in the construction phase and for automated manufacturing is less researched. This paper reviews state-of-the art automated manufacturing systems in construction and researches interoperability requirements for automated construction in context of the entire building lifecycle. Our research is based on experimental free-form clay building, designed with embedded simple HVAC components, and manufactured with additive layer technology. Conclusions provide valuable results for interoperability research and practice in construction projects with automated manufacturing systems in place.     

Computing median and antimedian sets in median graphs

The median (antimedian) set of a profile π=(u ₁,…,u _k ) of vertices of a graph G is the set of vertices x that minimize (maximize) the remoteness ∑ _i d(x,u _i ). Two algorithms for median graphs G of complexity O(n idim(G)) are designed, where n is the order and idim(G) the isometric dimension of G. The first algorithm computes median sets of profiles and will be in practice often faster than the other algorithm which in addition computes antimedian sets and remoteness functions and works in all partial cubes.     

Automatic recognition of gait-related health problems in the elderly using machine learning

This paper proposes a system for the early automatic recognition of health problems that manifest themselves in distinctive form of gait. Purpose of the system is to prolong the autonomous living of the elderly at home. When the system identifies a health problem, it automatically notifies a physician and provides an explanation of the automatic diagnosis. The gait of the elderly user is captured using a motion-capture system, which consists of body-worn tags and wall-mounted sensors. The positions of the tags are acquired by the sensors and the resulting time series of position coordinates are analyzed with machine-learning algorithms in order to recognize a specific health problem. Novel semantic features based on medical knowledge for training a machine-learning classifier are proposed in this paper. The classifier classifies the user’s gait into: 1) normal, 2) with hemiplegia, 3) with Parkinson’s disease, 4) with pain in the back and 5) with pain in the leg. The studies of 1) the feasibility of automatic recognition and 2) the impact of tag placement and noise level on the accuracy of the recognition of health problems are presented. The experimental results of the first study (12 tags, no noise) showed that the k-nearest neighbors and neural network algorithms achieved classification accuracies of 100%. The experimental results of the second study showed that classification accuracy of over 99% is achievable using several machine-learning algorithms and 8 or more tags with up to 15 mm standard deviation of noise. The results show that the proposed approach achieves high classification accuracy and can be used as a guide for further studies in the increasingly important area of Ambient Assisted Living. Since the system uses semantic features and an artificial-intelligence approach to interpret the health state, provides a natural explanation of the hypothesis and is embedded in the domestic environment of the elderly person; it is an example of the semantic ambient media for Ambient Assisted Living.