The dynamic effects and compensation of load transitions in robotic systems

The problem of a robot handling a payload typically involves pre-load, load, and post-load stages, and payload transitions between these stages. Although considerable work has focused on the control of robots carrying payloads, few consider the problem of load transitions—one of the most important effects on system performance. This article studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed that takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation. © 1994 John Wiley & Sons, Inc.     

Fluid-bed microencapsulation of ascorbic acid

Epidemiological studies suggest the prevalence of asthma is increasing, though some remain sceptical as to the magnitude or indeed the presence of an increase. However, despite improved diagnosis and the availability of the potent drugs now available there remains considerable respiratory morbidity associated with asthma. It is clear from a number of studies that failure to deliver drugs to the lungs when using inhaler devices is a factor contributing to this high level of morbidity. Failure of drug delivery may result from the prescribing of inappropriate devices, failure to use devices appropriately or failure to comply with a treatment regimen. For most of the currently available forms of asthma therapy there are significant advantages to be gained from administering them in aerosol form. The benefits to be derived from administering these drugs as an aerosol include a rapid onset of action for drugs such as beta-agonists and a low incidence of systemic effects from drugs such as beta-agonists and corticosteroids. Over the past 25 years our understanding of the nature of asthma has changed. Though this has been reflected in the emphasis on inhaled corticosteroid therapy in recent guidelines, it has not been reflected in the range of inhaler devices available. Manufacturers continue to place drugs such as corticosteroids in the same devices as short acting beta-agonists even though the requirements for these different drug classes are very different. It is likely that this contributes to suboptimal therapeutic responses with inhaled corticosteroids. However, the variability associated with current delivery systems is relatively small compared with the variability introduced by poor compliance. There is no work currently available to indicate how the use of cheap disposable devises which do not incorporate any form of positive feedback influence compliance with inhaled steroids. Optimising aerosolised drug delivery in childhood involves consideration of the class of drugs, the particular drug within a class but more importantly, the age and abilities of the child. Devices must be selected to suit a particular child's needs and abilities. Devices utilising tidal breathing are generally used such as spacing chambers or, less commonly these days, nebulisers. A screaming or struggling child, or failure to use a closely fitting mask, reduces drug delivery to the lungs enormously. Failure to respond to inhaled therapy in early childhood may be attributable to failure of drug delivery. Drug delivery in early childhood using current devices remains more an art than a science.     

Discrimnation Of Equilibrium Moisture Equations For Soybean Usmg Nonlinearity Measures

The main goal of this work is to find the best way to represent the equilibrium conditions between soybean and air. The experimental study was based on the static method using saturated salt solutions in order to regulate the vapour pressure of the air surrounding the grains. We developed a discrimination study among some ensting equations used for grains. To discriminate these equations we explored some non-linearity measures. The obtained results showed that the Halsey modified equation was the best model in terms of nonsignifiance for bias and non-linearity measures. The distribution for the estimated parameters. using simulation procedures, also showed good normal behavior for the Halsey equation.     

Evaluation of the risk of unfavorable sociodemographic consequences of construction and operation of hydro developments

Translated from Gidrotekhnicheskoe Stroitel'stvo, No. 4, pp. 30–35, April, 1995.     

Air entrainment in fresh concrete with PFA

The results of a study into the influence of PFA on air entrainment in fresh concrete are discussed It is shown that the required dosage of AEA to produce an air content of 5.5 ± 0.5% in a PFA modified concrete mix is two-six times that required in the corresponding neat OPC concrete mix. The dosage of a vinsol based air entraining agent (AEA) required appears to be directly related to the PFA content of the mix. Similar direct relationships were obtained with a range of different PFAs. The dosage of an AEA based on the salt of a fatty acid appears to be sensitive to both PFA and OPC contents. For the type of PFA used, the variability of measured air content or the amount of air retained after continued agitation both indicated that vinsol based AEAs show the highest variability whilst fatty acid based AEAs show low variability. The between batch variability of air content was significantly improved by the addition of PFA regardless of the AEA used.