A generalized framework for interactive dynamic simulation for multirigid bodies

This paper presents a generalized framework for dynamic simulation realized in a prototype simulator called the Interactive Generalized Motion Simulator (I-GMS), which can simulate motions of multirigid-body systems with contact interaction in virtual environments. I-GMS is designed to meet two important goals: generality and interactivity. By generality, we mean a dynamic simulator which can easily support various systems of rigid bodies, ranging from a single free-flying rigid object to complex linkages such as those needed for robotic systems or human body simulation. To provide this generality, we have developed I-GMS in an object-oriented framework. The user interactivity is supported through a haptic interface for articulated bodies, introducing interactive dynamic simulation schemes. This user-interaction is achieved by performing push and pull operations via the PHANToM haptic device, which runs as an integrated part of I-GMS. Also, a hybrid scheme was used for simulating internal contacts (between bodies in the multirigid-body system) in the presence of friction, which could avoid the nonexistent solution problem often faced when solving contact problems with Coulomb friction. In our hybrid scheme, two impulse-based methods are exploited so that different methods are applied adaptively, depending on whether the current contact situation is characterized as "bouncing" or "steady." We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories of a 6-degree of freedom (dof) articulated structure.     

On the elastic plastic initial-boundary value problem and its numerical integration

An interative approach is proposed for the numerical analysis of elastic–plastic continua. This approach gives after convergence an implicit scheme of integration of the evolution problem, and is concerned with elastic-perfectly plastic materials and with hardening standard materials. Under a generalized assumption of positive hardening, the proof of convergence of the iterative solutions is given. Some numerical examples by the finite element method are also discussed.     

Global controllability of linear autonomous systems: A geometric consideration

The global controllability in finite time of a linear autonomous system with restrained controls is investigated. Necessary and sufficient conditions are obtained by an approach based on the consideration of geometric properties of the system.     

Physicochemical characterization of diclofenac sodium-loaded poloxamer gel as a rectal delivery system with fast absorption

Rectal poloxamer gel systems composed of poloxamers and bioadhesive polymers were easy to administer to the anus and were mucoadhesive to the rectal tissues without leakage after the dose. However, a poloxamer gel containing diclofenac sodium could not be developed using bioadhesive polymers, since the drug was precipitated in this preparation. To develop a poloxamer gel using sodium chloride instead of bioadhesive polymers, the physicochemical properties such as gelation temperature, gel strength, and bioadhesive force of various formulations composed of diclofenac sodium, poloxamers, and sodium chloride were investigated. Furthermore, the pharmacokinetic study of diclofenac sodium delivered by the poloxamer gel was performed. Diclofenac sodium significantly increased the gelation temperature and weakened the gel strength and bioadhesive force, while sodium chloride did the opposite. The poloxamer gels with less than 1.0% sodium chloride, in which the drug was not precipitated, were inserted into the rectum without difficulty and leakage, and were retained in the rectum of rats for at least 6 hr. Furthermore, poloxamer gel gave significantly higher initial plasma concentrations and faster T_max of diclofenac sodium than did solid suppository, indicating that drug from poloxamer gel could be absorbed faster than that from the solid one in rats. Our results suggested that a rectal poloxamer gel system with sodium chloride and poloxamers was a more physically stable, convenient, and effective rectal dosage form for diclofenac sodium.     

Distributed Multipole Model for Design of Permanent-Magnet-Based Actuators

This paper presents a general method for deriving a closed-form solution for precise calculation of the magnetic field around a permanent magnet (PM) or an electromagnet (EM). The method, referred here as distributed multipole (DMP) modeling, inherits many advantages of the dipole model originally conceptualized in the context of physics, but provides an effective means to account for the shape and magnetization of the physical magnet. Three examples are given to illustrate the procedure of developing a DMP model, which derives an appropriate set of distributed dipoles from a limited set of known field points, for a general cylindrical PM, a customized PM, and a multilayer coil. The DMP modeling method has been validated by comparing simulated fields and calculated forces against data obtained experimentally and numerically; the comparisons show excellent agreement. Finally, we illustrate how the closed-form DMP models can offer an inexpensive means to visualize the effect of the EM fields on the leakage and unexpected flux paths, which have significant influences on the magnetic torque of a spherical motor.     

Thin film growth of epitaxial, polycrystalline and amorphous SrRuO3

The SrRuO₃ thin films were grown on amorphous fused silica and (100) single crystal LaAlO₃ substrates by pulsed laser deposition method. On fused silica substrates, polycrystalline SrRuO₃ thin film was obtained and below the crystallization temperature, SrRuO₃ thin films show an amorphous phase. For the case of epitaxial growth on (100) single crystal LaAlO₃ substrate, the crystallization temperature of SrRuO₃ thin film was increased by ∼ 100 °C indicating that additional energy is necessary in order to obtain the epitaxial thin film. By using the eclipse method and the control of substrate temperature, the variations of surface morphologies and grain size were observed by atomic force microscope. Below the crystallization temperature, amorphous SrRuO₃ thin film shows hopping transport property of an insulator.     

A hybrid PET‐MRI: An integrated molecular‐genetic imaging system with HRRT‐PET and 7.0‐T MRI

A PET‐MRI fusion system is developed for molecular‐genetic imaging. The purpose of the system is to obtain images of the in‐vivo human brain using two high‐end imaging devices, an advanced PET and an ultrahigh‐field MRI. These are the HRRT‐PET, a high‐resolution research tomograph dedicated to brain imaging on the molecular level, and the 7.0‐T MRI, an ultrahigh field version used for morphological imaging. HRRT‐PET delivers high‐resolution molecular imaging with a resolution down to 2.5 mm FWHM, which is currently the highest spatial resolution available for the observation of the human brain's molecular activities, including enzymes and receptors, which are manipulated genetically, such as reporter genes and probes. The 7.0‐T MRI began to reveal submillimeter resolution images of the cortical as well as deep brain areas, down to 250 μm, which allows us to visualize the fine details of the cortical and brainstem areas, including the line of Gennari in the visual cortex and the corticospinal tracts in the pontine area. The current PET‐MRI fusion imaging system produces the highest quality images of molecular and genetic activities of the human brain in vivo. It is starting to provide many answers to the key questions about the neurological diseases. Some of these start providing answers to many cognitive neuroscience problems with clear molecular and genetic bases. There is great potential in the PET‐MRI for early diagnosis of cancers as well as other neurological diseases, which we were previously unable to diagnose, such as microscopic molecular changes that occur in Parkinson's and Alzheimer's diseases. © 2007 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 17, 252–265, 2007     

A self-alignment crowned pulley design for high speed paper media transport systems

Misalignment of mechanical rolling elements such as belt and pulley causes catastrophic malfunctions of high speed paper feeding systems like automated teller machines (ATMs), printers, and copy machines. A combination of a crown pulley and a belt can be an effective self-alignment mechanism for the systems. In this paper, an equation of motion of the belt and pulley system is driven, verification tests are carried out, and a design improvement strategy is suggested for high speed paper media transport systems.     

Input impedance matching of acoustic transducers operating at off-resonant frequencies

The input impedance matching technique of acoustic transducers at off-resonant frequencies is reported. It uses an inherent impedance property of transducers and thus does not need an external electric matching circuit or extra acoustic matching section. The input electrical equivalent circuit includes a radiation component and a dielectric capacitor. The radiation component consists of a radiation resistance and a radiation reactance. The total reactance is the sum of the radiation reactance and the dielectric capacitive reactance. This reactance becomes zero at two frequencies where the impedance is real. The transducer size can be properly chosen so that the impedance at one of the zero-crossing frequencies is close to 50 Ω, the output impedance of signal generators. At this off-resonant operating frequency, the reflection coefficient of the transducer is minimized without using any matching circuit. Other than the size, the impedance can also be fine tuned by adjusting the thickness of material that bonds the transducer plate to the substrates. The acoustic impedance of the substrate and that of the bonding material can also be used as design elements in the transducer structure to achieve better transducer matching. Lead titanate piezoelectric plates were bonded on Lucite, liquid crystal polymer (LCP), and bismuth (Bi) substrates to produce various transducer structures. Their input impedance was simulated using a transducer model and compared with measured values to illustrate the matching principle.     

Efficient Minimum Distance Computation for Solids of Revolution

We present a highly efficient algorithm for computing the minimum distance between two solids of revolution, each of which is defined by a planar cross-section region and a rotation axis. The boundary profile curve for the cross-section is first approximated by a bounding volume hierarchy (BVH) of fat arcs. By rotating the fat arcs around the axis, we generate the BVH of fat tori that bounds the surface of revolution. The minimum distance between two solids of revolution is then computed very efficiently using the distance between fat tori, which can be boiled down to the minimum distance computation for circles in the three-dimensional space. Our circle-based approach to the solids of revolution has distinctive features of geometric simplification. The main advantage is in the effectiveness of our approach in handling the complex cases where the minimum distance is obtained in non-convex regions of the solids under consideration. Though we are dealing with a geometric problem for solids, the algorithm actually works in a computational style similar to that of handling planar curves. Compared with conventional BVH-based methods, our algorithm demonstrates outperformance in computing speed, often 10–100 times faster. Moreover, the minimum distance can be computed very efficiently for the solids of revolution under deformation, where the dynamic reconstruction of fat arcs dominates the overall computation time and takes a few milliseconds.