Vision-assisted control for manipulation using virtual fixtures

We present the design and implementation of a vision-based system for cooperative manipulation at millimeter to micrometer scales. The system is based on an admittance control algorithm that implements a broad class of guidance modes called virtual fixtures. A virtual fixture, like a real fixture, limits the motion of a tool to a prescribed class or range of motions. We describe how both hard (unyielding) and soft (yielding) virtual fixtures can be implemented in this control framework. We then detail the construction of virtual fixtures for point positioning and curve following as well as extensions of these to tubes, cones, and sequences thereof. We also describe an implemented system using the JHU Steady Hand Robot. The system uses computer vision as a sensor for providing a reference trajectory, and the virtual fixture control algorithm then provides haptic feedback to implemented direct, shared manipulation. We provide extensive experimental results detailing both system performance and the effects of virtual fixtures on human speed and accuracy.     

Effects of regular exercise in management of chronic idiopathic constipation

Regular physical exercise has long been considered in the management of chronic constipation. This recommendation is probably based on the assumption that exercise shortens the transit time through the gastrointestinal tract. However, on the basis of previous studies, the effect of exercise on the transit remains controversial at best. Therefore, it was the goal of the present study to assess the influence of regular physical exercise, what average people may consider routine exercise, in the management of chronic idiopathic constipation. The study population consisted of eight patients, seven women and a man, with chronic idiopathic constipation. They were studied for six weeks, including two weeks of rest and four weeks of regular exercise. Patients had a submaximal exercise test, before and after the exercise period, to determine their rate of perceived exertion (RPE), the target heart rate, and the intensity of exercise they can perform. In addition to their routine daily activities, they exercised 1 hr a day, five days a week according to their performance at the initial exercise tolerance test. They kept a daily activity log and maintained their normal dietary intake during this period. The patients overall physical activity was assessed by a pedometer. They also maintained a diary of the number and consistency of their bowel movements and the amount of straining required for defecation. The impact of exercise on constipation was assessed by utilizing an index that took into consideration all three parameters of bowel function. Results of the study revealed that patients covered 1.8+/-0.33 and 3.24+/-0.28 miles/day in the rest period and during the exercise period, respectively (P = 0.007). The intensity of exercise may have improved the level of training as reflected on the mean maximum time before and after exercise period (P = 0.039). This level of exercise did not improve their constipation indices, which were 9.11+/-0.65 and 8.57+/-1.08 in the rest and exercise periods, respectively (P = 0.68). In conclusion, physical activity, to the extent that people consider "regular exercise," does not play a role in the management of chronic idiopathic constipation.     

Edge density profile variation during a magnetic axis shift in the CHS heliotron/torsatron

Edge density profiles were measured during natural and forced magnetic axis shifts in the lowaspect-ratio heliotron/torsatron CHS, using an 8 keV fast neutral lithium beam probe. The Shafranov shift of the magnetic axis (and hence the dislocation of the LCFS) that was negligible for a low density ECH discharge became substantial (4.5 cm) for a high density NBI discharge (n _e2.5× 10¹³cm^–3) and the corresponding radius of the LCFS increased about 1.2 cm in major radius compared to the vacuum case. For NBI discharges with different settings of the vacuum magnetic axisR _ax (fixed during the discharge), the measured edge density profiles indicated reasonable agreement between the theoretically and experimentally obtained LCFS radii for 90 cm <R _ax<101.6cm, while forR _ax<90 cm the measured radius was 10% larger than expected. When a change ofR _ax from 94.7 cm to 89.9 cm during a discharge was imposed externally, a well behaved plasma boundary moved inward smoothly by about 7.5 cm, while the steepness of the edge density profile changed for different values ofR _ax. The steepest profile was attained forR _ax=92.1 cm when the highest energy content and average density were achieved.     

An experimental investigation of aqueous-phase synthesis of magnetite nanoparticles via mechanochemical reduction of goethite

A newly developed mechanochemical process for the simple aqueous phase synthesis of crystalline magnetite nanoparticles has been experimentally investigated. In this process, a suspension of ferric hydroxide precursor is milled at room temperature using a horizontal tumbling ball mill consisting of a stainless steel pot and balls. Ferric hydroxide is transformed to magnetite without the use of a reducing agent. As a model starting material for the investigation, a pH-adjusted suspension of crystalline goethite was used. As the milling time increased, goethite disappeared along with the simultaneous formation of magnetite. A single phase of magnetite was obtained after 16 h of milling. A reaction mechanism for the formation of magnetite has been proposed based on oxidation–reduction reactions, in which the corrosion of iron in the pot and balls plays an important role. Free electrons are generated by the release of ferrous ions from the stainless steel in an anodic reaction, which then reduce goethite to ferrous hydroxide in a cathodic reaction. The solid phase reaction between ferrous hydroxide and goethite produces magnetite. Not only could the mechanochemical effect induced by the collision of balls accelerate the corrosion even under alkaline conditions, it can also promote the formation and crystallization of magnetite.     

Future forecast for life-cycle greenhouse gas emissions of LNG and city gas 13A

The objective of this paper is to analyze the most up-to-date data available on total greenhouse-gas emissions of a LNG fuel supply chain and life-cycle of city gas 13A¹ based on surveys of the LNG projects delivering to Japan, which should provide useful basic-data for conducting life-cycle analyses of other product systems as well as future alternative energy systems, because of highly reliable data qualified in terms of its source and representativeness. In addition, the life-cycle greenhouse-gas emissions of LNG and city-gas 13A in 2010 were also predicted, taking into account not only the improvement of technologies, but also the change of composition of LNG projects. As a result of this analysis, the total amount of greenhouse-gas emissions of the whole city-gas 13A chain at present was calculated to be 61.91 g-CO₂/MJ, and the life-cycle greenhouse-gas emissions of LNG and city-gas 13A in 2010 could be expected to decrease by about 1.1% of the current emissions.     

Degree of Saturation and Liquefaction Resistances of Sand Improved with Sand Compaction Pile

Sand compaction pile (SCP) is a ground improvement technique extensively used to ameliorate liquefaction resistance of loose sand deposits. This paper discusses results of laboratory tests on high-quality undisturbed samples obtained by the in situ freezing method at six sites where foundation soils had been improved with SCP. Inspection of samples revealed that the improved ground was desaturated during the ground improvement. Degree of saturation (Sr) was lower than 77% for the sand piles and 91% for the improved sand layers, while Sr was approximately 100% for improved clayey and silty soils. A good correlation was found between Sr and 5% diameter of the soil; the larger 5% diameter of soils (D5), the lower the degree of saturation. It appeared that the variation of Sr with D5 for soils within a month after the ground improvement work was quite similar in trend to that after more than several years. Degree of saturation of soils after several years was noticeably, but not significantly, higher as compared with that shortly after ground improvement, indicating longevity of air bubbles injected in the improved soil. Undrained cyclic shear tests were also carried out on saturated and unsaturated specimens and effects of desaturation on undrained cyclic shear strength were studied. The test results were summarized in a form of liquefaction resistance with reference to normalized standard penetration test N-value.     

Thermal stability of low-oxygen SiC fibers fired under different conditions

To fabricate the low-oxygen SiC fibers with excellent thermal stability, electron-beam irradiation polycarbosilane fibers were fired for holding time of 3.6, 18 and 36 ks at each temperature of 1273 to 1573 K, and subsequently the high-temperature exposure test was carried out at 1873 K. As-fired fibers and exposed fibers were characterized by thermogravimetry, chemical analysis, Auger electron spectroscopy, resistivity measurement and tensile test. The strength of both as-fired fibers and fibers exposed to 1873 K increased with prolonging the holding time of firing treatment below 1473 K. On the contrary, a long time firing treatment at 1573 K was no longer effective for the strengthening of the low-oxygen SiC fiber.     

Modeling the forces of cutting with scissors

Modeling forces applied to scissors during cutting of biological materials is useful for surgical simulation. Previous approaches to haptic display of scissor cutting are based on recording and replaying measured data. This paper presents an analytical model based on the concepts of contact mechanics and fracture mechanics to calculate forces applied to scissors during cutting of a slab of material. The model considers the process of cutting as a sequence of deformation and fracture phases. During deformation phases, forces applied to the scissors are calculated from a torque-angle response model synthesized from measurement data multiplied by a ratio that depends on the position of the cutting crack edge and the curve of the blades. Using the principle of conservation of energy, the forces of fracture are related to the fracture toughness of the material and the geometry of the blades of the scissors. The forces applied to scissors generally include high-frequency fluctuations. We show that the analytical model accurately predicts the average applied force. The cutting model is computationally efficient, so it can be used for real-time computations such as haptic rendering. Experimental results from cutting samples of paper, plastic, cloth, and chicken skin confirm the model, and the model is rendered in a haptic virtual environment.