Crawler robot kinematics modeling by using a two-wheeled approach

The aim of this paper is to analyze the kinematics of a small crawler robot. A mathematical model of kinematics based on a two-wheeled approach is proposed. This model is experimentally verified using vision-based motion measurements of a crawler vehicle equipped with encoders and a remote control system. It is assumed that the vehicle moves along a few curves with different angular speeds of its wheels. Based on the model of motion and the values of these speeds, numerical simulations are investigated. The results obtained from numerical and experimental validation are presented and discussed. The comparison delivered some important conclusions.

     

Numerical assessment of springback for the deep drawing process by level set interpolation using shape manifolds

In this paper, we introduce an original shape representation approach for post-springback characterization based on the automatic generation of parameterized level set functions. The central idea is the concept of the shape manifold representing the design domain in the reduced-order shape-space. Performing Proper Orthogonal Decomposition on the shapes followed by using the Diffuse Approximation allows us to efficiently reduce the problem dimensionality and to interpolate uniquely between admissible input shapes, while also determining the smallest number of parameters needed to characterize the final formed shape. We apply this methodology to the problem of springback assessment for the deep drawing operation of metal sheets.     

Performance optimization of polymer electrolyte membrane fuel cells using the Nelder-Mead algorithm

The direct-search simplex method for function optimization has been adapted to performance optimization of polymer electrolyte membrane fuel cells (PEMFCs). The established method is strongly application oriented and uses only experimentally determined data for optimization. It is not restricted to discrete parameters optimums and does not require the use of third-party software or computational resources. Hence, it is easy to implement in fuel cell testing stations. The optimization consists of finding, for a given fuel cell load, an optimum set of values of the 7 fuel cell operating parameters: the fuel cell temperature, the reactants' stoichiometric ratios, the reactants' inlet relative humidity, and the reactants' outlet pressures, resulting in the highest fuel cell performance. The performance is measured using a scalar function of the operating parameters and the load and can be defined according to needs.Two PEMFC performance functions: the fuel cell voltage and the system-related fuel cell efficiency were optimized using the procedure for practically sized PEMFC stacks of two designs. With respect to the nominal operating conditions defined as optimal for each stack design by its manufacturer, the gains from the optimization procedure were up to over 12% and up to over 7% for the stack voltage and efficiency, respectively. The validation of the procedure involved 5 stack specimens and four laboratories and consistent results were obtained.     

Effect of plasma treatment on the surface properties of polydimethylsiloxane

In this work, the analysis of the plasma modification of polydimethylsiloxane (PDMS) substrates was conducted. The influence of the modification onto the changes occurred within the geometrical structure and chemical composition of the surface was analyzed. Due to the study of the atomic force microscopy, it was possible to determine the relationships between the surface development and applied process parameters, defining the conditions facilitating to obtain isotropic or anisotropic orientations of wrinkles. A precise analysis of the chemical composition of the surface, executed before and after the modification processes, enabled to define the changes in their elementary composition. Moreover, the modification influence onto the changes of the contact angle and the surface free energy were also analyzed. So, based on the research it was stated that the increase of value of the surface free energy is proportional to the sp³ phase contents in the DLC coatings. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015 , 132, 41635.     

The improvement of ecological characteristics of coatings from cured epoxy resins by hot water extraction

Amine curing agents pose serious health hazards and controlling their release is crucially important. Extraction of unbounded amine from cured epoxy polymers can improve the ecological characteristics of such products. Even 1 min exposure of cured epoxy resins to hot water reduces three- to ten-fold the residual amount of amine present in the epoxy polymer. Different temperatures and extraction times were tested, enabling the selection of the most optimal extraction conditions, which correspond to 5 min of heating in 100°C. This additional cost-effective extraction step is very easy to perform and leads to a significant reduction of unbounded curing agent, making cured epoxy resins much more eco-friendly products. The documented positive and linear trends of logarithms of viscosity and the amount of released amine suggest the selection from such curing agents and such epoxy resins that are characterized by lowest possible viscosities, which guarantees that there is only a low amount of unbounded amine that needs to be released from the polymer.     

Nonlinear Absorption of Submicrometer Grain‐Size Cobalt‐Doped Magnesium Aluminate Transparent Ceramics

Transparent cobalt‐doped magnesium aluminate spinel (Co:MgAl₂O₄) ceramics with a submicrometer grain size were prepared by spark plasma sintering. For the first time, the nonlinear absorption of Co:MgAl₂O₄ transparent ceramics was experimentally demonstrated. Both ground state absorption (σ_GSA) and excited state absorption (σ_ESA) were estimated using the solid‐state slow saturable absorber model based on absorption saturation measurements performed at 1.535 μm. σ_GSA and σ_ESA for 0.03 at.% Co:MgAl₂O₄ were found to be 4.1 × 10^?19 cm² and 4.0 × 10^?20 cm², respectively. In the case of 0.06 at.% Co:MgAl₂O₄ ceramics, σ_GSA = 2.6 × 10^?19 cm² and σ_ESA= 5.3 × 10^?20 cm² were determined.     

Fentanyl Structure as a Scaffold for Opioid/Non-Opioid Multitarget Analgesics

One of the strategies in the search for safe and effective analgesic drugs is the design of multitarget analgesics. Such compounds are intended to have high affinity and activity at more than one molecular target involved in pain modulation. In the present contribution we summarize the attempts in which fentanyl or its substructures were used as a μ-opioid receptor pharmacophoric fragment and a scaffold to which fragments related to non-opioid receptors were attached. The non-opioid ‘second’ targets included proteins as diverse as imidazoline I₂ binding sites, CB₁ cannabinoid receptor, NK₁ tachykinin receptor, D₂ dopamine receptor, cyclooxygenases, fatty acid amide hydrolase and monoacylglycerol lipase and σ₁ receptor. Reviewing the individual attempts, we outline the chemistry, the obtained pharmacological properties and structure-activity relationships. Finally, we discuss the possible directions for future work.     

Expression of Irisin/FNDC5 in Breast Cancer

Irisin is a myokine formed from fibronectin type III domain-containing protein 5 (FNDC5), which can be found in various cancer tissues. FNDC5 and irisin levels have been poorly studied in the tumor tissues of breast cancer (BC). The aim of this study was to determine the levels of irisin expression in BC tissues and compare them to clinicopathological factors and Ki-67 and PGC-1α expression levels. Tissue microarrays (TMAs) with 541 BC tissues and 61 samples of non-malignant breast disease (NMBD; control) were used to perform immunohistochemical reactions. FNDC5 gene expression was measured in 40 BC tissue samples, 40 samples from the cancer margin, and 16 NMBD samples. RT-PCR was performed for the detection of FNDC5 gene expression. Higher irisin expression was found in BC patients compared to normal breast tissue. FNDC5/irisin expression was higher in patients without lymph node metastases. Longer overall survival was observed in patients with higher irisin expression levels. FNDC5/irisin expression was increased in BC tissues and its high level was a good prognostic factor for survival in BC patients.