Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

Total energy shaping is a controller design methodology that achieves (asymptotic) stabilization of mechanical systems endowing the closed-loop system with a Lagrangian or Hamiltonian structure with a desired energy function - that qualifies as Lyapunov function for the desired equilibrium. The success of the method relies on the possibility of solving two PDEs which identify the kinetic and potential energy functions that can be assigned to the closed loop. Particularly troublesome is the partial differential equation (PDE) associated to the kinetic energy which is nonlinear and inhomogeneous and the solution, that defines the desired inertia matrix, must be positive-definite. In this note, we prove that we can eliminate or simplify the forcing term in this PDE by modifying the target dynamics and introducing a change of coordinates in the original system. Furthermore, it is shown that, in the particular case of transformation to the Lagrangian coordinates, the possibility of simplifying the PDEs is determined by the interaction between the Coriolis and centrifugal forces and the actuation structure. The examples of pendulum on a cart and Furuta's pendulum are used to illustrate the results.     

Enzymatic Firming of Processed Red Pepper by Means of Exogenous Pectinesterase

The objective of this investigation was to demonstrate that the firmness of a commercial vegetable product, diced and frozen red pepper (Capsicum annum var. Sendt), could be improved by the use of exogenous pectinesterase in an industrially relevant process. The diced pepper pieces 10 × 10 × 7 mm³ were infused under vacuum with a commercially available pectinesterase. The range of optimal process conditions was: 15-20°C, 45 min infusion time, a 10-25 mM CaCl₂ infusion brine, a w/w ratio of pepper fruit to infusion brine of 1.5:1, and an enzyme dosage of 30-60 pectinesterase units (PEU) per kg pepper fruit. The firmness as measured by back extrusion was improved by a factor of two to three. The effect of firming was robust and conserved after freezing and heating in a simulated household cooking process. The firming process seems easily adaptable to industrial conditions and may be applicable to other vegetable and fruit products.     

Run-to-run failure detection and diagnosis using neural networks and Dempster-Shafer theory: an application to excimer laser ablation

The formation of microvias in multilayer substrates is a critical factor in microelectronic packaging manufacturing. Such microstructures can be produced efficiently by excimer laser ablation. Thus, laser ablation systems are evolving to a level where the need to offset high capital equipment investment and lower equipment downtime are imminent. This paper presents a methodology for inline failure detection and diagnosis of the excimer laser ablation process. The methodology employs response data originating directly from the equipment and characterization of microvias formed by the ablation process. Neural network (NN) models are trained and validated based on this data to generate evidential belief for potential sources of deviations in the responses. Dempster-Shafer (D-S) theory is adopted for evidential reasoning. Successful failure detection is achieved in 100% of 19 possible failure scenarios. Moreover, successful failure diagnosis is also achieved with only a single false alarm occurring in the 19 failure scenarios.     

Chitosan particles agglomerated scaffolds for cartilage and osteochondral tissue engineering approaches with adipose tissue derived stem cells

In the XML file of the original article, H. Redl’s affiliation is incorrect. It is listed correctly in both the paper and PDF versions of the article, and can be found below: The online version of the original article can be found at     

An ultrasonic obstacle detector based on phase beamforming principles

A prototype of an ultrasonic obstacle detector developed as a part of a navigation system for blind and visually impaired people is presented. The detector, which employs a single ultrasound source and an array of microphones, determines the distance to the obstacle by measuring time between sending the pulse and receiving the reflected signal. Using the phase beamforming technique, borrowed from hydroacoustics, to process the output signals of microphones, it determines also the direction from which the reflected signal is received, thereby locating the obstacle. The obstacle detector was subjected to a series of tests in order to verify its design and to assess its ability to detect a broad range of obstacles. Presented test results show that most obstacles can be detected and recognized, and that the tested obstacle detector provides complete coverage of the safety zone in front of the user.     

Mammalian Rh/T2/S-glycoprotein ribonuclease family genes: cloning of a human member located in a region of chromosome 6 (6q27) frequently deleted in human malignancies

OBJECTIVE: To implement a low-cost system of transmitting high-quality digital photographs of mutilating extremity injuries using the speed of the Internet. DESIGN: A high-resolution digital camera and simple hardware and software platform are used to take and transmit images via electronic mail. The images are received within minutes by the consultant, and an assessment can be made. RESULTS: A low-cost and high-quality system can easily be implemented. Images can be seen by consultants only a few minutes after they are obtained. The quality of the reproductions is excellent, and they are handled exactly as other photographs. CONCLUSION: This technique can be widely applicable and inexpensive to initiate in any emergency room. It allows rapid assessment of extremity injuries and x-ray images by expert consultants, who can then evaluate the replantation or revascularization potential of extremity trauma cases. This can eliminate unnecessary and often expensive transfer of patients who are not candidates for replantation.     

Detection of human papillomavirus gene sequences in laryngeal tumors and premalignant changes by polymerase chain reaction

Human papillomavirus gene sequences have been detected in a number of malignant and benign tumours. Non-oncogenic types 6 and 11 are etiological factors of benign mucosal tumours. Types 16 and 18 can be detected in malignancies most often but their role in the etiopathogenesis of cancers is still unclear. In our study we examined formalin-fixed and paraffin-embedded archive laryngeal tissues containing squamous cell carcinoma, papilloma and precancerous lesions for the presence of human papillomavirus genes. As a control we also examined tissues harbouring laryngeal nodules which represented the normal larynx in our study. After DNA preparation from the paraffin blocks we performed polymerase chain reaction to detect the DNA of human papillomavirus types 6, 11, 16 and 18. In the squamous cell carcinomas, papillomas and precancerous lesions the presence of human papillomavirus gene sequences was significantly higher than in the control group. To verify the integrity of DNA we also amplified a sequence deriving from the cellular beta-globin gene. Based on the 100% positivity for this gene we declare that the combination of our DNA preparation and polymerase chain reaction is a reliable method for detecting DNA sequences from formalin-fixed and paraffin-embedded tissues.     

Use of the nuclear microprobe at the University of Arizona for the study of heavy metal deposition in rabbit renal tissue

Industrial wastes consigned to disposal sites frequently contain substantial amounts of heavy metals. We have successfully applied proton induced X-ray emission analysis (PIXE) in the conduct of heavy metal (Hg, Cd, Cr, As) toxicity studies using precision cut rabbit renal cortical slices. The large beam diameter (4000 μm) of the proton macroprobe at The University of Arizona Ion Beam Analysis facility allowed an overall concentration of the metal(s) of interest in the samples to be determined, but lacked the ability to resolve point concentrations in the tissue. The ability to locate these areas has now been made available to us with the addition of a rastering microprobe (μ-PIXE) to the facility. Studies now being conducted in our laboratory using this micro-technique include analysis of renal tissue taken from rabbits injected intraperitoneally with HgCl₂, K₂Cr₂O₇, and NaAsO₂. The small beam size (3 μm) and the ability to raster this beam over areas of up to 125 μm × 125 μm has allowed regional mapping of endogenous and non-endogenous metal concentrations and revealed trends in heavy metal deposition in in vivo treated renal tissue, significantly increasing the amount of information obtained from these animal studies using PIXE alone. The combination of small beam size, high resolution, and multi-element detection makes μ-PIXE a powerful tool for investigating the impact of non-endogenous metals on the kidney.     

A packet delay analysis for cellular digital packet data

We formulate and analyze a model of voice and data burst traffic for cellular digital packet data (CDPD). To develop a tractible model, we make some reasonable simplifying assumptions to model the voice traffic and one of the logical CDPD channels as an M/M/1 queue in a random environment. Rather than explicitly solve the resulting matrix quadratic equation, we develop an asymptotic analysis that gives us simple approximate formulas (with error bounds) for many performance measures of interest. In particular, one metric that we highlight comes from using our approximate mean data burst delay formula to characterize the performance of a set of interacting logical CDPD channels. We do so by describing it in terms of an equivalent number of independent, dedicated CDPD channels, We can use this metric to suggest what the optimal number of logical CDPD channels for a given system should be