A new strategy combining empirical and analytical approaches for grasping unknown 3D objects

This paper proposes a novel strategy for grasping 3D unknown objects in accordance with their corresponding task. We define the handle or the natural grasping component of an object as the part chosen by humans to pick up this object. When humans reach out to grasp an object, it is generally in the aim of accomplishing a task. Thus, the chosen grasp is quite related to the object task. Our approach learns to identify object handles by imitating humans. In this paper, a new sufficient condition for computing force-closure grasps on the obtained handle is also proposed. Several experiments were conducted to test the ability of the algorithm to generalize to new objects. They also show the adaptability of our strategy to the hand kinematics.     

Viscoelastic characteristics of pentane-swollen polystyrene beads

Expansion of pentane-swollen polystyrene beads was followed at and above the glass transition by using a very simple optical technique. Measurements allowed a suitable determination of the glass transition temperature and of the viscoelastic characteristics of the pentane-plasticized polystyrene chains inside the beads, at different pentane contents. This was achieved by combining the well-known Williams, Landel, and Ferry approach and some calculations derived from a recent micromechanical modeling of the expanded polystyrene microstructure. The results, analyzed in terms of free volume characteristics, revealed the peculiar plasticizing character of pentane, as compared to the usual polymer diluents. A value of 42°C was found as the lowest temperature for which the dimensional variation of the beads could result from glass transition motions. The relevance of these conclusions was discussed, not just in terms of the changes in dimensions of the individual beads at zero expansion time but also in terms of the dimensional evolution observed in the expanded polystyrene structures. © 1999 John Wiley & Sons, Inc. J Appl Polym Sci 73: 2463–2472, 1999     

Phthalonitrile-carbon fiber composites

Phthalonitrile polymers offer promise as matrix materials for advanced composite applications. The phthalonitrile monomer is readily converted to a highly crosslinked thermosetting polymer in the presence of thermally stable organic amine catalysts. Rheometric studies were conducted to elucidate the optimum amine concentration for composite formulations. High quality composite panels were processed in an autoclave using unsized IM7 carbon fibers. Mechanical properties of the phthalonitrile/carbon composite are either better than or comparable to the state-of-the-art PMR-15 composites. Dynamic mechanical analysis reveal that samples postcured at elevated temperatures (375°C) do not exhibit a glass transition temperature up to 450°C and also retain °90% of their initial modulus at 450°C. Flame resistance of phthalonitrile/carbon composites, evaluated by cone calorimetric studies, excels over that of other polymeric composites for marine applications. The composites also show low water uptake, <1% after exposure to water for 16 months.     

The effect of curing additive on the mechanical properties of phthalonitrile-carbon fiber composites

Unidirectional carbon fiber-reinforced phthalonitrile composite panels were fabricated by prepreg consolidation with bis[4-(4-aminophenoxy)phenyl]sulfone (p-BAPS) as the phthalonitrile curing additive. Rheometric measurements and elevated-temperature, short beam shear tests were used to evaluate the cure of the composite as a function of the cure and postcure conditions. These techniques revealed that a fully cured phthalonitrile composite was obtained when the composite was heated at 375°C for 8 hours. Room-temperature mechanical properties of the cured composite were then evaluated using short beam shear, tension, and flexural tests. The results are compared with those obtained by curing the phthalonitrile with 1,3-bis(3-aminophenoxy)benzene (m-APB). The data indicate that substitution of p-BAPS for m-APB has little effect on the mechanical properties of the cured composite. Elevated-temperature, short beam shear studies up to 371°C show that the cured phthalonitrile composite retains approximately 70% of its room-temperature apparent interlaminar shear strength. The composite also retains 70% of its room-temperature storage modulus up to 450°C. Polym. Compos. 25:554–561, 2004. © 2004 Society of Plastics Engineers.     

Influence of zero locations on the number of step-response extrema

A new bounding theorem for the number of extrema that may occur in the step-response of a stable linear system is presented. The derivation of an easily-computed upper bound is given to complement literature results which have previously established the existence of a lower bound. The theorem requires knowledge of the pole-zero configuration of the transfer-function and is applicable to stable systems with real zeros and real poles.     

Twenty-four-hour L-[1-(13)C]tyrosine and L-[3,3-(2)H2]phenylalanine oral tracer studies at generous, intermediate, and low phenylalanine intakes to estimate aromatic amino acid requirements in adults

Daily pattern and rates of whole-body tyrosine oxidation and phenylalanine hydroxylation were determined in young adults (15 men, 1 woman) receiving [13C]tyrosine and [(2)H2]phenylalanine via primed, constant oral infusion and [(2)H4]tyrosine by vein (five subjects also received [(2)H3]leucine simultaneously by vein) continuously for 24 h (12 h fast then 12 h fed). Subjects were given a diet supplying 96.6 (n = 5), 35.6 (the proposed requirement; n = 5), and 18.5 mg phenylalanine x kg(-1) x d(-1) (n = 6) based on an otherwise adequate L-amino acid mixture for 6 d before the 24-h tracer study began. [Each diet was low in tyrosine: 6.79 mg x kg(-1) x d(-1).] Our hypothesis was that subjects would be in tyrosine equilibrium, positive balance, or both, at the 96.6- and 35.6-mg intakes and in distinctly negative balance at the 18.5-mg intake. The diurnal pattern in phenylalanine and tyrosine kinetics was dependent on the intake and, presumably, on the adequacy of dietary phenylalanine. Wholebody tyrosine balances, determined from rates of phenylalanine hydroxylation and tyrosine input and oxidation were negative (0.05 < P < 0.1 from zero balance) with the low (18.5 mg) phenylalanine intake [total aromatic amino acid (AAA) intake: 25.3 mg x kg(-1) x d(-1)] but at equilibrium (P > 0.05 from zero balance) with the two higher phenylalanine intakes. Whole-body AAA balance (AAA intake - tyrosine oxidation) was negative (P < 0.05 from zero balance) with the low intake, at equilibrium with the intermediate intake, and apparently distinctly positive (P < 0.05) with the generous intake. Despite model limitations, as discussed, these findings lend further support for a proposed, tentative value for a total mean requirement of 39 mg AAA x kg(-1) x d(-1).     

Hierarchically clustered adaptive quantization CMAC and its learning convergence.

The cerebellar model articulation controller (CMAC) neural network (NN) is a well-established computational model of the human cerebellum. Nevertheless, there are two major drawbacks associated with the uniform quantization scheme of the CMAC network. They are the following: (1) a constant output resolution associated with the entire input space and (2) the generalization-accuracy dilemma. Moreover, the size of the CMAC network is an exponential function of the number of inputs. Depending on the characteristics of the training data, only a small percentage of the entire set of CMAC memory cells is utilized. Therefore, the efficient utilization of the CMAC memory is a crucial issue. One approach is to quantize the input space nonuniformly. For existing nonuniformly quantized CMAC systems, there is a tradeoff between memory efficiency and computational complexity. Inspired by the underlying organizational mechanism of the human brain, this paper presents a novel CMAC architecture named hierarchically clustered adaptive quantization CMAC (HCAQ-CMAC). HCAQ-CMAC employs hierarchical clustering for the nonuniform quantization of the input space to identify significant input segments and subsequently allocating more memory cells to these regions. The stability of the HCAQ-CMAC network is theoretically guaranteed by the proof of its learning convergence. The performance of the proposed network is subsequently benchmarked against the original CMAC network, as well as two other existing CMAC variants on two real-life applications, namely, automated control of car maneuver and modeling of the human blood glucose dynamics. The experimental results have demonstrated that the HCAQ-CMAC network offers an efficient memory allocation scheme and improves the generalization and accuracy of the network output to achieve better or comparable performances with smaller memory usages. Index Terms-Cerebellar model articulation controller (CMAC), hierarchical clustering, hierarchically clustered adaptive quantization CMAC (HCAQ-CMAC), learning convergence, nonuniform quantization.     

Shelf life and safety concerns of bakery products--a review

Bakery products are an important part of a balanced diet and, today, a wide variety of such products can be found on supermarket shelves. This includes unsweetened goods (bread, rolls, buns, crumpets, muffins and bagels), sweet goods (pancakes, doughnuts, waffles and cookies) and filled goods (fruit and meat pies, sausage rolls, pastries, sandwiches, cream cakes, pizza and quiche). However, bakery products, like many processed foods, are subject to physical, chemical and microbiological spoilage. While physical and chemical spoilage limits the shelf life of low and intermediate moisture bakery products, microbiological spoilage by bacteria, yeast and molds is the concern in high moisture products i.e., products with a water activity (a(w)) > 0.85. Furthermore, several bakery products also have been implicated infoodborne illnesses involving Salmonella spp., Listeria monoctyogenes and Bacillus cereus, while Clostridium botulinum is a concern in high moisture bakery products packaged under modified atmospheres. This extensive review is divided into two parts. Part I focuses on the spoilage concerns of low, intermediate and high moisture bakery products while Part II focuses on the safety concerns of high moisture bakery products only. In both parts, traditional and novel methods of food preservation that can be used by the bakery industry to extend the shelf life and enhance the safety of products are discussed in detail.     

Phthalonitrile‐epoxy blends: Cure behavior and copolymer properties

Binary blends composed of 4,4′‐bis(3,4‐dicyanophenoxy)biphenyl (biphenyl PN) and diglycidyl ether of bisphenol A (epoxy resin) and oligomeric n = 4 phthalonitrile (n = 4 PN) and epoxy resin were prepared. The cure behavior of the blends was studied under dynamic and isothermal curing conditions using differential scanning calorimetry, simultaneous thermogravimetric/differential thermal analysis, infrared spectroscopy, and rheological analysis. The studies revealed that phthalonitrile‐epoxy blends exhibited good processability and that they copolymerized with or without the addition of curing additive. In the absence of curing additive, the blends required higher temperatures and longer cure times. The thermal and dynamic viscoelastic properties of amine‐cured phthalonitrile‐epoxy copolymers were examined and compared with those of the neat epoxy resin. The properties of the epoxy resin improved with increasing biphenyl PN content and with n = 4 PN addition. Specifically, the copolymers exhibited higher glass transition temperatures, increased thermal and thermo‐oxidative stabililty, and enhanced dynamic mechanical properties relative to the commercially available epoxy resin. The results showed that the phthalonitrile‐epoxy blends and copolymers have an attractive combination of processability and high temperature properties. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008