Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.     

Neural network modelling of word production in Finnish: coding semantic and non-semantic features

The objective of our research is to computationally model word production and its disorders by means of artificial neural networks. In the current study we develop and analyze an algorithm that generates a distributed semantic coding from a given semantic tree-structure classification of words. With the algorithm it is possible to generate semantic representations that are compact and easy to modify. This renders the coding method suitable for our multilayer perceptron-based neural network model of word production. The model is shown to be able to account for a variety of performance patterns observed in four Finnish aphasia patients suffering from word-finding difficulties.     

Rate of heat release and ignitability indices for surface linings

Dimensional analysis is applied to one form of fire growth in a compartment to derive two indices for the classification of linings, an ignitability index and a rate of heat release index, that can be combined into a fire growth parameter, which here is made proportional to the time to flashover in the internationally standardized Room/Corner Test. The ignitability index is the inverse of the time to ignition. The rate of heat release index is obtained by integrating the rate of heat release in time, weighted in such a way that the values of rate of heat release immediately after ignition are of higher importance than those at later times. Both indices are determined from test results of the Cone Calorimeter.     

Fixation of distal femoral osteotomies with self-reinforced poly(L/DL)lactide 70 : 30/bioactive glass composite rods. An experimental study on rats

Self-reinforced poly(L/DL)lactide 70:30/bioactive glass [SR-P(L/DL)LA/bioactive glass] composite rods, 2 mm in diameter and 36 mm in length, were implanted into the dorsal subcutaneous tissue of 16 rats. Osteotomies of the distal femur were fixed with these rods (2 x 15 mm) in 64 other rats. The follow-up times varied from one week to one year. After sacrifice, three-point bending and shear tests, and molecular weight measurements were performed for subcutaneously placed rods. Radiological, histological, histomorphometrical, microradiographic, and oxytetracycline-fluorescence studies of the osteotomized and intact control femora were performed. At 24 weeks the mechanical properties had decreased significantly. Thirty-nine osteotomies healed uneventfully. One of the 64 evaluated osteotomies showed signs of infection at six weeks, and there were 19 non-unions and six delayed unions. In 20 operations the fixation was loose and out of these 14 non-unions were observed. No gross signs of inflammatory or foreign-body reactions were observed. The present investigation showed that the mechanical strength and fixation properties of SR-P(L/DL)LA/bioactive glass composite rods are suitable for fixation of cancellous bone osteotomies in rats as long as the operative technique is correct. The present article is the first report on the application of SR-P(L/DL)LA/bioactive glass composite rods for fixation of cancellous bone osteotomies.     

Airborne brake wear debris: size distributions, composition, and a comparison of dynamometer and vehicle tests

Particle size distributions of light-duty vehicle brake wear debris are reported with careful attention paid to avoid sampling biases. Electrical low-pressure impactor and micro-orifice uniform deposit impactor measurements yield consistent size distributions, and the net particulate matter mass from each method is in good agreement with gravimetric filter measurements. The mass mean diameter of wear debris from braking events representative of urban driving is 6 microm, and the number-weighted mean is 1-2 microm for three currently used classes of lining materials: low metallic, semimetallic, and non-asbestos organic (NAO). In contrast, the wear rates are very material dependent, both in number and mass of particles, with 3-4 times higher emissions observed from the low metallic linings as compared to the semimetallic and NAO linings. Wind tunnel and test track measurements demonstrate the appearance of micron size particles that correlate with braking events, with approximately 50% of the wear debris being airborne for the test vehicle in this study. Elemental analysis of the wear debris reveals a consistent presence of the elements Fe, Cu, and Ba in both dynamometer and test track samples.     

Repeatability estimates for milk coagulation traits and non-coagulation of milk in Finnish Ayrshire cows

Effects of systematic environmental factors and milk production and quality traits on milk coagulation properties (MCP), and on repeatability of those traits were estimated from 979 milk samples collected once a month over a period of 2 years from 83 Finnish Ayrshire cows. Estimation was based on a multitrait animal model and REML methodology. In addition, persistence of non-coagulation of milk in individual cows, and factors associated with it were established from a sub sample of 24 cows producing non-coagulating (NC) milk at least once. MCP were at their best during the first lactation, at the beginning and at the end of lactation, and during grazing seasons. Variation in MCP with systematic environmental factors was partly due to variation in composition and quality of milk, especially in pH and ln (somatic cell count, SCC). Coefficients of repeatability for milk coagulation time and curd firmness were 0.65 and 0.68. These estimates were of the same magnitude as those for protein content, but were higher than those for daily milk yield, fat content, pH, and SCC. Based on the repeatability estimates for the milk coagulation traits and effects of the environmental factors, cows should be sampled at least three times during a lactation to estimate reliably breeding values for the milk coagulation traits. A total of 10% of the milk samples did not coagulate in 30 min after addition of rennet. Cows that produced NC milk at least once (30% of the cows) could be classified into those that produced NC milk only a few times during a lactation and those that produced NC milk at almost every sampling. Based on logistic regression analyses, peak and mid-lactation, high milk yield, low protein and fat content and high pH increased the risk of non-coagulation of milk.     

Exceptions in remote procedure calls using C++ template metaprogramming

Serialization of data is needed when information is passed among program entities that have no shared memory. For remote procedure calls, this includes serialization of exception objects in addition to more traditional parameters and return values. In C++, serialization of exceptions is more complicated than parameters and return values, since internal copying and passing of exceptions is handled differently from C++ parameters and return values. This article presents a light‐weight template metaprogramming‐based mechanism for passing C++ exceptions in remote procedure calls, remote method invocations, and other situations where caller and callee do not have a shared address space. This mechanism has been implemented and tested in the KC++ concurrent active object system. Copyright © 2006 John Wiley & Sons, Ltd.     

Airborne Microbes and Endotoxins in the Work Environment of Two Sanitary Landfills in Finland

The Andersen sampler was used to study the occurrence of bacteria and fungi in the working air of two large, intensively used landfills in Finland. Endotoxins were also determined. The concentrations of airborne microbes were high in summer in warm windy weather. Mesophilic bacteria exceeded 10⁵ colony-forming units (cfu)/m³ and mesophilic fungi 10⁴ cfu/m³. In 67% of the samples, the concentrations of gram-negative bacteria exceeded 10³/m³, which has been suggested to be the threshold limit value (TLV). The endotoxin levels were all below 0.1 μg/m³. A large part of the colony-forming particles were within the respirable size range, about 40% of the bacteria and about 80% of the fungi. The commonly isolated airborne bacteria were Pseudomonas, Enterobacter, and Bacillus spp. The landfill workers should try to work upwind. There are also grounds for using a mask and irrigating the refuse terrace with leachate in dry weather. It is suggested that the traffic on the refuse terrace be decreased by arranging for the private cars to be emptied in the reception area.