Consistent dynamic model identification of the Stäubli RX-160 industrial robot using convex optimization method

Journal of Mechanical Science and Technology - Dynamic models of robot manipulators with standard dynamic parameters are required for simulations, model-based controller design and external force...     

Investigation of using possibility of grape pomace in wafer sheet for wheat flour substitution

In this study, grape pomace (GP), a by-product consisting of grape skins and seeds rich in dietary fibres and polyphenols, was used in wafer sheets at different concentrations [5.00 (GP5), 10.0 (GP10), and 15.0 g 100 g⁻¹ (GP15)] for the partial replacement of wheat flour (WF) and improve the functionality of wafer sheets. The GP inclusion at concentrations higher than 5.00 g 100 g⁻¹ significantly affected the texture of sheets as well as the flow behaviour of batters, resulting in softer sheets and more viscous batters (P < 0.05). Moisture contents did not significantly change after GP addition (P > 0.05). After the addition of GP, the L* values decreased and the a* values increased, making the wafers darker (P < 0.05). Moreover, under simulated in vitro digestion conditions, the bioaccessibility of total phenolic compounds in saliva, gastric juice, and intestinal juice was significantly higher than control even at the lowest GP concentration (P < 0.05). Regarding sensory properties, only smoothness and crispness were significantly affected by GP addition, and samples were found to be crisper with higher concentrations of GP. In conclusion, it is possible to partially replace the WF in wafers with GP at a concentration of 5.00 g 100 g⁻¹ to develop a product with higher functionality and nutrient content.     

Using spray-dried sugar beet molasses in ice cream as a novel bulking agent

In this study, it is aimed to investigate and evaluate the use of molasses which is a by-product of sugar production as a novel bulking agent in ice cream as a sugar replacer. Sugar beet molasses (75%) and 12 DE maltodextrin (25%) were converted into powder form by spray drying. Spray-dried sugar beet molasses (SDSM) was then used as a substitute of sugar in different ratios (0:100, 25:75, 50:50, 75:25 and 100:0) in the ice cream products. The increased amount of SDSM decreased the overrun, L*, whiteness index (WI) and melting behaviours and increased a*, b*, total phenolic content, consistency and viscosity. Meanwhile, thermal properties have not been affected by the use of SDSM (P < 0.05). The sensory findings have been particularly interesting especially when replacing above 50% sugar with SDSM, aroma, flavour and general acceptability decrease. According to the results of this study, substituting 25% of total sugar with SDSM as a bulking agent can decrease cost of the product and improve total phenolic content and some quality parameters without compromising sensorial properties.     

Adaptive State-space Control of Under-actuated Systems Using Error-magnitude Dependent Self-tuning of Cost Weighting-factors

International Journal of Control, Automation and Systems - This article methodically constructs a novel adaptive self-tuning state-space controller that enhances the robustness of under-actuated...     

A Framework for Systematic Classification of Assets for Security Testing

Over the last decade, a significant increase has been observed in the use of web-based Information systems that process sensitive information, e.g., personal, financial, medical. With this increased use, the security of such systems became a crucial aspect to ensure safety, integrity and authenticity of the data. To achieve the objectives of data safety, security testing is performed. However, with growth and diversity of information systems, it is challenging to apply security testing for each and every system. Therefore, it is important to classify the assets based on their required level of security using an appropriate technique. In this paper, we propose an asset security classification technique to classify the System Under Test (SUT) based on various factors such as system exposure, data criticality and security requirements. We perform an extensive evaluation of our technique on a sample of 451 information systems. Further, we use security testing on a sample extracted from the resulting prioritized systems to investigate the presence of vulnerabilities. Our technique achieved promising results of successfully assigning security levels to various assets in the tested environments and also found several vulnerabilities in them.     

On-line Walking Speed Control in Human-Powered Exoskeleton Systems Based on Dual Reaction Force Sensors

On-line walking speed control in human-powered exoskeleton systems is a big challenge, the translations of human intention to increase or decrease walking speed in maneuverable human exoskeleton systems is still complex field. In this paper, we propose a novel sensing technique to control the walking speed of the system according to the pilot intentions and to minimize the interaction force. We introduce a new sensing technology “Dual Reaction Force (DRF)” sensors, and explain the methodology of using it in the investigation of walking speed changing intentions. The force signals mismatch successfully applied to control the walking speed of the exoskeleton system according to the pilot intentions. Typical issues on the implementation of the sensory system are experimentally validated on flat terrain walking trails. We developed an adaptive trajectory frequency control algorithm to control the walking speed of HUman-powered Augmentation Lower Exoskeleton (HUALEX) within the human wearer intended speed. Based on the mismatch of DRF sensors, we proposed a new control methodology for walking speed control. Human intention recognition and identification through an sensorized footboard and smart shoe is achieved successfully in this work, the new term heel contact time H _{C T} is main feedback signal for the control algorithm. From the experimental walking trails we found that, the H _{C T} during flat walking ranges from 0.69±0.05 sec and 0.41±0.07 sec while walking speed varies between 1m/s and 2.5m/s. The proposed algorithm used an Adaptive Central Pattern Generators (ACPGs) applied to control joint trajectory frequency, the different walking speeds associated with different functioning of human body CPGs frequency. We validated the proposed control algorithm by simulations on single Degree of Freedom (1-DoF) exoskeleton platform, the simulation results show the efficiency and validated that the proposed control algorithm will provides a good walking speed control for the HUALEX exoskeleton system.     

Heuristic Optimization Model for the Optimal Layout and Pipe Design of Sewer Systems

The design of urban stormwater systems and sanitary sewer systems consists of solving two problems: generating a layout of the system and the pipe design which includes the crown elevations, slopes and commercial pipe sizes. A heuristic model for determining the optimal (minimum cost) layout and pipe design of a storm sewer network is presented. The hierarchical procedure combines a sewer layout model formulated as a mixed-integer nonlinear programming (MINLP) problem which is solved using the General Algebraic Modeling System (GAMS) and a simulated annealing optimization procedure for the pipe design of a generated layout was developed in Excel. The GAMS and simulated annealing models are interfaced through linkage of Excel and GAMS. The pipe design model is based upon the simulated annealing method to optimize the crown elevations and diameter of pipe segments in a storm sewer network using layouts generated using GAMS. A sample scenario demonstrates that using these methods may allow for significant costs saving while simultaneously reducing the time typically required to design and compare multiple storm sewer networks.     

髋关节整体替代陶瓷材料

许多材料在医学领域应用广泛,例如,整体替换硬组织或软组织的元件(如骨盆、骨头、关节、植牙等)、修补、诊断或矫正仪器(如起搏器、心脏阀等)。这些材料不仅要有好的力学性能,还要保持长期稳定,不能与人体相排斥。由于陶瓷材料在生理环境中具有强度高、生物相容性强和稳定性好的优点,人们研究用陶瓷材料替换骨骼。从20 世纪70 年代起,欧洲人用陶瓷组件置换整个髋关节。这些组件主要由氧化铝和氧化锆单体制成。然而,在有水环境中,氧化锆会发生低温降解。目前人们的研究重点在于提高陶瓷组件的强度和耐磨性,同时缩小其尺寸并延长其使用寿命。研究中使用的材料是氧化锆增韧的氧化铝复合陶瓷和其它氧化铝复合陶瓷,不再是单体陶瓷。另外,还可以使用氧化铝和氧化锆功能梯度复合材料。该梯度材料可以利用电泳沉积法(EPD)制得,其表面为纯氧化铝,中心部分为均匀的氧化铝、氧化锆复合材料,中间过渡部分是呈连续梯度渐变的氧化铝、氧化锆复合材料,烧成后会产生剩余热应力。设计这样的梯度结构是为了使复合材料具有最大表面压应力和最小内部张应力,与纯氧化铝组件相比,提高了强度和耐磨性。