Minimum effort factor approach for sensor-based control of a four-joint 6-dof redundant manipulator

A sensor-driven control model and a minimum effort control algorithm in terms of time and energy expended during the execution of a movement strategy are described and validated for a multijointed cooperating robotic manipulator. Considering smooth, human-like (anthropomorphic) movements, using joint motion profiles achievable in real time as well as sensory information from all joints, and evaluating the total work expended by each manipulator joint during the execution of a movement strategy, a minimum effort motion trajectory is synthesized to precisely and efficiently position the robotic arm end-effector. This sensor-based approach significantly reduces the computational requirements for such cooperative motion. The minimum effort control algorithm generates several human-like arm movement strategies and selects the best strategy on the basis of expendable effort. The algorithm has an inherent basis to deal with obstacles in an efficient way. Detailed examples are described from the simulation studies. © 1994 John Wiley & Sons, Inc.     

Keynote paper: Architectures for integrating manufacturing activities and enterprises

This paper is a summary of the major technical report (Williams et al., 1993) of the IFAC/IFIP Task Force on Architectures for Integrating Manufacturing Activities and Enterprises. It presents a synopsis of the investigations of pertinent architectures undertaken, and the findings generated relating to the suitability of various architectures for the integration task. It also presents the Task Force's recommendations for achieving a “complete” architecture in terms of the necessary capabilities by “completing” a currently available architecture. The Task Force also outlined how a “best” architecture could be achieved by selecting and combining the best features of the available architectures.     

Analysis of the roles of antilipopolysaccharide and anti-cholera toxin immunoglobulin A (IgA) antibodies in protection against Vibrio cholerae and cholera toxin by use of monoclonal IgA antibodies in vivo

Secretory immunoglobulin A (IgA) antibodies (sIgA) directed against cholera toxin (CT) and surface components of Vibrio cholerae are associated with protection against cholera, but the relative importance of specific sIgAs in protection is unknown. A monoclonal IgA directed against the V. cholerae lipopolysaccharide (LPS), secreted into the intestines of neonatal mice bearing hybridoma tumors, was previously shown to provide protection against a lethal oral dose of 10(7) V. cholerae cells. We show here that a single oral dose of 5 to 50 micrograms of the monoclonal anti-LPS IgA, given within 2 h before V. cholerae challenge, protected neonatal mice against challenge. In contrast, an oral dose of 80 micrograms of monoclonal IgA directed against CT B subunit (CTB) failed to protect against V. cholerae challenge. A total of 80 micrograms of monoclonal anti-CTB IgA given orally protected neonatal mice from a lethal (5-micrograms) oral dose of CT. Secretion of the same anti-CTB IgA antibodies into the intestines of mice bearing IgA hybridoma backpack tumors, however, failed to protect against lethal oral doses of either CT (5 micrograms) or V. cholerae (10(7) cells). Furthermore, monoclonal anti-CTB IgA, either delivered orally or secreted onto mucosal surfaces in mice bearing hybridoma tumors, did not significantly enhance protection over that provided by oral anti-LPS IgA alone. These results demonstrate that anti-LPS sIgA is much more effective than anti-CT IgA in prevention of V. cholerae-induced diarrheal disease.     

Cooperation of Ito cells and hepatocytes in the deposition of an extracellular matrix in vitro

Cellular and molecular mechanisms involved in the deposition of extracellular matrix components in both normal and fibrotic liver are still poorly understood. We have investigated the influence of cooperation between Ito cells and hepatocytes in matrix deposition in vitro. Immunoprecipitation of radiolabeled proteins from media of 5-day-old Ito cell primary cultures showed that these cells secreted high levels of the major basement membrane components, ie, collagen IV, laminin, and entactin/nidogen. By immunocytochemistry, precursors of basement membrane components were found intracellularly, but only scarce deposits were seen around the cells. When hepatocytes were added to 2-day-old Ito cell primary cultures, they established close contacts with Ito cells in less than 24 hours and expressed ZO-1, a tight junction-associated protein not detectable in standard hepatocyte culture. Cytochemistry analysis revealed an abundant extracellular matrix deposited over hepatocyte cords and between hepatocytes and Ito cells. Immunocytochemistry studies showed that this matrix contained laminin, fibronectin, and collagens proIII and IV. These data indicate that a high level of matrix protein synthesis by liver cells in vitro is not sufficient to induce extracellular matrix deposition, and that cell-cell interactions are strongly involved in this process. Hepatocyte/Ito cell co-culture, which may reflect the actual situation in vivo, represents a useful tool for studying liver fibrogenesis.     

JETS,PLUMES AND BUOYANT JETS IN STATIC ENVIRONMENT

Turbulence represents an essential aspect in atmospheric and oceanic circulations.In particu-lar,it is a preponderant factor in the dispersion of pollutants of artificial or natural origin.Thevertical turbulent jets,plumes and buoyant jets discharging into static environment is one of themost important and basic flow patterns related with the environment pollution.These flows havenumerous important applications,for example,thrust augmentors,waste disposal plumes fromstacks and combustion systems,and significant problems of turbulent diffusion.     

EXPERIMENTAL STUDIES AND NUMERICAL CALCULATION ON TURBULENT BOUNDARY LAYER OF WATER FLOW ALONG CURVED SURFACE

This paper will introduce experimental studies and numerical calculation onturbulent boundary layer of water flow along curved surface in our country in recent years.Onthe basis of the experimental studies,the effects of curvature and roughness on velocitydistribution and pressure distribution and the change of turbulent flow boundary layer onoverflow bucket concave surface is discussed.We proposed the empirical formula of velocity,pressure and the change of turbulent flow boundary layer on outlet bucket concave.According tothe momentum principle,we have deduced the momentum integral equation full water depthboundary layer and using the element as control unit inside the boundary layer on concavesurface of bucket.Combining with continuity equation,we have computed the boundary layerdevelopment on the bucket of a spillway.Compared with the field experimental data,thecalculation results are available.Under polar coordinates,a mathematical model for simulatingtime-averaged flow characteristics in concave surface of bucket is established.The turbulent flowfield on concave surface of bucket is calculated by SIMPLE method and this mathematicalmodel.The flow velocity field,pressure field,distribution of turbulent kinetic energy,distribution of turbulent energy dissipating rate and distribution of shear stress are available.Thecalculation value is consistent with measured test data.