Human-and-Humanoid Postures Under External Disturbances: Modeling,Simulation, and Robustness. Part 1: Modeling

It is a well-known fact that the growth of technology has radically changed our approach to biosciences and medicine. What is interesting is that in the last decade we have witnessed a reverse influence—a trend towards “biologically inspired” solutions to technical problems. This leads to a true symbiosis between bio and technical sciences. A good example is the intersection and overlapping of three distinct fields: sports, medicine, and robotics. This paper intends to apply sophisticated methods developed for mathematical modeling of humanoid robots in real human motions, particularly in posture stabilization and selection of appropriate postures for different situation in sports and every day life. A general simulation system is realized: following a deductive principle, the algorithm considers particular human/humanoid motions (like those occurring in different sports) as being just special cases of a general motion and impact theory. Simulation includes the interaction with the environment. Simulating a human/humanoid dynamics in a given task, all relevant characteristics could be found: trajectories, velocities and accelerations, loads of joints, power requirements, energy consumption, contact forces including ground reactions, impact effects, etc. Simulation is used in solving a problem that is important for both humans and humanoid robots, namely, the behavior of a posture (keeping stability or collapsing) when subject to different disturbances. Although “posture” is mainly a static term, maintaining its balance in the presence of disturbances is a truly dynamic problem. Typical postures from every day life and sports are considered, such as: upright standing, squat (and partial squat), and three karate postures. Two sorts of disturbances are applied to eventually, compromise the posture: external impulse and permanent external force. This paper does not aim to suggest some new control strategy but to develop the dynamic model and simulation algorithm, and apply them to compare the robustness of different postures to external disturbances.     

Particulate polycyclic aromatic hydrocarbons and n-alkanes in recycled paper processing operations

The aliphatic and polycyclic aromatic fractions of dust collected in the vicinity of recycled paper processing operations were analyzed using gas chromatography/mass spectrometry. Total measured dust concentration (up to 8.73+/-2.02 mg/m3) fluctuated substantially in the different steps of paper manufacture. This was attributed to the type of the operation such as, the release of fibers and particles during paper cutting and the use of reactive chemicals and excessive water under high temperature and pressure during the bleaching and the water rinsing/drying step. Particulate polycyclic aromatic hydrocarbons (PAHs) (from fluorene to benzo[ghi]perylene with mean concentrations from 3.8+/-0.5 to 41.4+/-0.4 ng/m3) and the unresolved mixture of branched, cyclic and unsaturated hydrocarbons (UCM) were measured in all samples while, n-alkanes from n-C20 to n-C27, were only observed in cutting and packaging areas (from 180.6+/-18.9 to 4297.9+/-794.9 ng/m3). The profile of occupational PAHs in bleaching and treatment of contaminated recycled raw paper was comparable to that observed for anthropogenic activities. The values of molecular diagnostic ratios indicated the contribution of oil residues and emissions from worklifts and other equipment used for pulp and paper handling. Total benzo[a]pyrene-equivalent (BaP) concentrations of particulate PAHs (varied from 323 up to 1104 pg/m3), provided evidence that workers were exposed to high quantities of PAHs as compared with exposures to urban air and other indoor settings, posing long-term threat to their health.     

Modeling, simulation and experimental validation of a PEM fuel cell system

The aim of this work is the development and experimental validation of a detailed dynamic fuel cell model using the gPROMS modeling environment. The model is oriented towards optimization and control and it relies on material and energy balances as well as electrochemical equations including semi-empirical equations. For the experimental validation of the model a fully automated and integrated hydrogen fuel cell testing unit was used. The predictive power of the model has been compared with the data obtained during load change experiments. A sensitivity analysis has been employed to reveal the most critical empirical model parameters that should be estimated using a systematic estimation procedure. Model predictions are in good agreement with experimental data under a wide range of operating conditions.     

Modeling of continuous self‐classifying spiral jet mills part 1: Model structure and validation using mill experiments

The objective of this work is to develop a milling model for a continuous self‐classifying spiral air jet mill. Its foundation is a population balance model with selection and breakage distribution functions that have been related to a minimal number of mill‐dependent and powder‐dependent parameters. Initially, experimentation is required to determine the mill‐dependent parameters for a specific mill, by milling a “base” powder at multiple operating conditions. Powder‐dependent parameters can be determined from either mill experiments or from material characterization measurements that require small amounts of powder (presented in Part 2). Ultimately, the milling model presented successfully predicts the product particle size using as inputs the feed particle‐size distribution and mill operating conditions. Three crystalline powders, sodium bicarbonate, lactose monohydrate, and sucrose, have been used to test the proposed milling model. © 2014 American Institute of Chemical Engineers AIChE J 60: 4086–4095, 2014     

Applying Total Quality Management in an Interdisciplinary Engineering Course

A Process Engineering certificate program has been developed and conducted utilizing the talents of members from five different engineering departments. Now in its third year, the success of this 12-credit “megacourse” is due in large part to the use of Total Quality Management (TQM) principles and methods in the development and teaching of the course. Students benefit by learning TQM, by seeing it applied, and from an overall improved course.     

Modeling Robot “Psycho-Physical” State and Reactions – A New Option in Human–Robot Communication Part 1: Concept and Background

Man–machine communication had been recognized a long time ago as a significant issue in the implementation of automation. It influences the machine effectiveness through direct costs for operator training and through more or less comfortable working conditions. The solution for the increased effectiveness might be found in user-friendly human–machine interface. In robotics, the question of communication and its user-friendliness is becoming even more significant. It is no longer satisfactory that a communication can be called human–machine interface, since one must see robots as future collaborators, service workers, and probably personal helpers. So, a new way of communication is needed. This paper starts from the fact that a variety of unconventional ways of communication is being explored: speech communication, handwriting, and facial mimicry. Speech recognition and generation, apart from its potentially strong impact to human–robot interface, is out of the scope of this study, and the same holds for handwriting. The facial mimicry and the wider field of robot emotion lead to a new way of communication that can be called gestural language. We may say that our research matches such a wide notion. However, there is an important specificity of our approach. Previous works in this field looked at facial and gestural expressions of emotions and messages as actually voluntary activities. They were induced by some situations, but such situations had to be recognized after which the appropriate preprogrammed reaction followed. Thus, some expert system or other artificial intelligence system were applied. The current study explores the conditional reactions that are chemically based. Human psycho-physical states like fear, stress and especially fatigue follow from complex chemical processes. Such states cannot be voluntarily controlled. They are not expressed through some specific mimicry or body movement, but they influence all movements. Any motion intended to accomplish some task will be changed, thus sending a message to the neighborhood. This change can be observed, and so the message is received. For processes of this kind and their resembling, we prefer using the term modeling psycho-physical states. Among various states interesting for application in robots, the present study concentrates on fatigue, which is a good example for the initial research. The first part of the paper explains the concept and the background, while the second part provides numerical justification.     

Development of sodium propionate-based deep eutectic solvents for polyphenol extraction from onion solid wastes

Clean Technologies and Environmental Policy - The objective of the study presented herein was the optimisation of onion solid waste (OSW) polyphenol extraction, using sodium propionate-based deep...