The complexity of oblivious plans for orienting and distinguishing polygonal parts

In the problem ofparts feeding we are given a class of feasible operations for reorienting a part, and we are asked to find a fixed sequence of these operations which is guaranteed to bring the part into a known goal orientation from any possible initial orientation. Goldberg addressed this problem in [2], and showed that, for planar polygonal parts, there is always a sequence of simple operations which can be performed by a simple parallel-jaw gripper, which is guaranteed to orient the part (up to symmetry) without the use of any sensor information; he also conjectured thatO(n) steps are sufficient.In this paper we prove Goldberg's conjecture by explicitly constructing plans of at most2n – 1 steps for orienting polygonal parts in this model. We also give a lower bound on the number of steps required for such plans to show that this upper bound is tight.Finally, we extend these results to the problem ofdistinguishing among a finite set of parts using minimal sensing. Specifically, we assume that we are given a set of known polygonal parts, and a parallel-jaw gripper able to sense the distance between its jaws upon closure. We construct a simple oblivious plan of linear complexity which, when presented with a polygonal part, determines the index of this part.This research was supported in part by the NSF under Grant CCR-9207422, and by a Zumberge Fellowship. A preliminary version of this paper appeared in theProceedings of the Fourth Canadian Conference on Computational Geometry [1].     

Stress-voiding in tungsten-plug interconnect systems induced byhigh-temperature processing

We describe the sensitivity of sub-micron via integrity to high-temperature processing following via etch. It has been observed that thermal expansion of Al into the via hole, before tungsten deposition, may result in the fabrication of a deformed tungsten plug. Our results indicate that relaxation of the Al can give rise to stress-void formation under the tungsten plug. This may manifest itself either during electromigration stress or high-temperature storage. This mechanism represents a new reliability hazard for a tungsten-plug interconnect system     

A parallel plate-fed slot antenna loaded by a dielectricsemicylinder

Moment-method oriented singular integral equation techniques are used for the exact analysis of parallel plate-fed slot antennas loaded by a dielectric semicylinder. Both for TM and for TE incident-mode excitations, high-order acceleration techniques are developed that help recast all matrix elements into rapidly converging series. This, in conjunction with the small matrix sizes required, enables one to obtain extremely accurate results with low computational cost     

Treatment of perianal fistulas with ND:YAG laser--results in twenty cases

Excision of perianal fistulas using a 1.064 micron wavelength neodymium:yttrium aluminum garnet (ND:YAG) contact tipped laser with primary wound closure was used to treat 20 dogs with perianal fistulas. Overall, 19 of 20 (95%) dogs had resolution of fistulas after one or more ND:YAG treatments. The period of resolution ranged from 10 to 42 months with a mean of 22.9 months. Sixteen of 20 (80%) dogs had resolved fistulas after one laser excision. Three of the four recurrences underwent additional laser treatments with successful results. The total number of laser procedures ranged from one to three with a mean of 1.2 procedures. Postoperatively, anal tone as judged by digital rectal examination was reduced in about 60% of the cases, but clinical evidence of fecal incontinence only occurred in four of 20 cases. This was managed effectively with diet modification. The tendency toward loss of anal tone or fecal incontinence depended on the severity of preexisting anal stenosis. On a client survey, 19 of 20 owners believed that their animals experienced less pain during defecation after surgery and rated the results as excellent or good. The overall success rate using ND:YAG laser excision compared very favorably with previously reported studies of other methods of treatment for perianal fistulas in dogs.     

Impact of microstructure on stability of permanent magnet biasedmagnetoresistive heads

This work pertains to output voltage stability of soft adjacent layer biased magnetoresistive heads with abutted permanent magnetic films for domain stabilization. A micromagnetic model has been developed to study the effect of the permanent magnet film microstructure and the micromagnetic properties of the abutted junction interface on head stability. The impact on head stability is analyzed with respect to interfacial ferromagnetic coupling across the junction interface and intergranular exchange coupling in the permanent magnet films among other film properties     

Effects of magnesium sulfate and lidocaine in the treatment of ventricular arrhythmias in experimental amitriptyline poisoning in the rat

OBJECTIVES: Amitriptyline poisoning is associated with ventricular arrhythmias. Standard treatment is sodium bicarbonate but further intervention may be necessary. The present study compared the actions of lidocaine and magnesium sulfate on ventricular tachycardia induced by amitriptyline. DESIGN: Nonrandomized, controlled, intervention trial. SETTING: University laboratory. SUBJECTS: Thirty male Wistar rats anesthetized with pentobarbital and mechanically ventilated. INTERVENTIONS: After pretreatment with norepinephrine, the animals were subjected to a continuous infusion of amitriptyline. After the appearance of ventricular tachycardia, they were treated with magnesium sulfate (45 mg/kg + 15 mg/kg/min) or lidocaine (1 mg/kg + 0.5 mg/kg/min) or glucose infusion as a control. MEASUREMENTS AND MAIN RESULTS: In the group treated with magnesium sulfate, electrocardiogram tracings demonstrated that nine of ten animals converted from ventricular tachycardia to sinus rhythm compared with one of ten in both the lidocaine- and glucose-treated groups (p < .001). The animals treated with magnesium sulfate also had a significantly longer total time in sinus rhythm (10.0 +/- 1.6 mins) than those rats treated with lidocaine (1.7 +/- 1.5 mins) or glucose (1.5 +/- 1.5 mins). Magnesium sulfate significantly decreased blood pressure and heart rate, but no severe hemodynamic side effects were observed. CONCLUSIONS: Magnesium sulfate is effective in converting ventricular tachycardia in hyperadrenergic amitriptyline poisoning. In contrast, lidocaine had no effect on arrhythmias.     

Influence of body segment dynamics on loads at the lumbar spine during lifting.

Flexion-extension moments acting at the L5/S1 level and hip joints were calculated using three different techniques; a pure static analysis, a static analysis including the inertial force of the load, and a dynamic analysis. Ten subjects participated in the study and were asked to lift a box weighing either 50 N or 150 N, using a freestyle technique. The lifts were performed at normal and fast speed. The intra-subject lifting techniques were consistent when lifting the same loads. The moments predicted by the dynamic analysis and the static analysis were the same when holding weights in static postures. When performing the lifts, differences in the peak moments occurred between static and dynamic analyses. These differences were influenced by external load and by lifting speed. Taking the effect of the inertia of load into account in the static analysis resulted in an increase in the moment magnitude, but the predicted moment was still much less than in the dynamic analysis which yielded the largest moment magnitudes. The difference between dynamic and static analysis was greatest when lifting 50 N at fast speed; an 87% increase in L5/S1 moment and a 95% increase in hip moment was observed when replacing the pure static with a dynamic analysis.