Safety-enhanced Collaborative Framework for Tele-operated Minimally Invasive Surgery Using a 7-DoF Torque-controlled Robot

International Journal of Control, Automation and Systems - In this paper, a safety-enhanced collaborative control framework is proposed for tele-operated minimally invasive surgery (MIS) using a...     

Experimental and numerical study of a modified ASTM C633 adhesion test for strongly-bonded coatings

When coatings are strongly bonded to their substrates it is often difficult to measure the adhesion values. The proposed method, which is suggested naming “silver print test”, consists in covering the central part of the samples with a thin layer of silver paint, before coating. The process used for testing this new method was the Air plasma spraying (APS), and the materials used were alumina coatings on C35 steel substrates, previously pre-oxidized in CO₂. The silver painted area was composed of small grains that did not oxidize but that significantly sintered during the APS process. The silver layer reduced the surface where the coating was linked to the substrate, which allowed its debonding, using the classical adhesion test ASTM C633-13, while the direct use of this test (without silver painting) led to ruptures inside the glue used in this test. The numerical modelling, based on the finite element method with the ABAQUS software, provided results in good agreement with the experimental measurements. This concordance validated the used method and allowed accessing to the values of adherence when the experimental test ASTM C633-13 failed, because of ruptures in the glue. After standardization, the “silver print test” might be used for other kinds of deposition methods, such as PVD, CVD, PECVD.     

A two-pronged approach for springback variability assessment using sparse polynomial chaos expansion and multi-level simulations

In this study, we show that stochastic analysis of metal forming process requires both a high precision and low cost numerical models in order to take into account very small perturbations on inputs (physical as well as process parameters) and to allow for numerous repeated analysis in a reasonable time. To this end, an original semi-analytical model dedicated to plain strain deep drawing based on a Bending-Under-Tension numerical model (B-U-T model) is used to accurately predict the influence of small random perturbations around a nominal solution estimated with a full scale Finite Element Model (FEM). We introduce a custom sparse variant of the Polynomial Chaos Expansion (PCE) to model the propagation of uncertainties through this model at low computational cost. Next, we apply this methodology to the deep drawing process of U-shaped metal sheet considering up to 8 random variables.     

Motorcyclists’ speed and “looked-but-failed-to-see” accidents

Previous research on motorcycle crashes has shown the frequency and severity of accidents in which a non-priority road user failed to give way to an approaching motorcyclist without seeing him/her, even though the road user had looked in the approaching motorcycle's direction and the motorcycle was visible. These accidents are usually called “looked-but-failed-to-see” (LBFS) accidents. This article deals with the effects that the motorcyclist's speed has in these accidents. It is based on the in-depth study and precise kinematic reconstruction of 44 accident cases involving a motorcyclist and another road user, all occurring in intersections. The results show that, in urban environments, the initial speeds of motorcyclists involved in “looked-but-failed-to-see” accidents are significantly higher than in other accidents at intersections. In rural environments, the difference in speed between LBFS accidents and other accidents is not significant, but further investigations would be necessary to draw any conclusions. These results suggest that speed management, through road design or by other means, could contribute to preventing “looked-but-failed-to-see” motorcycle accidents, at least in urban environments.     

Numerical verification of the continuous calculation method for tip stress during the driving process of the dynamic penetration test

This paper presents a calculation method for obtaining the continuous variation in stress between the tip and the soil during dynamic penetration tests, particularly in the case of using the Panda 3® penetration testing device. The originality of the method is that the tip stress can be computed continuously throughout the driving process. For each impact of the hammer on the penetrometer, data are recorded by sensors located at the top of the apparatus. Then, the stress at the tip and the displacement of the apparatus are calculated with a method based on the propagation of waves in the device. A three-dimensional numerical model of the penetration test, based on the Panda 3® specifications and using the discrete element method (DEM), is proposed in this paper. The purpose of the simulations is to validate the calculation method by comparing the curves of the tip stress versus the penetration distance obtained in two different ways, the first being the distance directly observed at the tip and the second being the distance calculated from the data recorded at the top of the penetrometer, as with the experimental device. The entire apparatus is represented, including the hammer, the rod, and the tip, and is driven into the model soil. The calculation method is applied, and the results are compared to the actual response of the soil to the driving of the penetrometer directly at the tip, which can be obtained with the numerical model. The responses are found to be very similar, confirming the theoretical framework and its underlying assumptions. This method is applied to dynamic penetration tests and provides the opportunity to obtain mechanical parameters other than the tip resistance from the tests.     

Productivity and mobility in academic research: evidence from mathematicians

Using an exhaustive database on academic publications in mathematics all over the world, we study the patterns of productivity by mathematicians over the period 1984–2006. We uncover some surprising facts, such as the weakness of age related decline in productivity and the relative symmetry of international movements, rejecting the presumption of a massive “brain drain” towards the US. We also analyze the determinants of success by top US departments. In conformity with recent studies in other fields, we find that selection effects are much stronger than local interaction effects: the best departments are most successful in hiring the most promising mathematicians, but not necessarily at stimulating positive externalities among them. Finally we analyze the impact of career choices by mathematicians: mobility almost always pays, but early specialization does not.     

Potential of the crude glycerol and citric acid mixture as a binder in medium-density fiberboard manufacturing

European Journal of Wood and Wood Products - Urea–formaldehyde (UF) resin is the main commercial adhesive used for medium-density fiberboard (MDF) manufacturing. UF resin is used to produce...