Formulation of dynamics,actuation, and inversion of a three‐dimensional two‐link rigid body system

In this paper, three issues related to three‐dimensional multilink rigid body systems are considered: dynamics, actuation, and inversion. Based on the Newton‐Euler equations, a state space formulation of the dynamics is discussed that renders itself to inclusion of actuators, and allows systematic ways of stabilization and construction of inverse systems. The development here is relevant to robotic systems, biological modeling, humanoid studies, and collaborating man‐machine systems. The recursive dynamic formulation involves a method for sequential measurement and estimation of joint forces and couples for an open chain system. The sequence can start from top downwards or from the ground upwards. Three‐dimensional actuators that produce couples at the joints are included in the dynamics. Inverse methods that allow estimation of these couples from the kinematic trajectories and physical parameters of the system are developed. The formulation and derivations are carried out for a two‐link system. Digital computer simulations of a two‐rigid body system are presented to demonstrate the feasibility and effectiveness of the methods. © 2005 Wiley Periodicals, Inc.     

Sensor fusion by pseudo information measure: a mobile robot application

In any autonomous mobile robot, one of the most important issues to be designed and implemented is environment perception. In this paper, a new approach is formulated in order to perform sensory data integration for generation of an occupancy grid map of the environment. This method is an extended version of the Bayesian fusion method for independent sources of information. The performance of the proposed method of fusion and its sensitivity are discussed. Map building simulation for a cylindrical robot with eight ultrasonic sensors and mapping implementation for a Khepera robot have been separately tried in simulation and experimental works. A new neural structure is introduced for conversion of proximity data that are given by Khepera IR sensors to occupancy probabilities. Path planning experiments have also been applied to the resulting maps. For each map, two factors are considered and calculated: the fitness and the augmented occupancy of the map with respect to the ideal map. The length and the least distance to obstacles were the other two factors that were calculated for the routes that are resulted by path planning experiments. Experimental and simulation results show that by using the new fusion formulas, more informative maps of the environment are obtained. By these maps more appropriate routes could be achieved. Actually, there is a tradeoff between the length of the resulting routes and their safety and by choosing the proper fusion function, this tradeoff is suitably tuned for different map building applications.     

Operating Environment-Based Availability Importance Measures for Mining Equipment (Case Study: Sungun Copper Mine)

When a system’s performance is inadequate, the concept of availability importance can be used to improve it. The availability of an item depends on the combined aspects of its reliability and maintainability. In a system consisting of many subsystems, the availability of some subsystems is more important to system performance than others. The availability measure determines the priority of availability across subsystems. Most researchers only consider operation time and ignore the influence of the operating environment; therefore, their estimations are not accurate enough. In contrast to previous research, we focus on the influence of the operating environment on the system/subsystem’s characteristics with a view to prioritizing them based on the importance of availability. The paper considers part of the mining fleet system of Sungun copper mine, including the wagon drill, loader, bulldozer, and dump truck subsystems. We identify an ordered list of possibilities for availability improvement and suggest changes or remedial actions for each item to either reduce its failure rate or reduce the time required to repair it.     

The influence of different single dietary sources on moult induction in laying hens

An investigation was carried out to assess the possibility of using single dietary sources as alternatives to feed deprivation for the induction of moult in commercial laying hens. The study involved six dietary groups of 29 laying hens: unmoulted, dried tomato pomace, alfalfa meal, rice bran, cumin seed meal and feed withdrawal. The birds received the above diets during the moulting period (11 days), and body weight loss and ovary weight regression were measured. Post‐moult production parameters (number of eggs produced per hen per day, egg weight, shell weight, yolk colour and Haugh unit) were measured for 12 weeks. Results showed that all dietary sources were as effective as feed withdrawal in causing ovary weight regression in birds. Birds provided with tomato pomace or alfalfa showed lower weight losses than feed‐deprived birds at the end of the moulting period. Hens moulted by tomato pomace or alfalfa exhibited post‐moult levels of egg production over a 12 week period that were superior to those of hens moulted by feed withdrawal. Post‐moult eggs laid by hens moulted by all dietary sources were of comparable quality to eggs from feed‐deprived hens and superior to those from unmoulted hens. As fibrous feeds with low metabolisable energy and an appreciable amount of protein, dried tomato pomace and alfalfa meal may be fed to hens on an ad libitum basis for effective moult induction while reducing the stress of severe starvation and retaining comparable egg quality and production. Copyright © 2007 Society of Chemical Industry     

A selective modified bentonite–porphyrin carbon paste electrode for determination of Mn(II) by using anodic stripping voltammetry

A novel voltammetric sensor based on chemically modified bentonite–porphyrin carbon paste electrode (MBPCE) has been introduced for the determination of trace amount of Mn(II) in wheat flour, wheat rice and vegetables. In this method Mn(II) gives well-defined voltammetric peak at the pH range of 3.5–7.5. For the preliminary screening purpose, the catalyst was prepared by modification of bentonite with porphyrin and characterized by thermogravimetric method (TG) and UV–vis spectroscopy. The detection limit (three times signal-to-noise) with 4 min accumulation is 1.07 × 10⁻⁷ mol L⁻¹ Mn(II). The peak currents increases linearly with Mn(II) concentration over the range of 6.0 × 10⁻⁷ to 5.0 × 10⁻⁴ mol L⁻¹ (r² = 0.9959). Statistical treatment of the results gave a relative standard deviation lower than 2.30%. The chemical and instrumental parameters have been optimized and the results showed that 1000-fold excess of the additive ions had not interferences on the determination of Mn(II).     

A discrete spectral analysis for determining quasi-linear viscoelastic properties of biological materials

The viscoelastic behaviour of a biological material is central to its functioning and is an indicator of its health. The Fung quasi-linear viscoelastic (QLV) model, a standard tool for characterizing biological materials, provides excellent fits to most stress–relaxation data by imposing a simple form upon a material''s temporal relaxation spectrum. However, model identification is challenging because the Fung QLV model''s ‘box’-shaped relaxation spectrum, predominant in biomechanics applications, can provide an excellent fit even when it is not a reasonable representation of a material''s relaxation spectrum. Here, we present a robust and simple discrete approach for identifying a material''s temporal relaxation spectrum from stress–relaxation data in an unbiased way. Our ‘discrete QLV’ (DQLV) approach identifies ranges of time constants over which the Fung QLV model''s typical box spectrum provides an accurate representation of a particular material''s temporal relaxation spectrum, and is effective at providing a fit to this model. The DQLV spectrum also reveals when other forms or discrete time constants are more suitable than a box spectrum. After validating the approach against idealized and noisy data, we applied the methods to analyse medial collateral ligament stress–relaxation data and identify the strengths and weaknesses of an optimal Fung QLV fit.     

Radios for next-generation wireless networks

Next-generation wireless networks will support a wide range of data rates over several frequency bands and require adaptive and programmable system resources. Radio transceivers used in these wireless networks will incorporate self-calibration and full programmability to support their high performance and adaptivity. Low power designs at the circuit architectural, and overall system levels will enable longer battery life for portable devices. Many additional challenges exist in implementing high data rate programmable orthogonal frequency division multiplexing (OFDM) multiple-input/multiple-output (MIMO) radio transceivers that cover different frequency bands, maintain low current consumption, and are low cost. This article is an examination of the challenges in implementing high data rate programmable orthogonal frequency division multiplexing multiple-input/multiple-output radio transceivers that cover different frequency bands, maintain low current consumption, and are low cost.     

Magnetic Fe3O4@ polydopamine biopolymer: Synthesis,characterization and fabrication of promising nanocomposite

In this work, Functional Fe₃O₄@ polydopamine nanocomposite (Fe₃O₄@PDA) with magnetic response and special surface area were successfully assembled utilizing the strong coordination interactions between these two versatile materials. The morphology and size, crystal structure, specific saturation magnetization, chemical structure, and thermal properties were characterized by transmission electron microscopy (TEM), X‐ray diffraction (XRD), vibration magnetometer (VSM), point of zero charge (pH_pzc), Fourier infrared (FT‐IR) and thermogravimetric analysis (TGA). The self‐polymerization of dopamine could be completed within 3 days, and Fe₃O₄ nanoparticles were embedded into PDA polymer. TGA results showed that PDA content of nanocomposite can be up to 51.7 wt% and also showed a significant decrease in the decomposition temperature of PDA from 530 to 270°C in the presence of the Fe₃O₄ nanoparticles. Through TGA analysis the coating thickness was estimated to be about 0.86 nm that it is well coincident with the measured values using TEM images and XRD analysis. At room temperature by vibrating sample magnetometer (VSM), Fe₃O₄ and Fe₃O₄@PDA exhibit superparamagnetic behavior with a saturation moment of 57.87 and 44.7 emu/g, respectively. Furthermore, PZC value reduced for Fe₃O₄@PDA compared with Fe₃O₄ nanoparticles and fell from 6.7 to 3.04. J. VINYL ADDIT. TECHNOL., 25:41–47, 2019. © 2018 Society of Plastics Engineers     

Simple preparation and characterization of molecularly imprinted nylon 6 nanofibers for the extraction of bisphenol A from wastewater

Nylon 6 nanofibers incorporated with molecularly imprinted polymers (MIPs) were successfully fabricated by electrospinning with fiber diameters in the range 80–145 nm. Then, they were used as a new material for the extraction of selected bisphenol A (BPA) in water samples. Field emission scanning electron microscopy images revealed that the nanofibers had a smooth morphology with a good incorporation of MIPs. The Fourier transform infrared and energy-dispersive X-ray spectroscopy results also confirmed the formation of the MIPs in the nanofibers. Furthermore, Raman spectroscopy showed that the crystalline structure of the pristine nylon 6 nanofiber was a kind of α form, and the incorporation of MIPs led to a γ-form structure in the nanofibers; this proved the interactions between nylon 6 and the MIPs. Adsorption studies also confirmed that the adsorption efficiency of BPA onto the molecularly imprinted polymer nanofibers (MIP-NFs; 83.5%) was much greater than that onto nonimprinted polymer nanofibers (NIP-NFs; 36.8%). Also, the imprinting factor was 3.4; this strongly implied the successful formation of molecularly imprinted cavities on the MIP-NFs with a strong affinity to BPA. The maximum adsorption capacity of the MIP-NFs was 103.8 mg/g. © 2018 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47112.     

Synthesis of polymeric electrospun nanofibers for application in waterproof‐breathable fabrics

This study focuses waterproof‐breathable fabric development by applying electrospun web of polyurethane (PU), PAN, and PES directly onto the substrate fabric. Advantages of textile fabrics of elastomeric nanofibrous membranes over gortex specimen are the mass production feasibility, high elastomeric properties, more body comfort parameters, and fabric production without holes and needle traces formation. In this work, we identified the PU nanofibrous membrane as the best and useful web for application in waterproof‐breathable fabrics. Air permeability, water vapor transport rate, and resistance to water penetration average value for the prepared PU fibers web (sample of S1) were about 10 ml/s, 430 g/m²/24 h, 15 cm H₂O. To improve waterproof‐breathable characteristics of the membrane, the effects of electrospinning parameters on the fibers morphology and waterproof‐breathable characteristics were investigated. PU concentration of 12% (w/w) and electrospinning voltage of 12 kV were identified as optimal conditions to reach uniform and fine PU nanofibers formation without any beads. Air permeability, water vapor transport rate, and resistance to water penetration average value for the final sample were recorded as about 2.5 ml/s, 840 g/m²/24 h, and 44 cm H₂O, correspondingly. POLYM. ENG. SCI. 56:143–149, 2016. © 2015 Society of Plastics Engineers