Remote-Controlled Ambidextrous Robot Hand Concept

In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients suffering arms or legs injuries, fn this paper, the concept of an ambidextrous design lbr robot hands is introduced. The fingers can curl in one xvay or another, to imitate either a right hand or a left hand. The advantages and inconveniences of different models have been investigated to optimise the range and the maximum force applied by fingers. Besides, a remote control interthce is integrated to the system, allowing both to send comrnands through internet and to display a video streaming of the ambidextrous hand as feedback. Therefore, a robotic prosthesis could be used for the first time in telerehabilitation. The main application areas targeted are physiotherapy alter strokes or management of phantom pains/br amputees by/earning to control the ambidextrous hand. A client application is also accessible on Facehook social network, making the robotic limb easily reachable for the patients. Additionally the ambidextrous hand can be used tbr robotics research as well as artistic performances.     

Robustness with dynamic IQCs: An exact state-space characterization of nominal stability with applications to robust estimation

For robustness analysis with integral quadratic constraints, we formulate a new positivity condition on the solution of the corresponding linear matrix inequality which is necessary and sufficient for nominal stability of the underlying system. The application of this technical result is illustrated by a complete solution of the L₂-gain and robust H₂-estimator design problems if the uncertainties are characterized by dynamic integral quadratic constraints.     

On the design considerations of solid-state power amplifiers for satellite communications: A systems perspective

Conventional solid-state power amplifier (SSPA) design approach isolates radio frequency (RF) design from communication theory. In this paper, a unified SSPA design approach is proposed, which optimizes SSPA parameters (bias voltage and input RF signal power) to minimize total DC power consumption while satisfying received SNR constraint specified by the link budget. The effect of SSPA nonlinearity is quantified by the error vector magnitude measured at its output and the corresponding received SNR degradation is analyzed. Using the quantitative metrics for received SNR, it is possible to evaluate highly nonlinear SSPA classes such as Class-B or deep-Class AB, which are normally not considered in conventional SSPA design approach to be used in satellite communication applications.     

The effect of pre-polymer/cross-linker storage on the elasticity and reliability of PDMS microfluidic devices

Polydimethylsiloxane (PDMS) is a commonly used material in biomedical engineering (Sollier et al. in Lab Chip 11(22):3752–3765, 2011; Palchesko et al. in PLoS ONE 7(12):e51499, 2012; Berthier et al. in Lab Chip 12(7):1224–1237, 2012). Its elastic nature makes PDMS especially attractive for microfluidic large-scale integration (mLSI) technology where micromechanical valves are actuated by deflecting a PDMS membrane under pressure. Therefore, understanding and control of PDMS elastic properties have commercial and scientific significance. In this study, we have investigated the effects of pre-polymer/cross-linker storage conditions on the mechanical properties of cured PDMS films as well as on microfluidic devices. We have showed that when the uncured components of PDMS are exposed to different humidity conditions, the elasticity of the PDMS changes and this is revealed as a change in the Young’s modulus of the cured PDMS. The high humidity (~85%) exposure for 24 h causes PDMS to become softer as confirmed by a significant decrease in the Young’s modulus values from 1.2 to 0.9 MPa. Furthermore, as the PDMS is exposed to high humidity conditions for longer periods (72 h), the Young’s modulus decreases down to 0.7 MPa. We found that exposing only the pre-polymer PDMS (Part A) to humid air does not alter the cured PDMS properties significantly, whereas exposure of the cross-linker (Part B) is responsible for the elasticity change. We have strictly controlled the storage humidity to build more reliable microfluidic chips using mLSI. As a result, actuation pressure of valves (10 psi) and defects of devices (in <30% of chips) are significantly reduced. These results suggest that to improve the manufacturing yield and reliability of PDMS devices, storage humidity should be controlled immediately after the material synthesis.     

Synchronization analysis of coupled Lienard-type oscillators by averaging

Sufficient conditions for the synchronization of coupled Lienard-type oscillators are investigated via averaging technique. The coupling considered here is fixed, nonsymmetric, and nonlinear. Under the assumption that the interconnection topology defines a connected graph, it is shown that the solutions of oscillators converge arbitrarily close to each other, starting from initial conditions arbitrarily far apart, provided that the frequency of oscillations is large enough and the initial phases of oscillators all lie in an open semicircle. It is also shown that the nearly-synchronized oscillations always take place around some fixed magnitude independent of the initial conditions and the coupling functions.     

Molecular mechanism of temporal physico/chemical changes that take place during imidization of polyamic acid: Coupled real-time rheo-optical and IR dichroism measurements

Multiple overlapping physical and chemical changes often take place during casting/drying and imidization from PMDA-ODA polyamic acid precursors from cast solutions. To shed light into details of these complex phenomena, we designed a unique real time measurement system that combines true stress, true strain, in-plane birefringence and temperature with polarized ultra-rapid scan FT-IR spectrometry (URS-FT-IR). At the early stages of heating (21°C–130 °C), initially isotropic solution cast film was observed to develop stress and birefringence as the solvent decomplexed and evaporated without showing any imidization as it was held in uniaxially constrained state. At a temperature around 130 °C, the onset of imidization reaction was detected while the stress went through a maximum. Beyond this stage, the evaporation of bound solvent and chemical conversion was observed to take place simultaneously and this is accompanied by a steady increase in birefringence. As the majority of the bound solvent evaporated, the stress and birefringence values started leveling off at long times.     

Bridging multi-scale approach to consider the effects of local deformations in the analysis of thin-walled members

Thin-walled members that have one dimension relatively large in comparison to the cross-sectional dimensions are usually modelled by using beam-type one-dimensional finite elements. Beam-type elements, however, are based on the assumption of rigid cross-section, thus they only allow considerations associated with the beam axis behaviour such as flexural-, torsional- or lateral-buckling and cannot consider the effects of local deformations such as flange local buckling or distortional buckling. In order to capture the local effects of this type shell-type finite element models can be used. Based on the Bridging multi-scale approach, this study proposes a numerical technique that is able to split the global analysis, which is performed by using simple beam-type elements, from the local analysis which is based on more sophisticated shell-type elements. As a result, the proposed multi-scale method allows the usage of shell elements in a local region to incorporate the local deformation effects on the overall behaviour of thin-walled members without necessitating a shell-type model for the whole member. Comparisons with full shell-type analysis are provided in order to illustrate the efficiency of the method developed herein.     

Influence of doctor blade gap on the properties of tape cast NiO/YSZ anode supports for solid oxide fuel cells

In this study, various tape cast NiO/YSZ anode support layers with similar geometric properties are fabricated by varying the doctor blade from 100?µm to 200?µm with an increment of 25?µm. The mechanical properties of the anode support layers are investigated by three point bending tests of 30 samples for each doctor blade gap. The reliability curves of the flexural strength data are also obtained via two-parameter Weibull distribution method. The effects of the doctor blade gap on the microstructure and the electrochemical performance of the anode support layers are determined via SEM investigations and single cell performance-impedance tests, respectively. The apparent porosities of the samples are also measured by Archimedes’ principle. The results indicate that the doctor blade gap or the resultant tape thickness influences the microstructure of tape cast NiO/YSZ anode supports significantly, yielding different mechanical and electrochemical characteristics. At a reliability level of 70%, the highest flexural strength of 110.20?MPa is obtained from the anode support layer with a doctor blade gap of 175?µm and the 16?cm² active area cell with this anode support layer also exhibits the highest peak performance of 0.483?W/cm² at an operating temperature of 800?°C. Thus, a doctor blade gap of 175?µm is found to have such a microstructure that provides not only better mechanical strength but also higher electrochemical performance.     

Optimal throughput performance in full-duplex relay assisted cognitive networks

Wireless Networks - In this paper, we study a full-duplex cooperative cognitive radio network with multiple full-duplex secondary users acting as potential relays for transmitting the packets of a...