Mechanical principles of dynamic terrestrial self-righting using wings

Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects. Inspired by the winged discoid cockroach, we designed a new robot that opens its wings to self-right by pushing against the ground. We used this robot to systematically test how self-righting performance depends on wing opening magnitude, speed, and asymmetry, and modeled how kinematic and energetic requirements depend on wing shape and body/wing mass distribution. We discovered that the robot self-rights dynamically using kinetic energy to overcome potential energy barriers, that larger and faster symmetric wing opening increases self-righting performance, and that opening wings asymmetrically increases righting probability when wing opening is small. Our results suggested that the discoid cockroach’s winged self-righting is a dynamic maneuver. While the thin, lightweight wings of the discoid cockroach and our robot are energetically sub-optimal for self-righting compared to tall, heavy ones, their ability to open wings saves them substantial energy compared to if they had static shells. Analogous to biological exaptations, our study provided a proof-of-concept for terrestrial robots to use existing morphology in novel ways to overcome new locomotor challenges.     

Oligosaccharide model of the vascular endothelial glycocalyx in physiological flow

Experiments have consistently revealed the pivotal role of the endothelial glycocalyx layer in vasoregulation and the layer’s contribution to mechanotransduction pathways. However, the exact mechanism by which the glycocalyx mediates fluid shear stress remains elusive. This study employs atomic-scale molecular simulations with the aim of investigating the conformational and orientation properties of highly flexible oligosaccharide components of the glycocalyx and their suitability as transduction molecules under hydrodynamic loading. Fluid flow was shown to have nearly no effect on the conformation populations explored by the oligosaccharide, in comparison with static (diffusion) conditions. However, the glycan exhibited a significant orientation change, when compared to simple diffusion, aligning itself with the flow direction. It is the tethered end of the glycan, an asparagine amino acid, which experienced conformational changes as a result of this flow-induced bias. Our results suggest that shear flow through the layer can have an impact on the conformational properties of saccharide-decorated transmembrane proteins, thus acting as a mechanosensor.     

Underground adaptations: case studies from health care

Clinical work is accomplished by complex, highly distributed, joint cognitive systems, and involves high levels of uncertainty and ambiguity. Hospital emergency departments (EDs) in particular must adapt to uncertainty, ambiguity and change on a variety of different temporal scales. Many of these adaptations are unofficial, in part because they cannot be specified in advance and because the official models of healthcare work do not include or acknowledge them. This paper presents two case studies of reactive adaptation within the ED setting and uses these to explore their implications for cognitive engineering and design.     

Long-term viable bioaerosol sampling using a temperature- and humidity-controlled filtration apparatus,a laboratory investigation using culturable E. coli.

Sampling for culturable (e.g., viable) aerosolized microbes (bioaerosols) is a useful means to provide information for public health monitoring and studies. However, it is challenging to maintain microbe culturability when sampling at high flow rates (>12 L/min) and extended periods of time (≥4 h). We developed a first-generation, viable bioaerosol collection system (VBCS) utilizing temperature (T) and relative humidity (RH)–conditioned filtration at a flow rate of 25 L/min. A two-stage system of tube-in-shell Nafion? exchange units provides cooling to ≤10°C and RH conditioning to 80–95%. Aerosol particles are collected on a polyurethane nanofiber filter providing a physical collection efficiency of >95% for sizes 0.06–10 µm. The T and RH conditions at the collection filter are maintained, despite changes to ambient conditions. The initial testing of the VBCS was done under indoor, laboratory conditions with aerosolized, vegetative E. coli. A scenario of a 30-min challenge of bioaerosol followed by continued sampling of clean air for various times was used to judge culturability maintenance under extended-term sampling. An initial loss of culturability upon collection onto the filter was observed; 23 ± 13% relative to 4-mm all-glass impinger. However once collected, 98% of culturability was maintained for an additional 4.5 h of sampling. An exponential decay in culturability was observed from 8 h to 15 h of sampling. Also, 24-h cold storage of the filters collected was studied. The VBCS is based on the use of dry filter cassettes, needs minimal maintenance, and preserves culturability of vegetative bacteria for >4 h.

© 2017 RTI International and Aerosol Dynamics Inc.     

Selective decomposition of isopropanol using as prepared and oxidized graphite nanofibers

Three types of as prepared and treated graphite nanofibers (GNFs) were used as catalysts in the decomposition of isopropanol to propene and acetone in the presence of oxygen to evaluate the surface chemistry of the fibers. As prepared herringbone fibers were found to produce higher selectivity for propene compared to the as prepared platelet and ribbon fibers at all temperatures explored. Herringbone fibers that had undergone oxidative treatment with nitric acid, phosphoric acid, ruthenium tetroxide or potassium permanganate were also evaluated at a 290 °C. Effects of oxidation treatments on fiber structure were evaluated using a host of analytical techniques including BET, SEM/EDS, TGA, XPS, and fluorescence labeling of surface species. Selectivity for acetone dehydrogenation product or propene dehydration product could be achieved by the appropriate surface treatment. Nitric acid was the mildest treatment and the treated fibers showed minimal changes. (Potassium permanganate was a harsh treatment that almost completely degraded fiber structure, creating amorphous carbon.) Phosphoric acid treated fibers were found to produce very high conversions and almost pure selectivity for propene. Ruthenium tetroxide did not appear to have a large affect on fiber morphology; however, selectivity for acetone was much higher when GNFs were treated with ruthenium tetroxide.     

CIGI2011: A heuristic method for resource-constrained project scheduling with activity overlapping

The overlapping of activities is a common practice to accelerate the execution of engineering projects. This technique consists in executing in parallel two activities, normally executed in a sequential way, by allowing the downstream activity to start before the end of the upstream activity based on preliminary information. In this paper, we propose a constructive heuristic for the resource-constrained project scheduling problem with overlapping modes (RCPSP-OM). Given a set of activities to execute, the RCPSP-OM consists in determining the order of execution in time of a set of activities so as to minimize the total project duration, while respecting precedence relations, resource constraints and overlapping possibilities. The heuristic implies that rework tasks related to overlapping are added to downstream activities and that the consumption of the resources is constant throughout the execution of the project (including rework). The method also considers that the possible overlapping modes for every couple of activities and the duration of rework tasks associated with every mode are known in advance. Results show that, when the objective consists in minimizing the project duration, the consideration of the costs associated to activity overlapping allows to significantly reducing the cost of reworks. On the other hand, when the objective consists in maximizing the gains related to the project execution, the search for the best trade-off between acceleration and increase of project costs enables to avoid losses.     

Synthesis of polymer membranes of different porosity and their application for phenol removal from liquid phase

Preparation of polymeric membranes based on polyethersulfone (PES) modified by adding different amounts of a pore-forming agent (PVP) is presented, and potential application of the membranes obtained for removal of phenol from the liquid phase is examined. The addition of various amounts of PVP has been shown to bring about changes in the content of the surface oxygen groups, but has no significant effect on the chemical character of the groups and acidic groups dominate. Filtration by phenol solution leads to significant changes in the total content of surface oxides; however, the acidic groups remain dominant. Membranes characterized by higher porosity exhibited more stable and higher rejection ratio for phenol removal. Although all the membranes were characterized by similar rejection ratios for phenol removal, the cake resistance (Rc) and pore resistance (Rp) values were found to depend significantly on the structure and porosity of the membrane applied for filtration.     

An accelerated first-order method for solving SOS relaxations of unconstrained polynomial optimization problems

Our interest lies in solving sum of squares (SOS) relaxations of large-scale unconstrained polynomial optimization problems. Because interior-point methods for solving these problems are severely limited by the large-scale, we are motivated to explore efficient implementations of an accelerated first-order method to solve this class of problems. By exploiting special structural properties of this problem class, we greatly reduce the computational cost of the first-order method at each iteration. We report promising computational results as well as a curious observation about the behaviour of the first-order method for the SOS relaxations of the unconstrained polynomial optimization problem.     

Improving Productivity in Systems Development

Abstract

Marty Nemzow is engaged in a variety of business activities. His company, Network Performance Institute (Miami, FL) provides enterprise network design and improvement consulting services, markets capacity planning and business continuity and network resource management tools to the industry, and develops and markets shrink-wrapped network configuration software tools to big companies and consulting firms. A graduate of Brown University and Harvard Graduate School of Business, Marty also sells books, software and medical products over the Internet and is a columnist for WebServer Online Magazine at http://webserver.cpg.com.