A Series-elastic Robot for Back-pain Rehabilitation

This paper addresses the robot-assisted rehabilitation of back pain, an epidemic health problem affecting a large portion of the population. The design is composed of two springs in series connected to an end-effector via a pair of antagonistic cables. The spring and cable arrangement forms an elastic coupling from the actuator to the output shaft. An input-output torque model of the series-elastic mechanism is established and studied numerically. The study also illustrates the variation of the mechanism’s effective stiffness by changing the springs’ position. In addition, we built a prototype of the robotic mechanism and design experiments with a robotic manipulator to experimentally investigate its dynamic characteristics. The experimental results confirm the predicted elasticity between the input motion and the output torque at the end-effector. We also observe an agreement between the data generated by the torque model and data collected from the experiments. An experiment with a full-scale robot and a human subject is carried out to investigate the human-robot interaction and the mechanism behavior.

     

Two-dimensional wave propagation in a micropolar thermo-elastic layer with stretch

This paper deals with the propagation of 2-dimensional waves in a thermo-elastic micropolar solid layer which can stretch and contract. Thermo-elastic Rayleigh wave velocity equation in the micropolar medium with stretch has been deduced from the above theory. The wave velocity equation obtained is in agreement with the classical result of Rayleigh when the layer is unstretched and thermal and micropolar effects are negligibly small.     

Kinetic modelling and microbial community assessment of anaerobic biphasic fixed film bioreactor treating distillery spent wash

Anaerobic digestion, microbial community structure and kinetics were studied in a biphasic continuously fed, upflow anaerobic fixed film reactor treating high strength distillery wastewater. Treatment efficiency of the bioreactor was investigated at different hydraulic retention times (HRT) and organic loading rates (OLR 5-20 kg COD m⁻³ d⁻¹). Applying the modified Stover-Kincannon model to the reactor, the maximum removal rate constant (U_max) and saturation value constant (K_B) were found to be 2 kg m⁻³ d⁻¹ and 1.69 kg m⁻³ d⁻¹ respectively. Bacterial community structures of acidogenic and methanogenic reactors were assessed using culture-independent analyses. Sequencing of 16S rRNA genes exhibited a total of 123 distinct operational taxonomic units (OTUs) comprising 49 from acidogenic reactor and 74 (28 of eubacteria and 46 of archaea) from methanogenic reactor. The findings reveal the role of Lactobacillus sp. (Firmicutes) as dominant acid producing organisms in acidogenic reactor and Methanoculleus sp. (Euryarchaeotes) as foremost methanogens in methanogenic reactor.     

Size selective excitonic transition energies in strongly confined CdSe quantum dots

We report on the synthesis of CdSe nanocrystal quantum dots (QDs) of different radii (R). Size dependent optical properties like increase in the confinement energy with decreasing radius for different excitonic transitions are studied. Different excitonic transitions are calculated from the second derivative of UV-vis absorption spectra of as synthesized CdSe QDs. The transitions are assigned to specific states by calculating the transition energies using effective mass approximation. A close matching of the transition energies with the experiment suggesting that the second derivative of the absorption spectra could provide a direct knowledge of the electronic transition for the direct band gap semiconductor quantum dots.     

Underlying solvent-based factors that influence permanent porosity in porous liquids

Porous liquids(PLs)offer the potential to combine the ready handling and mature industry status of liquid absorbents,with the high permanent porosity of metal o...     

Social‐based reputation‐aware data forwarding for improved multicast delivery in the presence of selfish nodes in DTNs

Delay/disruption tolerant networks (DTNs) are potentially applicable in the challenged scenarios like post‐disaster environments. In such networks, data forwarding generally relies on the mutual cooperation of the nodes. However, in reality, despite the availability of necessary resources for data forwarding, a node could misbehave by dropping messages received from other nodes with whom it has no strong social ties. Such a node is called a socially selfish node, which would cause a poor delivery ratio in the network. In this paper, we aim to address the problem of multicast data forwarding in the presence of such selfish nodes, by means of efficient relay selection in DTNs. First, we define a realistic reputation model, in contrast to existing models, to define the socially selfish/misbehaving nodes in the network. Further, a game‐theoretic analysis is carried out that implies data forwarding cost is also an influential parameter in handling selfishness/misbehavior. Subsequently, the problem is formulated as a constrained optimization problem, which is NP hard. Therefore, a heuristic is proposed by combining the reputation of a node and the cost of message forwarding to appropriately identify relay nodes, thus improve the performance of the multicast message delivery in the network. We utilize a social metric, centrality to minimize the message forwarding cost in terms of the number of relay nodes. Finally, the comparative performance evaluation in ONE simulator with practical scenarios shows the superiority of the proposed scheme over the other prominent schemes.     

Current trends in nano‐technological interventions on plant growth and development: a review

Nanomaterials, recently have found burgeoning attention in the field of agriculture, owing to the positive correlation between nanoparticle (NP) application and the enhanced nutritional status of the applied plants. A wide range of NPs, namely carbon‐based NPs, titanium dioxide NPs, silica NPs etc. has been found to influence plants in a positive way by increasing their nutrient uptake ratio, nutrient usage efficiency, among others. All these attributes have paved the way for possible improvement in plant growth, development, vigour etc. through the use of these NPs, mainly as nanofertiliser. In view of all these, it can also be concluded that in the global scenario of increased demand of food production and supply in the coming years, nanotechnology promises to play a critical role. In this review, an attempt has been made to consolidate all the positive trends with respect to application of NPs on plants, along with their probable mechanism of action, which may provide a comprehensive insight for researchers working in this field.Inspec keywords: reviews, nanoparticles, agriculture, nanotechnology, titanium compounds, crops, nanofabrication, fertilisers, food products, nanobiotechnologyOther keywords: nanotechnological interventions, plant growth, positive correlation, nanoparticle application, enhanced nutritional status, applied plants, carbon‐based NPs, titanium dioxide NPs, silica NPs, influence plants, nutrient uptake ratio, nutrient usage efficiency, positive trends     

Microstructure and electrical characterisations of K-modified PLZT

Potassium-modified PLZT [Pb_0.92(La_{1 – z}K_z)_0.08(Zr_0.60Ti_0.40)_{0.98 + 0.04z}O₃ (z = 0.0, 0.1, 0.3, 0.5, 0.7)] ceramics were synthesised using sol-gel technique. Preliminary structural and microstructural parameters were determined using XRD, SEM and TEM techniques. Detailed studies of dielectric properties at 10 kHz in a wide temperature range suggest that the compounds have diffuse phase transition of second order. Studies of spontaneous polarisation, pyroelectric and piezoelectric properties yielded data for devices.     

Effects of chemical reaction on free convection flow through a porous medium bounded by a vertical surface

The effect of a chemical reaction on a free convection flow through a porous medium bounded by a vertical infinite surface has been studied. Velocity, temperature, and concentration profiles have been obtained for different values of parameters like the Grashof number, Prandtl number, and the chemical reaction parameter in the presence of homogeneous chemical reaction of first order. It is observed that the velocity and concentration increase during a generative reaction and decrease in a destructive reaction. The same is true for the behavior of the fluid temperature. The presence of the porous media diminishes the temperature.     

Molecular recognition of human angiogenin by placental ribonuclease inhibitor--an X-ray crystallographic study at 2.0 A resolution

Human placental RNase inhibitor (hRI), a leucine-rich repeat protein, binds the blood vessel-inducing protein human angiogenin (Ang) with extraordinary affinity (Ki <1 fM). Here we report a 2.0 A resolution crystal structure for the hRI-Ang complex that, together with extensive mutagenesis data from earlier studies, reveals the molecular features of this tight interaction. The hRI-Ang binding interface is large and encompasses 26 residues from hRI and 24 from Ang, recruited from multiple domains of both proteins. However, a substantial fraction of the energetically important contacts involve only a single region of each: the C-terminal segment 434-460 of hRI and the ribonucleolytic active centre of Ang, most notably the catalytic residue Lys40. Although the overall docking of Ang resembles that observed for RNase A in the crystal structure of its complex with the porcine RNase inhibitor, the vast majority of the interactions in the two complexes are distinctive, indicating that the broad specificity of the inhibitor for pancreatic RNase superfamily proteins is based largely on its capacity to recognize features unique to each of them. The implications of these findings for the development of small, hRI-based inhibitors of Ang for therapeutic use are discussed.