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.

     

Swirl effects on harmonically excited,premixed flame kinematics

This paper describes the response of a swirling premixed flame with constant burning velocity to non-axisymmetric harmonic excitation. This work extends prior studies of axisymmetric forcing, which have shown that wrinkles are excited on the flame that propagate downstream along the mean flame surface at a speed given by U_o cos ψ, where U_o is the mean flow velocity and ψ is the flame angle. The swirl component in the flow field introduces an azimuthal transport mechanism for disturbances on the flame. As such, the flame response at any given position is a superposition of flame wrinkles excited at earlier times, upstream axial locations, and different azimuthal positions. These swirl transport effects do not arise in problems where axisymmetric flames are subjected to axisymmetric excitation, but enter quite prominently in the presence of non-axisymmetries, such as when the flame is subjected to transverse excitation. The solution characteristics are strongly dependent upon the ratio of angular rotation rate to excitation frequency, denoted by σ = Ω/ω, which describes the fraction of azimuthal rotation a disturbance makes in one acoustic period. When σ ? 1 and σ ? 1, the axial wavelength of flame wrinkles scales with the convective wavelength, λ_c, but becomes much longer for σ ～ O(1). The spatial variation in phase of flame wrinkling is also strongly dependent upon σ. Regardless of swirl number, flame wrinkles propagate in helical spirals along the solution characteristics at a phase speed equal to the local tangential velocity. The axial phase characteristics of flame wrinkling at a fixed azimuthal location, as would be measured by laser sheet imaging, are much more complex. For σ < 1, the wrinkles exhibit the familiar negative roll-off character for the phase with axial downstream distance, indicative of an axially convecting disturbance. The slope of this phase roll-off decreases with increasing σ, however, and becomes zero at σ = 1 for a compact flame. For σ > 1, the wrinkles actually have a positive roll-off character for the phase with axial downstream distance, indicating a flame wrinkle with a negative trace velocity, but whose actual propagation velocity is positive. Finally, these results show that while the flame response to transverse acoustic excitation is quite strong locally, its spatially integrated effect is much smaller for acoustically compact flames. This suggests that the dominant mechanism through which the flame responds globally to transverse excitation is the induced vortical and longitudinal acoustic fluctuations.     

Structural characterizations of diglycerol monomyristate reverse micelles in aromatic solvent ethylbenzene

Using small-angle X-ray scattering (SAXS) we have investigated the shape and size of diglycerol monomyristate (designated as C14G2) nonionic surfactant reverse micelles in aromatic solvent ethylbenzene as a function of surfactant concentration, temperature, and water. When C14G2 is added into ethylbenzene globular type reverse micelles with maximum core diameter ca. 4.5 nm are formed under ambient conditions. The micellar structure (shape and size) did not change with the surfactant concentration. However, an increase in temperature decreased the micellar size due to an increase in the critical packing parameter (cpp). Surfactant becomes more lipophilic upon heating and the micellar curvature tends to become more negative at higher temperature. Addition of a small amount of water caused a significant micellar growth. For instance, incorporation of 0.3% water in the 5% C14G2/ethylbenzene system resulted in the formation of 2.1 time bigger micelles with a small water pool in the micellar core. Besides the micellar shape is modified into an ellipsoidal prolate, whose scenario can be understood in terms of hydration of the surfactant's headgroup. Hydration decreases the cpp and favors micellar growth. An increase of temperature of a water incorporated system decreased the micellar size due to dehydration, which is equivalent to rod-to-sphere type transition.     

Metal coated and nanofiller doped polycarbonate membrane for hydrogen transport

The modification in the polymeric membrane combined with metallic film as well as composites with inorganic nanofiller can be used for separation of various gases, with hydrogen gas as it is widely used as fuel material. The change in free volume due to modification in polymer chains alters the transport mechanism. In this work, the transport behaviour of H₂ across the different metal coated and nanocomposite membrane has been studied and compared with that of standard polycarbonate membrane. Transport properties changes due to the modification in the composition of nanofiller. A PtPd alloy thin film and iridium thin film of around 8–10 nm was coated on polycarbonate substrate using sputtering technique to make layered polymer nanocomposite membrane. Moreover, SiO₂ nanocomposites with 10 wt% and 15 wt % were prepared by solution casting method and the uniform dispersion of silica nanoparticles was obtained by sonication before casting the membrane. Further, the tests were carried at constant upstream pressure 30 psi and at constant temperature 35 °C using constant volume/variable pressure method.     

Natural convection in a cavity with undulated walls filled with water-based non-Newtonian power-law CuO–water nanofluid under the influence of the external magnetic field

Natural convection heat transfer in a square cavity (with wavy or plane wall) filled with non-Newtonian power-law nanofluid has been elucidated for several input parameters like Ra spanning from 10⁵ to 10⁶, power-law index (n) from 0.6 to 1.4, and volume fraction of CuO nanoparticles (?) from to 0 to 0.12. Effect of external magnetic field on heat transfer has been illustrated by varying the Ha from 0 to 90. In the present study, our main objective is to explore the effect of nanoparticles on heat transfer enhancement in non-Newtonian power-law fluid. It is found that the addition of nanoparticles (?) to shear thinning fluid enhances the heat transfer approximately 15% when ? increases from 0 to 0.12 for Ha less than 60 at all Ra. For a shear thickening fluid, the same thing happens for all Ha at any Ra. The average surface Nusselt number for a cavity with wavy wall is less than that of a plane wall for all cases which is not true for the case of local Nusselt number.     

Completely automated multiresolution edge snapper--a new technique for an accurate carotid ultrasound IMT measurement: clinical validation and benchmarking on a multi-institutional database

The aim of this paper is to describe a novel and completely automated technique for carotid artery (CA) recognition, far (distal) wall segmentation, and intima-media thickness (IMT) measurement, which is a strong clinical tool for risk assessment for cardiovascular diseases. The architecture of completely automated multiresolution edge snapper (CAMES) consists of the following two stages: 1) automated CA recognition based on a combination of scale-space and statistical classification in a multiresolution framework and 2) automated segmentation of lumen-intima (LI) and media-adventitia (MA) interfaces for the far (distal) wall and IMT measurement. Our database of 365 B-mode longitudinal carotid images is taken from four different institutions covering different ethnic backgrounds. The ground-truth (GT) database was the average manual segmentation from three clinical experts. The mean distance ± standard deviation of CAMES with respect to GT profiles for LI and MA interfaces were 0.081 ± 0.099 and 0.082 ± 0.197 mm, respectively. The IMT measurement error between CAMES and GT was 0.078 ± 0.112 mm. CAMES was benchmarked against a previously developed automated technique based on an integrated approach using feature-based extraction and classifier (CALEX). Although CAMES underestimated the IMT value, it had shown a strong improvement in segmentation errors against CALEX for LI and MA interfaces by 8% and 42%, respectively. The overall IMT measurement bias for CAMES improved by 36% against CALEX. Finally, this paper demonstrated that the figure-of-merit of CAMES was 95.8% compared with 87.4% for CALEX. The combination of multiresolution CA recognition and far-wall segmentation led to an automated, low-complexity, real-time, and accurate technique for carotid IMT measurement. Validation on a multiethnic/multi-institutional data set demonstrated the robustness of the technique, which can constitute a clinically valid IMT measurement for assistance in atherosclerosis disease management.