Dynamic modeling and CPG-based trajectory generation for a masticatory rehab robot

Human mastication is a complex and rhythmic biomechanical process which is regulated by a brain stem central pattern generator (CPG). Masticatory patterns, frequency and amplitude of mastication are different from person to person and significantly depend on food properties. The central nervous system controls the activity of muscles to produce smooth transitions between different movements. Therefore, to rehab human mandibular system, there is a real need to use the concept of CPG for development of a new methodology in jaw exercises and to help jaw movements recovery. This paper proposes a novel method for real-time trajectory generation of a mastication rehab robot. The proposed method combines several methods and concepts including kinematics, dynamics, trajectory generation and CPG. The purpose of this article is to provide a methodology to enable physiotherapists to perform the human jaw rehabilitation. In this paper, the robotic setup includes two Gough–Stewart platforms. The first platform is used as the rehab robot, while the second one is used to model the human jaw system. Once the modeling is completed, the second robot will be replaced by an actual patient for the selected physiotherapy. Gibbs–Appell’s formulation is used to obtain the dynamics equations of the rehab robot. Then, a method based on the Fourier series is employed to tune parameters of the CPG. It is shown that changes in leg lengths, due to the online changes of the mastication parameters, occur in a smooth and continuous manner. The key feature of the proposed method, when applied to human mastication, is its ability to adapt to the environment and change the chewing pattern in real-time parameters, such as amplitudes as well as jaw movements velocity during mastication.     

Controller Design Based On Wavelet Neural Adaptive Proportional Plus Conventional Integral-Derivative For Bilateral Teleoperation Systems With Time-Varying Parameters

International Journal of Control, Automation and Systems - In this study, a new controller method based on wavelet neural adaptive proportional plus conventional integral-derivative (WNAP+ID)...     

Chemical Looping Steam Methane Reforming via Ni-ferrite Supported on Cerium and Zirconium Oxides

Pure hydrogen was produced by means of chemical looping steam methane reforming with novel oxygen carriers. Ni-ferrite, Ni-ferrite-ZrO₂, and Ni-ferrite-CeO₂ were synthesized as oxygen carriers and characterized by X-ray diffraction (XRD), Brunauer-Emmett-Teller (BET) method, scanning electron microscopy (SEM), dynamic light scattering (DLS), and hydrogen temperature-programmed reduction (H₂-TPR). The performances of the as-synthesized oxygen carriers in the cyclic oxidation-reduction were investigated in the packed-bed microreactor at a defined temperature range and under atmospheric pressure. Ni_0.39Fe_2.61O₄-ZrO₂ exhibited the best performance and maximum methane conversion among the other oxygen carriers. In addition, high selectivities for H₂ and CO were reached.     

Experimental measurement and correlation of solubility of β-carotene in pure and ethanol-modified subcritical water

For the first time, the solubility of β-carotene in pure and ethanol-modified subcritical water (SW) using the static method was determined. The experimental runs were performed at a temperature ranging from 298.15 to 403.15 K and 0–10% (w/w) of ethanol as a modifier at a constant pressure of 5 MPa. Samples were analyzed by UV–vis spectrophotometer. The solubility of β-carotene was found to range from 1.084 × 10⁻⁸ to 227.1 × 10⁻⁸ mol fractions in the subcritical water in above mentioned conditions. The obtained β-carotene solubility data were correlated using the linear model and modified Apelblat model. The obtained results showed the modified Apelblat model was better for estimating the solubility of β-carotene in SW. The values of the root-mean-square deviation (RMSD) between experimental and correlated data were calculated and used as the index of validity and accuracy for the model. Also, thermodynamic properties of the solution such as the Gibbs free energy of solution, enthalpy, and entropy of solution were estimated.     

Strain‐rate‐dependent mechanical properties of polypropylene separator for lithium‐ion batteries

The mechanical integrity of battery separators is critical for battery safety and durability. A comprehensive study of strain‐rate‐dependent tensile and puncture properties of a polypropylene lithium‐ion battery separator is presented here with a new model. Due to anisotropy of the polymeric membrane, tensile testing was conducted for different directions. Results showed that tensile strength and elastic modulus were increased 1000% and 500%, respectively, for different directions. It was also demonstrated that tensile strength changed 10 to 25% with strain rate (1.67 × 10^?4 to 1.67 × 10^?1 s^?1) for different directions. An equation was obtained for the first time for flow stress versus strain rate at varied tensile directions with respect to machine direction. Moreover, puncture testing was performed and it was shown that puncture strength was increased 140% with increasing strain rate from 0.25 to 250 mm min^?1. Two failure modes were also observed in puncture samples. Finally, Eyring's model was used to calculate activation enthalpy of the porous polypropylene separator. © 2020 Society of Chemical Industry     

Measuring experiential qualities of urban public spaces: users’ perspective

This paper presents an index for measuring experiential qualities (EQs) of urban public spaces through users’ perspective. The index is underpinned by interrelated qualities of comfort, diversity and vitality, inclusiveness, and image and likeability. It is then applied to two public spaces in the Australian city of Brisbane: Queen Street Mall and South Bank Parklands. The index extends the user-centred measuring tools and can be used by practitioners, authorities and scholars to highlight users’ needs and concerns. Findings from case spaces revealed deficiencies and provided a deeper insight into EQs through integrating urban design qualities, perception and management measuring items.     

Feasibility study of utilization of commercially available polyurethane resins to develop non-biocidal wood preservation treatments

Evaluation of commercially available polyurethane resins used up to now for coating applications to develop non-biocidal wood preservation treatments has been conducted. A simple method of vacuum impregnation of these resins into beech wood (Fagus sylvatica L.) and pine wood (Pinus sylvestris L.) samples followed by varied curing processes at ambient temperature, 103, and 200 °C has been performed. Based on the analysis of weight percent gain before and after leaching, treatment resistance to leaching, anti-swelling efficiency, wettability and decay durability measured for treated and untreated blocks after leaching with the white-rot fungus Coriolus versicolor for both wood species and the brown-rot fungi Poria placenta and Gloeophyllum trabeum for pine wood, it can be concluded that such treatment can be considered as potential valuable non-biocidal treatments.     

Pack Cementation Coatings for High-Temperature Oxidation Resistance of AISI 304 Stainless Steel

Aluminum and titanium are deposited on the surface of steel by the pack cementation method to improve its hot-corrosion and high-temperature oxidation resistance. In this research, coatings of aluminum and titanium and a two-step coating of aluminum and titanium were applied on an AISI 304 stainless steel substrate. The coating layers were examined by carrying out scanning electron microscopy (SEM) and x-ray diffraction (XRD). The SEM results showed that the aluminized coating consisted of two layers with a thickness of 450???m each, the titanized coating consisted of two layers with a thickness of 100???m each, and the two-step coatings of Al and Ti consisted of three layers with a thickness of 200???m each. The XRD investigation of the coatings showed that the aluminized coating consisted of Al₂O₃, AlCr₂, FeAl, and Fe₃Al phases; the titanized layers contained TiO₂, Ni₃Ti, FeNi, and Fe₂TiO₅ phases; and the two-step coating contained AlNi, Ti₃Al, and FeAl phases. The uncoated and coated specimens were subjected to isothermal oxidation at 1050?°C for 100?h. The oxidation results revealed that the application of a coating layer increased the oxidation resistance of the coated AISI 304 samples as opposed to the uncoated ones.     

转速对6061-T6铝合金搅拌摩擦搭接焊接头力学性能的影响(英文)

采用场发射扫描电子显微镜(FE-SEM),研究转速对厚度为5 mm的6061-T6铝合金搅拌摩擦搭接焊接头的宏观和微观组织、硬度、搭接头剪切性能和失效模式的影响。结果表明:在最低的转速度下,上模板和下模板具有十分相似的硬度分布。采用EDX分析发现,焊核区的断裂面中含有Fe的化合物。     

An Insight View on Synthetic Protocol,Surface Activity,and Biological Aspects of Novel Biocompatible Quaternary Ammonium Cationic Gemini Surfactants

In this study, we prepared a novel series of diester-functionalized cationic gemini surfactants (C_m-E2O2-C_m) containing ethylene oxide as a spacer with varying alkyl chain lengths and characterized by ¹H NMR, FT-IR, elemental analysis, and ESI-MS. The physicochemical properties of the geminis were explored by tensiometry, fluorescence, dye solubilization, and Krafft point. These geminis acquire superior surface activity than the conventional surfactants. Fluorescence spectroscopy analysis affirmed that the micropolarity and aggregation number of micelles diminished with increase in the alkyl chain length. These geminis represent a new group of amphiphiles of considerably high biodegradability, better cleavability, and low toxicity as assessed by BOD test, FT-IR analysis, and HC₅₀ analysis, respectively. They also showed significant level of antimicrobial activity toward some specified bacterial strains of Gram-positive and Gram-negative by using agar well diffusion method. Furthermore, the thermogravimetric analysis provided information regarding thermal stabilities of the newly synthesized gemini surfactants.