Gecko‐Inspired Dry Adhesive for Robotic Applications

Most geckos can rapidly attach and detach from almost any kind of surface. This ability is attributed to the hierarchical structure of their feet (involving toe pads, setal arrays, and spatulae), and how they are moved (articulated) to generate strong adhesion and friction forces on gripping that rapidly relax on releasing. Inspired by the gecko's bioadhesive system, various structured surfaces have been fabricated suitable for robotic applications. In this study, x–y–z asymmetric, micrometer‐sized rectangular flaps composed of polydimethylsiloxane (PDMS) were fabricated using massively parallel micro‐electromechanical systems (MEMS) techniques with the intention of creating directionally responsive, high‐to‐low frictional‐adhesion toe pads exhibiting properties similar to those found in geckos. Using a surface forces apparatus (SFA), the friction and adhesion forces of both vertical (symmetric) and angled/tilted (x–y–z asymmetric) microflaps under various loading, unloading and shearing conditIons were investigated. It was found that the anisotropic structure of tilted microflaps gives very different adhesion and tribological forces when articulated along different x–y–z directions: high friction and adhesion forces when articulated in the y–z plane along the tilt (+y) direction, which is also the direction of motion, and weak friction and adhesion forces when articulated against the tilt (–y) direction. These results demonstrate that asymmetric angled structures, as occur in geckos, are required to enable the gecko to optimize the requirements of high friction and adhesion on gripping, and low frictional‐adhesion on releasing. These properties are intimately coupled to a (also optimum) articulation mechanism. We discuss how both of these features can be simultaneously optimized in the design of robotic systems that can mimic the gecko adhesive system.     

Non-uniform wavelets in electromagnetic scattering analysis

Non-uniform wavelets are constructed to benefit from both adaptively refined grids for modelling edge singularities and compression of moment matrices with wavelet bases. They are applied to the analysis of electromagnetic scattering problems     

10-Gb/s transmission of NRZ over 10000 km and solitons over 13500 km error-free in the same dispersion-managed system

A dispersion management scheme that is capable of supporting both dispersion-managed solitons and nonreturn-to-zero (NRZ) data formats as well as intermediate formats is demonstrated for error-free long-haul transmission at 10 Gb/s in excess of 9500 km. This experimental tool ran be used to directly compare the different data formats. Our results suggest that a format between standard solitons and standard NRZ, such as dispersion-managed solitons or phase-modulated NRZ, may have significant advantages.     

Redundancy resolution of the human arm and an upper limb exoskeleton

The human arm has 7 degrees of freedom (DOF) while only 6 DOF are required to position the wrist and orient the palm. Thus, the inverse kinematics of an human arm has a nonunique solution. Resolving this redundancy becomes critical as the human interacts with a wearable robot and the inverse kinematics solution of these two coupled systems must be identical to guarantee an seamless integration. The redundancy of the arm can be formulated by defining the swivel angle, the rotation angle of the plane defined by the upper and lower arm around a virtual axis that connects the shoulder and wrist joints. Analyzing reaching tasks recorded with a motion capture system indicates that the swivel angle is selected such that when the elbow joint is flexed, the palm points to the head. Based on these experimental results, a new criterion is formed to resolve the human arm redundancy. This criterion was implemented into the control algorithm of an upper limb 7-DOF wearable robot. Experimental results indicate that by using the proposed redundancy resolution criterion, the error between the predicted and the actual swivel angle adopted by the motor control system is less then 5°.     

Multiple fault detection in two-level multi-output circuits

It is often stated that in irredundant two-level logic circuits, a test set for all single stuck faults will also detect all multiple stuck faults. We show by a simple example that this result does not hold for multi-output circuits even when each output function is prime and irredundant. Using a result from the programmable logic array technology, we give an output ordering constraint that, if satisfied during test generation, will make a single stuck fault test set a valid multiple stuck fault test set for irredundant two-level multi-output circuits.     

Rheology of oil in water emulsions with added solids

The effect of added solids on the rheology of oil in water emulsions was investigated. The range of the oil concentration, solids free basis, was (0-70%) and the solids volume fraction was (0-0.16). The solids mean diameter was 45 μm and it was about four times larger than the oil droplets. In the absence of added solids, non-Newtonian behaviour was observed for oil concentrations above 40%. The added solids increased the emulsion viscosity in a manner similar to the addition of solids to a homogeneous fluid. The rheological data of all the emulsion-solids mixtures investigated were correlated as relative viscosity versus solids volume fraction, where the relative viscosity is defined as the ratio of the emulsion-solids mixture viscosity to the solids-free emulsion viscosity. In the case of non-Newtonian systems, the emulsion-solids mixture viscosity and the solids-free emulsion viscosity were calculated at the same shear stress. The Barnea and Mizrahi viscosity correlation was found to fit the data well.     

RELATIVISTIC THERMODYNAMICS OF IRREVERSIBLE PROCESSES

The second law of thermodynamics for irreversible processes is briefly reviewed and extended to a system moving at a relative velocity. The concept of minimum entropy production is applied to a thermodynamic system which is in relative motion. The relativistic form of the second law for irreversible processes and the criterion for stability are presented.     

Pulmonary effects of chronic exposure to airborne cadmium

In haemoglobinometry grave errors are still being made even though an internationally accepted standardized method is available for the determination of the haemoglobin content of blood. Up to the present only haemiglobincyanide reference solutions have been available on a wide scale to check the measuring stage of the standardized haemiglobincyanide method. These reference solutions are shown to remain stable, under proper storage conditions, for more than 10 years. Concentrated haemoglobin solutions have become available recently, offering the possibility to control the dilution and conversion steps of the haemiglobincyanide method. Such a solution is shown to remain stable, under proper storage conditions, for at least a year. Using both haemiglobincyanide reference solutions and concentrated haemoglobin solutions, as well as having the possibility of checking the cyanide content of the reagent used, an acceptable intra-laboratory control program may now be set up.     

Self-esteem in alcoholics and nonalcoholics

Alcoholics scored lower on a test of self-esteem than did nonalcoholics, Alcoholics with lower self-esteem were found to be more willing to seek treatment than those with higher self-esteem.     

Compensating changes in fertility and mortality

This paper illustrates a method of studying changes in vital rate schedules which have no effect on the intrinsic rate of population growth. These changes are described as compensating changes in fertility and mortality. The analysis proceeds from the discrete perspective of Leslie matrices, wherein the central idea is to establish the set of all compensating changes by identifying that class of Leslie matrices which possess the same positive eigenvalue, lambda1. A root-squaring technique is adapted for the purpose of estimating lambda1. Finally, a variety of compensating fertility and mortality changes is illustrated using data from Japan.