Cable-direct-driven-robot (CDDR) with a 3-link passive serial support

Cable-direct-driven-robots (CDDRs) provided with a passive serial support represent an interesting and rising evolution of planar cable robots. The paper is devoted to present and analyze a novel CDDR robot. The robot consists in a fully actuated CDDR supported against loading normal to the motion plane with a 3-link passive planar serial manipulator. This hybrid structure combines positive features of both parallel and serial architectures, and prevents out-of-plane movements without the necessity for the robot to be supported on the motion plane. The adoption of a 3-link serial manipulator ensures a greater workspace area compared with similar structures that adopt a smaller number of links, and improves specific characteristics of their dynamics. Nevertheless undesired oscillations may occur since the serial manipulator is underconstrained. For this reason damping elements are inserted in the structure. Simulation examples are presented to demonstrate the novel CDDR concept and its dynamics. In addition, a strategy to select proper values of damping coefficients is presented.     

A molecular level mechanism ofn-butane oxidation to maleic anhydride over vanadyl pyrophosphate

A molecular level mechanism is proposed for the highly selective 14-e^– oxidative transformation ofn-butane to maleic anhydride on the surface of vanadyl pyrophosphate. The mechanism suggests that the dimeric active sites assume at any given time, one of four possible interconvertible states which differ from each other in the number of available oxygen atoms and the formal oxidation states of the individual vanadium atoms. The relative ratios of active sites in each of the four possible states are dictated by the reaction conditions, the redox properties of the reacting gases and the structure of the vanadyl pyrophosphate active surface. A crucial feature of the mechanism is a pseudo-ozonide surface species formed by the interaction of a chemisorbed dioxygen molecule and an adjacent metal-oxo group. This unusual species is responsible for the initial activation of then-butane, which occurs when the chemisorbed dioxygen abstracts an H-atom from the alkane and the adjacent metal-oxo group reacts with the incipient alkyl radical to form an alkoxy group. The proposed mechanism is entirely consistent with literature reports describing the behaviour of (VO)₂P₂O₇ in flow, pulse and TAP reactors.     

Activation of Pozzolanic Reaction of Hydrated Portland Cement Fly Ash Pastes in Sulfate Solution

The activation of the pozzolanic reaction of fly ash in portland cement paste immersed in sulfate solution has been studied. Mixtures of two Spanish fly ashes (ASTM class F) with 0%, 15%, and 35% replacement of portland cement by fly ash were immersed in Na₂SO₄ solution, of 2880 ppm SO₄²⁻ concentration, for a period of 90 days. The resistance of the different mixtures to the sulfate attack was evaluated using the Koch-Steinegger test. The results showed that all of the mixtures were sulfate resistant, despite the high Al₂O₃ content of the fly ash. The diffusion of SO₄²⁻ and Na⁺ ions through the pore solution activated the pozzolanic reactivity of the fly ashes, causing microstructural changes, which were characterized by X-ray diffraction (XRD), mercury intrusion porosimetry (MIP), and scanning electron microscopy (SEM). As a result, the flexural strength of the mixtures increased, principally for the fly ash of a lower particle size and 35% of addition.     

A Context-Aware Interaction Model for the Analysis of Users’ QoE in Mobile Environments

This article describes a novel approach to model the quality of experience (QoE) of users in mobile environments. The context-aware and ratings interaction model (CARIM) addresses the open questions of how to quantify user experiences from the analysis of interaction in mobile scenarios, and how to compare different QoE records to each other. A set of parameters are used to dynamically describe the interaction between the user and the system, the context in which it is performed and the perceived quality of users. CARIM structures these parameters into a uniform representation, supporting the dynamic analysis of interaction to determine QoE of users and enabling the comparison between different interaction records. Its run-time nature allows applications to make context- and QoE-based decisions in real time to adapt themselves, and thus provide a better experience to users. As a result, CARIM provides unified criteria for the inference and analysis of QoE in mobile scenarios. Its design and implementation can be integrated (and easily extended if needed) into many different development environments. An experiment with real users comparing two different interaction designs and validating user behavior hypotheses proved the effectiveness of applying CARIM for the assessment of QoE in mobile applications.     

Multifold behavior of the information transmission by the quantum 3-switch

Quantum Information Processing - A Correction to this paper has been published: https://doi.org/10.1007/s11128-019-2234-5     

On arginine-based polyurethane-blends specific to vascular prostheses

Polymer blends based on Tecoflex™ and an experimental aliphatic polyurethane (HMDI-PCL-arginine stands for 4,4 (metylene-biscyclohexyl) isocyanate - poly (ε caprolactone) diol, SPUUR stands for segmented poly(urea)urethanes using amino acid of L-Arginine as chain extender) were obtained by solvent casting, and further studied by fourier transform infrared (FTIR) and Raman spectroscopy, differential scanning calorimetry (DSC), thermogravimetric analysis, and X-ray diffraction (XRD). Their biological performances were assessed in terms of hemocompatibility and Human umbilical vein endothelial cell (HUVEC) cytotoxicity. Tensile properties of dumbbell specimens were compared to longitudinal and circumferential tensile properties of tubular vascular graft. FTIR showed that as the SPUUR content increased in the blend, absorptions at 2860 cm⁻¹ increased, carbonyl absorptions at 1724 cm⁻¹ broaden and the small peak at 2796 cm⁻¹, typical of Tecoflex™ disappeared. Raman spectroscopy showed that the low intensity carbonyl absorption at 1724 cm⁻¹ also increased with SPUUR content. DSC allowed detection of PCL soft segment melting (T_m = 50°C) in agreement with X-ray reflections at 21.3° and 23.6°, assigned to SPUUR. However, no improvements in thermal stability were detected by TGA by blending. The addition of SPUUR to Tecoflex™ improved hemocompatibility and HUVEC cytotoxicity. The vascular grafts performance showed that 40% SPUUR blends exhibited the highest force in the longitudinal test whereas 50% SPUUR blends showed the highest circumferential force. Pressure burst strength was higher than 1000 mmHg for all blends. Overall, these blends can be used for high caliber vascular grafts.     

Whole-body vibration exposure in sport: four relevant cases

This study investigates the whole-body vibration exposure in kite surfing, alpine skiing, snowboarding and cycling. The vibration exposure was experimentally evaluated following the ISO 2631 guidelines. Results evidenced that the most critical axis is the vertical one. The weighted vibration levels are always larger than 2.5 m/s² and the vibration dose values are larger than 25 m/s^1.75. The exposure limit values of the EU directive are reached after 8–37 min depending on the sport. The vibration magnitude is influenced by the athletes’ speed, by their skill level and sometimes by the equipment. The large vibration values suggest that the practice of sport activities may be a confounding factor in the aetiology of vibration-related diseases.     

Mocking Ads through Mobile Web Services

The need for creativity is ubiquitous, and mobile devices connected to Web services can help us. Linguistic creativity is widely used in advertisements to surprise us, to get our attention, and to stick concepts in our memory. However, creativity can also be used as a defense. When we walk in the street, we are overwhelmed by messages that try to get our attention with any persuasive device at hand. As messages get ever more aggressive, often our basic cognitive defenses—trying not to perceive those messages—are not sufficient. One advanced defensive technique is based on transforming the perceived message into something different (for instance, making use of irony or hyperbole) from what was originally meant in the message. In this article, we describe an implemented application for smartphones, which creatively modifies the linguistic expression in a virtual copy of a poster encountered on the street. The mobile system is inspired by the subvertising practice of countercultural art.     

Nonlinear output regulation for invertible nonlinear MIMO systems

In this paper, we address the problem of output regulation for a broad class of multi‐input multi‐output (MIMO) nonlinear systems. Specifically, we consider input–affine systems, which are invertible and input–output linearizable. This class includes, as a trivial special case, the class of MIMO systems which possess a well‐defined vector relative degree. It is shown that if a system in this class is strongly minimum phase, in a sense specified in the paper, the problem of output regulation can be solved via partial‐state feedback or via (dynamic) output feedback. The result substantially broadens the class of nonlinear MIMO systems for which the problem in question is known to be possible. Copyright © 2015 John Wiley & Sons, Ltd.