General Solution for the Dynamic Modeling of Parallel Robots

In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures. Categories (2), (3).     

Diazepam alters caffeine-induced effects on beta-endorphin levels in specific rat brain regions

The present study was conducted to evaluate the effects of caffeine and the benzodiazepine agonist diazepam, and a combination of both on beta-endorphin (beta-EN) levels in specific rat brain regions. Male Sprague-Dawley rats (150-200 g) adapted to a 12-hour light: 12-hour dark illumination cycle were used in this study. Caffeine (10 mg/kg), diazepam (2 mg/kg) or a combination of caffeine (10 mg/kg) and diazepam (2 mg/kg) were administered intraperitoneally to rats at 11:00 hr. Control animals were injected with saline. Animals were sacrificed by decapitation 1 h after injection, the brains were immediately removed; the cortex, hippocampus, hypothalamus and midbrain were dissected and their B-EN levels measured by radioimmunoassay. Caffeine administration significantly increased B-EN levels in the cortex. Similarly, administration of diazepam alone resulted in a significant increase of B-EN levels in cortex. However, concurrent administration of diazepam and caffeine resulted in higher increase of B-EN levels in cortex. No significant changes in B-EN levels were detected in hippocampus and midbrain after administration of either caffeine or diazepam alone. On the other hand, when diazepam and caffeine were concurrently administered a significant increase of B-EN levels were observed in the midbrain. Moreover, administration of diazepam alone resulted in a significant increase of B-EN levels in hypothalamus. This increase was still observed following concurrent administration of diazepam and caffeine. These results clearly indicate that diazepam alters caffeine-induced effects on B-EN in specific rat brain regions.     

An on-line microcomputer-based respiratory monitor for manual materials handling

The main objective of the present study is to develop a low cost microcomputer-based respiratory system that is capable of computing the oxygen consumption and minute ventilation of individuals engaged in manual materials handling on an on-line basis. The design, specifications, and merits of the system are given. The software package developed was written in assembly language for the IBM AT personal computer.     

Methodologies for characterizing traffic in wide area networks: Analysis and benchmarking

Since computer networks play an important role in distributed computing environments, an application's performance depends heavily on the quality of service provided by the communication networks. To ensure a high performance, the characteristics of wide area networks, WANs, must be well understood. This paper presents methodologies to characterize WAN traffic based on real measurements from Bellcore's backbone network that connects remote sites using dedicated T1 links. This paper also suggests some workload models that can be used for wide area network sizing and performance evaluation studies. It is found that the inter-site traffic pattern depends on the time of the day and the day of the week. Furthermore, the traffic between two sites is found to be reasonably symmetric, except for those sites designated as back-up sites. The coefficient of variation is used as a measure for the traffic burstiness and it is found to be 1·5 degree during working hours. The methods presented here are easy to use and cost-effective.     

Chemical composition and nutritional quality of tehineh (sesame butter)

The chemical composition and nutritional quality of tehineh, a paste of dehulled roasted sesame seeds, from Saudi Arabia and other countries, were studied. Results showed 24.7% protein, 58.9% fat, 2.3% fiber, 3.0% ash and <1.0% moisture. The tehineh contained relatively high amounts (mg/100 g) of P (692), Mg (362), Fe (7.19), Cu (1.96), Mn (1.46) and Zn (7.82) and low amounts of Ca (61) and Se (0.05). Gas-liquid chromatography (GLC) analysis of the oil revealed percentages of 42.4 for oleic, 39.7 for linoleic, 9.8 for palmitic and 6.4 for stearic acid. Lysine was the only limiting amino acid with a chemical score of 64, while the sulphur-containing amino acids (methionine + cystine) and tryptophan were present in amounts exceeding the requirement of the FAO/WHO (1973) reference protein. The in vitro protein digestibility (IVPD) value of 83.3% and the calculated protein efficiency ratio (C-PER), 2.14, were slightly higher than those of sesame seeds and both values were lower than the IVPD and C-PER of 90.0% and 2.50, respectively, for ANRC casein.     

The measurement of gastric motor function and transit in man by echo planar magnetic resonance imaging

Echo-planar imaging (EPI) can be used to produce snapshot images of the human stomach and antro-pyloro-duodenal segment in real time as an alternative technique to intubation and exposure to ionizing radiation. The method has been further developed to monitor simultaneous gastric motility and gastric emptying of liquid and solid meals. The model has been utilized to study the effects of pharmacological agents on gastric function.Eight normal subjects were imaged in a 0.5-T superconducting magnet for up to 6 h following ingestion of 800 ml tap water, followed by 500 ml porridge test meal + 500 ml tap water. A rapid multislice technique was adopted to image adjacent transverse slices (10 mm thick) through the gastric region. In addition, three subjects were orally dosed with 20 mg of the prokinetic agent Cisapride. Gastric volumes for each slice were calculated and summed to produce a measure of total gastric volume and gastric emptying. Contractile activity at the level of the antro-pyloric segment was detected using sequential 128 ms images at 3 s intervals. Alternate measurements of gastric volume and motility were made for the duration of the study.Gastric emptyingT _1/2's (times to empty 50% of the gastric contents) of 12.9 min for water and 116 min for porridge were in agreement with results obtained by the traditional techniques of gamma scintigraphy and impedance imaging. The frequency of gastric contractions increased from 2.4 contractions per minute (cpm) to 3.2 cpm following water and from 2.9 to 3.2 cpm following porridge. The prokinetic effect of enhanced coordination of antroduodenal contractions was also observed. These studies have demonstrated that EPI can be used to detect and image gastroduodenal function in man, totally noninvasively, and can be used to study the effects of drugs acting on the gastrointestinal tract.     

Estimate of Landfill Settlements Due to Mechanical and Decompositional Processes

Approximate closed form solutions are developed for estimating the mechanical and decomposition settlement of landfills. The mechanical settlements are the immediate (primary) settlement and long term creep. The decomposition settlements are generated by mass loss and gas generation. Based on the approximate solution, the decomposition settlement can constitute a significant portion of the total settlement and can be in the same order as the mechanical settlements. Settlement remaining after landfill closure depends on the decomposition environment during filling. For an average decomposition environment, postoperation settlement can still be significant 20?years after completion of filling.