Flexible joints control: A minimum-time feed-forward technique

The paper proposes a linear programming approach to the feed-forward minimum-time control of flexible joints. Taking into account both input and output constraints, the optimal bang–bang control is computed by discretizing a continuous-time joint model and by solving a sequence of linear programming feasibility problems. The resulting joint motion is a smooth rest-to-rest motion without oscillations. Theoretical analysis is presented and proof of convergence is given. Experimental results illustrate the proposed open-loop technique. Comparisons are made with inversion-based techniques.     

Optimal positioning of irregular shapes in stamping die strip

The nesting of two-dimensional shapes is a common problem, where raw material has to be economically cut. As for the single-pass single-row strip layout, several algorithms, based on established methods, have been proposed. Moreover, it should be noticed that the optimum layout should also consider a few constraints, like grain orientation for subsequent forming operation, correct bridge width, and the commercial roll of metal width in order to make solutions applicable in real industrial environments. Most of the procedures until now shown in literature are quite complex and often ignore these real constraints. They usually make use of sliding techniques and are not able to effectively work with relatively multiple-connected figures. In particular, most of the different proposed procedures are based on the No Fit Polygon (NFP) computation of non-convex polygons, which often generates holes. This work is a proposal for a more efficient method, which can be used in heuristic procedures. In order to overcome some faults of most of the former methods presented in literature, in this paper a new geometric entity called ??No Fit Path?? (NFPh) of non-convex polygons is applied. It allows researchers to find solutions of nesting problems even when there are NFP faults due to degenerate solutions. Moreover, the No Fit Path allows researchers to easily read, modify, or share their results, overcoming all those problems arising from the usual large amount of information and from the different origins and formats of the obtained data. Given two non-convex polygons, the algorithm is able to calculate their NFPh very quickly and without any approximation by a polygon clipping method. In this paper a totally automated procedure has been developed. This procedure firstly obtains the ??No Fit Path?? (NFPh); secondly, between all the existing positions on the NFPh, the algorithm searches the optimal one, minimizing the global waste. The proposed approach also allows designers to set an optimal orientation of the shapes on the roll of metal, taking account of the grain orientation in order to obtain the best mechanical characteristics for the cut pieces.     

Profiling selected phytochemicals and nutrients in different tissues of the multipurpose tree Moringa oleifera L., grown in Ghana

The purpose of this new study was to determine the types and levels of major phytochemicals (non-nutrients) and nutrients in the different tissues from vegetative and flowering Moringa oleifera L. an important multipurpose crop. Rhamnose and acetyl-rhamnose-substituted glucosinolates were found in all of the M. oleifera tissues with different profiles depending on the tissue. In addition the tissues of M. oleifera had a relatively complex flavonoid profile consisting of glucosides, rutinosides, malonylglucosides and traces of acetylglucosides of kaempferol, quercetin and isorhamnetin. Fatty acid profiling of the different tissues showed that leaves were rich in palmitic (16:0) and linolenic (18:3) acid whereas seeds were predominated by oleic acid (18:1). Roots were rich in palmitic and oleic acid, whereas stems and twigs predominately contained palmitic acid. Potassium, magnesium and calcium were the predominant minerals in all of the tissues. Low levels of selenium were detected only in whole seeds.     

Hydrophilic polystyrene/maleic anhydride ultrafine fibrous membranes

Polystyrene/maleic anhydride (PSMA) was synthesized to reach a viscosity‐average molecular weight of 700 kDa and fabricated into ultrafine fibrous membranes consisting of fibers with an average diameter of 300 nm. These ultrafine PSMA fibers were rendered insoluble in organic solvents by reactions with hydrazine and ethylenediamine (ED). The highly efficient incorporation of diamines into the fibrous membranes was easily achieved by brief immersions in either dilute (0.5 wt %) hydrazine for 1 min or ED ether solution for 2 min. Heating at 150°C for 5 min produced crosslinked PSMA with very little or no solubility in acetone with the retention of the fibrous membrane structure. The ED‐crosslinked membranes were particularly stable to both bases and acids as well as hydrophilic solvents, had a 46° water contact angle, and absorbed 22 times the amount of water as the as‐spun fibrous membrane. This post‐fiber‐formation crosslinking approach was robust, highly efficient, and fast and required very little crosslinking reagent. © 2009 Wiley Periodicals, Inc. J Appl Polym Sci, 2010     

The relationship of early alliance ruptures and their resolution to process and outcome in three time-limited psychotherapies for personality disorders.

This study examined the relationship of early alliance ruptures and their resolution to process and outcome in a sample of 128 patients randomly assigned to 1 of 3 time-limited psychotherapies for personality disorders: cognitive–behavioral therapy, brief relational therapy, or short-term dynamic psychotherapy. Rupture intensity and resolution were assessed by patient- and therapist-report after each of the first 6 sessions. Results indicated that lower rupture intensity and higher rupture resolution were associated with better ratings of the alliance and session quality. Lower rupture intensity also predicted good outcome on measures of interpersonal functioning, while higher rupture resolution predicted better retention. Patients reported fewer ruptures than did therapists. In addition, fewer ruptures were reported in cognitive–behavioral therapy than in the other treatments. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Using a MODFLOW grid, generated with GMS, to solve a transport problem with TOUGH2 in complex geological environments: The intertidal deposits of the Venetian Lagoon

The tides of the Venetian Lagoon generally vary between −0.5 and +0.7 m asl. Occasionally, they may reach a maximum of 1.5 m (acqua alta) and a minimum of −0.8 m asl (acqua bassa). Intertidal areas, called “barene,” exist all along the coast of the Lagoon. These areas are characterized by canals that concentrate the flow of water (and the deposition of sands) during the rising and waning of the tides, and that inundate and drain the vegetated areas found between canals (where organic-rich clays are deposited). Therefore, since the area is subject to subsidence, in time, sand dykes (the original canals) become juxtaposed to clayey dykes (the original vegetated areas). In addition, the sands form a continuous hydrogeologic network within the clays, very similar to that of a vascular system that effectively drains the whole “barena” deposits. In order to be effective, measures for monitoring, confining, or remediating the transport of pollutants through this kind of environment must explicitly take into account the geologic complexity. The same complexity must be included in the numerical models that support remediation efforts. At the moment, there appears to be no off-the-shelf graphical interface that is able to manage such complexity for TOUGH2. To attempt to solve this problem we have used a calibrated USGS-MODFLOW model, of the barena of “Passo a Campalto” in the Venetian Lagoon, developed with the GMS graphical interface. The model is made of 42 layers, which, apart from the first layer, are 0.5 m thick; the first layer has the thickness distribution of a dump found on top of the barena deposit at Passo a Campalto. Each layer consists of 100×60 square cells, for a total of 252,000 cells, only about half of which are active. Using a FORTRAN routine, we translate this grid, with all the hydrogeologic boundary conditions, into a TOUGH2 input file, and we provide the additional necessary information for running a TOUGH2 simulation. The results are promising, in that we were able to produce TOUGH2 grids with very complex geology and to run the models with success. For visualization, the results can be imported back into GMS as 3D scatter point sets, or they can be plotted with any adequate plotting software such as MatLab. Developing conceptual and numerical models with an elaborate graphical interface such as GMS effectively allows setting up complex problems while concentrating on their physics.     

Applying real options analysis to assess cleaner energy development strategies

The energy industry, accounts for the largest portion of CO₂ emissions, is facing the issue of compliance with the national clean energy policy. The methodology for evaluating the energy mix policy is crucial because of the characteristics of lead time embedded with the power generation facilities investment and the uncertainty of future electricity demand. In this paper, a modified binomial model based on sequential compound options, which may account for the lead time and uncertainty as a whole is established, and a numerical example on evaluating the optional strategies and the strategic value of the cleaner energy policy is also presented. It is found that the optimal decision at some nodes in the binomial tree is path dependent, which is different from the standard sequential compound option model with lead time or time lag concept. The proposed modified binomial sequential compound real options model can be generalized and extensively applied to solve the general decision problems that deal with the long lead time of many government policies as well as capital intensive investments.     

Solid‐phase extraction of phenolic compounds with poly[metalloprotoporphyrin IX]

A highly insoluble metalloporphyrin polymeric material was used as sorbent for the solid‐phase extraction of phenolic compounds. Substantial quantities of phenols (40 to 60 mg/g polymer) were absorbed from aqueous solution comparing satisfactorily with other extraction methods. The polymeric phase presented similar K_SPE values for the hydrophobic compounds tested such as p‐chlorophenol, BPA, p‐nitrophenol, and a significant lower value for the more hydrophilic p‐aminophenol and cresol. Several metallic complexes of protoporphyrin IX (Co²⁺, Cu²⁺, Ni²⁺, Zn²⁺, and Fe³⁺) have been tested. The analytes were extracted with high recoveries at acid and neutral pH values, whereas at pH 10 low recoveries were obtained. © 2001 John Wiley & Sons, Inc. J Appl Polym Sci 81: 3038–3043, 2001     

Dual-Current Pump Module for Transient Improvement of Step-Down DC–DC Converters

This paper presents a novel dual-current pump module (DCPM) to improve the transient response of dc-dc converters. The DCPM operates only during transient to provide two additional current injections for step-up load and current drains for step-down load. Due to the two current pump paths, the current stress on the switches of the DCPM is also reduced. The measurement results show that the DCPM can enhance the dynamic recovery time of the buck dc-dc converter by more than an order.     

Use of axiomatic design principles for analysing the complexity of human–machine systems

Coupling between user goals and user actions has an adverse effect on usability, because it increases the gulf of execution. Based on the principles of axiomatic design, a methodology was developed for identifying and suggesting avenues for eliminating such couplings. A model of a human–machine system is constructed using the following design domains: goal; functional; physical; and action. The mappings between these domains are represented using design equations, which provide a qualitative metric for characterizing the degree of coupling. The use of this methodology is illustrated using several examples, which show that coupling may exist between the goal and functional domains, the functional and physical domains or the physical and action domains. Different loci of coupling have different implications for design improvement. By providing a general and rational criterion, this formalized and analytical methodology has the potential to be a useful tool for design engineers during the early stages of design.