This paper presents an obstacle contact sensor system that can detect both the contact state and the direction of contact parallel to the movement plane of a mobile system carrying the sensor. This sensor system is based on a regular- or irregular-shaped ring surrounding the mobile system’s perimeter, connected to the mobile system’s body by a set of soft springs and also coupled mechanically to a set of four flex sensors measuring the relative displacement and direction of the ring when contacting an obstacle. The set of flex sensors is connected to a low-cost electronic module that implements a data acquisition block and a fuzzy processing block, delivering a value representing the estimated contact zone of the ring. Some experiments show how this detection system effectively reduces the sensor count needed for full coverage of the mobile system’s perimeter. Despite the kind of output implemented in the experiments, the contact force can also be estimated. 相似文献
Model-based feedback control of vibration in flexible structures can be complicated by the possibility that interaction with an external body occurs. If not accounted for, instability or poor performance may result. In this paper, a method is proposed for achieving robust vibration control of flexible structures under contact. The method uses robust linear state feedback, coupled with a state estimation scheme utilizing contact force measurement. Uncertain contact characteristics are modelled by a sector-bounded non-linear function, such that state feedback gains can be synthesized using a matrix inequality formulation of the Popov stability criterion. A separation theorem is used to establish a robust H2 cost bound for the closed loop system. Experimental results from a multi-mode flexible structure testbed confirm that vibration attenuation and stability can be maintained over a broad range of contact characteristics, in terms of compliance and clearance. 相似文献
Objective: To investigate the modulation of the wettability of excipients by different types of surfactants and its impacts on the disintegration of tablets and drug release.
Materials and methods: The critical micelle concentration (CMC) of surfactants, including sodium dodecyl sulfate (SDS), sodium dodecyl benzene sulfonate (SDBS), dodecyl trimethyl ammonium bromide (DTAB), cetyltrimethyl ammonium bromide (CTAB) and polysorbate (Tween-20 and Tween-80), was obtained using the platinum ring method. Contact angles of surfactant solutions on the excipient compacts and double-distilled water on the mixture of surfactant and the other excipient (magnesium stearate (MgSt) or sodium alginate (SA)) were measured by the sessile drop technique. Besides, surface free energy of excipients was calculated by the Owens method. Finally, the disintegration of tablets and in vitro dissolution testing were performed according to the method described in USP.
Results and discussion: The wettability of excipients could be enhanced to different extent with low concentration of surfactant solutions and maintained stable basically after CMC. For MgSt (hydrophobic excipient), the shorter the hydrophobic chain (C12, including SDS and DTAB), the better the wettability with the addition of surfactant in the formulation, leading to the shorter disintegration time of tablets and higher drug release rate. In contrast, the wettability of SA (hydrophilic excipient) was reduced by adding surfactant, resulting in the longer disintegration time of tablets and lower release rate.
Conclusion: The modulation of the wetting of pharmaceutical excipients by surfactant had changed the disintegration time of tablets and drug release rate to a greater extent. 相似文献
Ball end magnetorheological finishing is a unique process that utilizes a magnetically controlled ball of polishing fluid at the tip of the rotating tool to finish workpiece of different materials and shapes. The aim of this research is to study the effect of polishing fluid volume on finishing spot size and the surface finish associated with it. A magnetostatic simulation is done to find the variation of flux density in the working gap and on the workpiece surface. The maximum limit of the polishing fluid volume is selected on the basis of area of threshold magnetic flux density (minimum value required for finishing) region on the workpiece surface. The surface characteristics and the diameter of the finished spot are analyzed by varying the fluid volume. The surface obtained with high fluid volume is poorly finished and has scratch marks as the excess fluid flows out from the working gap and forms a thick ring at the periphery of the tool tip. Contrary to this, if the fluid volume is too less, then it merely rotates over the workpiece surface without causing any finishing action. An optimum range of fluid volume produces a good quality surface finish with constant finished spot size. 相似文献
The production of crab meatballs generates large amount of crab shell waste, it is therefore necessary to develop a green, economical and environmentally friendly process to vaporize the waste. This study was aimed at investigating the applicability of microwave heating combined with ultrasonic field-assisted alkaline protease (MUSED) (50 ℃, pH = 9.0, 14025.67 U/g, 4.21 h and liquid/material = 14.41:1) for pretreatment of ball-milled crab shells. The ball milling efficiency of the crab shell powder pretreated by MUSED was observed to increase by 50 % compared to the control group, with the final average particle size of D4 = 4.88 ± 0.20 um. High calcium solubility and low energy consumption of the ball-milled powder increased dietary calcium bioavailability and reduced the potential for high calorie intake. The addition of 6 % (w/w) crab shell powder treated by MUSED improved the texture of the crab meatballs (CM-D4) and gave the product enhanced crab flavor relative to the control group. Moreover, the lower cooking loss of CM-D4 resulted in significant retention of nutrients (p < 0.05). The crab shell powder treated by MUSED method was more efficient in ball milling, which improved the quality of crab meatballs while relieving environmental pressure. 相似文献