A compliant surgical robotic instrument with integrated IPMC sensing and actuation

Robotic assisted surgery is becoming widely adopted by surgeons for a number of reasons, which include improved instrumentation control and dexterity as well as faster patient recovery times and cosmetic advantages. Robotic assisted surgery is currently one of the fastest growing applications in robotics. Although the traditional robotic actuators which are currently used have advanced performance which can, in some aspects, surpass that of humans, they simply do not have the capabilities and diversity required to meet the demand for new applications in robotic surgery. Novel transducers which have advanced capabilities and which allow safe operation in delicate environments are needed. Ionic polymer–metal composites (IPMCs) have extensive desirable characteristics when compared with traditional actuators and as their transduction mechanisms can mimic biological muscle they have much potential for future advanced biomedical and surgical robotics. In this research, a complete two degree-of-freedom (2DOF) surgical robotic instrument has been developed, which with the attachment of surgical tools (scalpel, etc.) has the ability to undertake surgical procedures. The system integrates an IPMC sensor and actuator at each joint. A gain scheduled (GS) controller, which is tuned with an iterative feedback tuning (IFT) algorithm, has been developed to ensure an accurate and adaptive response. The main advantages of this device over traditional devices are the improved safety through a natural compliance of the joints as well as the mechanical simplicity which ensures ease of miniaturisation for minimally invasive surgery (MIS). The components of the system have been tested and shown to have the capabilities required to operate the device for certain surgical procedures, specifically a device work envelope of 1600 mm², compliance of 0.0668 m/N while still maintaining enough force to cut tissue, IPMC sensor accuracy between 3–22% and a control system which has shown to guarantee zero steady state error.     

Simulations of passivation phenomena based on discrete lattice gas automata

We present simulation results for a simple lattice gas cellular automata model of passivation. The lattice sites representing the corrosion product are produced at the corroding surface and diffuse executing a random walk. Asymmetric simple exclusion rules of the random walk account for an attractive potential between the corrosion product particles. The particles can aggregate and when sufficiently numerous form a compact phase on the corroding surface. The model predicts a transition from the active to passive state when increasing the reactivity of the surface. The transition is characterized by a sudden increase in the surface coverage of the corrosion product interpreted as a passive layer formation. The layer blocks contact of the metal surface with the environment and reduces the corrosion rate. The model reproduces the known paradox of passivity—the surface must be reactive enough for the layer to form. A further increase in the bare reactivity reduces largely the observed reaction rate. The simulations yield information on the morphological changes of the surface layer before and after the transition. In terms of the corrosion current, the active state is described by the current increase with the polarizing potential according to the Tafel law while in the passive state the current is independent of the anodic potential. Our simple model reproduces principal features of passivation.     

Acid/base and hydrogen bonding effects on the proton-coupled electron transfer of quinones and hydroquinones in acetonitrile: Mechanistic investigation by voltammetry, H NMR and computation

This report seeks to address the role of hydrogen bonding with Brønsted acids and bases in proton-coupled electron transfer (PCET) as it pertains to concerted or stepwise pathways of quinone (Q) and hydroquinone (QH₂) electrochemistry. This study was performed using a series of techniques that included cyclic voltammetry (CV), digital simulations, computational chemistry and ¹H NMR. Hydrogen bonding was inferred by a decrease in diffusion coefficient (D) values measured using a pulsed gradient echo- (PGE-) ¹H NMR technique. Changes of 40.8% and 37.9% in D values were only noted after the addition of two equivalents of acetate to 1,4-hydroquinone (1,4-QH₂) and catechol (1,2-QH₂), respectively. In contrast, the D values for the addition of selected amines (pyridine, N,N-diisopropylethylamine and triethylamine) changed only 3.2% on average. Quantum mechanical calculations were conducted to determine the pK_a of all quinoid species to serve as a starting point for the determination of equilibrium constants in voltammetric simulations. Simulations indicate that 1,4-benzoquinone undergoes stepwise electron-proton transfer upon addition of acetic acid, N-ethyldiisopropylammonium perchlorate and pyridinium nitrate and were simulated without the presence of hydrogen bonds. The QH₂ compounds show stepwise proton-electron transfers after addition of the both the conjugate amines and acetate.     

Concentration of Antifouling Biocides and Metals in Sediment Core Samples in the Northern Part of Hiroshima Bay

Accumulation of Ot alternative antifoulants in sediment is the focus of this research. Much research had been done on surface sediment, but in this report, the accumulation in the sediment core was studied. The Ot alternative antifoulants, Diuron, Sea-Nine211, and Irgarol 1051, and the latter’s degradation product, M1, were investigated in five samples from the northern part of Hiroshima Bay. Ot compounds (tributyltin (TBT) and triphenyltin (TPT)) were also investigated for comparison. In addition, metal (Pb, Cu, Zn, Fe and Mn) levels and chronology were measured to better understand what happens after accumulation on the sea floor. It was discovered that Ot alternative antifoulant accumulation characteristics in sediment were like Ot compounds, with the concentration in the sediment core being much higher than surface sediment. The concentration in sediment seems to have been affected by the regulation of Ot compounds in 1990, due to the concentration of Ot alternative antifoulants and Ot compounds at the survey point in front of the dock, showing an increase from almost the same layer after the regulation.     

Thermal conductivity measurements and molecular association in a series of alcohol vapors: Methanol,ethanol, isopropanol,and t-butanol

Thermal conductivity measurements on the vapors of methanol, ethanol, isopropanol, and t-butanol are reported as a function of temperature (330–420 K) and pressure (11–240 kPa). The thermal conductivity versus pressure isotherms for all four alcohols exhibit upward curvatures at the lower temperatures and nearly linear increases at higher temperatures. This behavior is indicative of a dimeric species and one or more polymeric clusters in the vapor in addition to the monomer. Quantum mechanical calculations have indicated that tetramers are the most likely polymeric species. Detailed analyses of the data provide thermodynamic data (H,S) for the dimerization and tetramerization reactions and show interesting correlations with the size of the monomer unit.     

涤纶长丝纺丝组件更换周期探索

通过生产实践和统计分析 ,提出涤纶长丝纺丝组件的使用周期可从原 3个月延长至 5～ 6个月。生产不同品种组件使用周期可通过上机试验来确认     

Numerical analysis of plastic deformation of a circular sheet metal subjected to transverse impact loading

Based on the concept of Tensor Code a numerical method is presented for analysis of the plastic deformation process of circular sheet metals subjected to transverse impact loading. In the solution process, the equation of motion is solved explicitly with finite difference method in a series of small time steps over a Lagrangian mesh of zones. Using this method, a code has been developed and utilized for investigation of the deformation behavior of an explosively loaded circular sheet metal under various conditions. Deformation characteristics of a sheet under rectangular and triangular pressure distributions are discussed. It is shown that when these simple distributions are combined with each other, their individual effects on the deformation behavior are also combined in the deformation process. Effects of shape and duration of pressure pulse as well as boundary conditions have been explored. Moreover, results of the numerical simulation have been compared with those of theoretical solution and experiments reported by other researchers. Good agreements between them show the validity of the developed code.     

Critical Factors in the Templated Grain Growth of Textured Reaction-Bonded Alumina

The Templated Grain Growth (TGG) of Al₂O₃ occurs in three stages: densification, radial growth of individual template grains until template impingement, and template grain thickening. Significant template growth occurs only after densification to ∼90% density. Template loading determines the inter-template spacing and, subsequently, the degree of growth. The spacing distance can be predicted from the initial template concentration and template dimensions. Thermodynamic conditions favorable for template growth occur when the size ratio between the template thickness and matrix grains is ≥1.5. The initial template concentration should be less than a critical template concentration, V _T,C, to achieve textured ceramics with a narrow orientation distribution. For this system, which uses 20 ± 5 μm × 2 μm template particles and uniaxial pressing as a forming technique, V _T,C is between 5 and 10 vol%.     

Environmental aspects of the use of NTA as a detergent builder

The behaviour, fate and significance of the detergent builder nitrilotriacetic acid (NTA) has been reviewed with particular reference to the removal of NTA during wastewater treatment and the effects of NTA on heavy metal solubility both during treatment and in the receiving environment. It is concluded that NTA removal during secondary biological treatment is subject to considerable variation, both temporal and between works as a result of changes in NTA load, temperature, water hardness and treatment process parameters. As a result of such variability, effluent NTA concentrations may be sufficient to mobilise heavy metals resulting in metal contamination of receiving waters and potable waters, particularly in areas of low effluent dilution and high water re-use. Removal of NTA during primary sedimentation and septic tank treatment is concluded to be predominantly due to adsorption to the sludge solids while removal in anaerobic sludge digestion is subject to operational characteristics of the treatment works. Disposal of NTA contaminated sludge to land may contaminate groundwaters and affect heavy metal speciation, while the disposal of contaminated sludge or sewage to sea may result in toxic algal blooms, in addition to effects on metal speciation.     

Quartz resonator assembling with TSV interposer using polymer sealing or metal bonding

This paper presents one wafer level packaging approach of quartz resonator based on through-silicon via (TSV) interposer with metal or polymer bonding sealing of frequency components. The proposed silicon-based package of quartz resonator adopts several three-dimensional (3D) core technologies, such as Cu TSVs, sealing bonding, and wafer thinning. It is different from conventional quartz resonator using ceramic-based package. With evaluation of mechanical structure design and package performances, this quartz resonator with advanced silicon-based package shows great manufacturability and excellent performance to replace traditional metal lid with ceramic-based interposer fabrication approach.