Experimental data and approximate estimation for dissociation time of hydrate plugs

New experimental data coupled with a numerical model and an approximate solution are proposed to predict dissociation time of hydrate plugs in oil sub-sea pipelines. The experimental hydrate plugs are dissociated by the method of symmetric depressurisation, both in a specially designed apparatus and a classical batch reactor. The agreement between the estimation of the model and the experimental data and the simplicity of the approximate equation presents an advantage in estimating the time of hydrate plug dissociation in pipelines.     

Personalized identification of abdominal wall hernia meshes on computed tomography

An abdominal wall hernia is a protrusion of the intestine through an opening or area of weakness in the abdominal wall. Correct pre-operative identification of abdominal wall hernia meshes could help surgeons adjust the surgical plan to meet the expected difficulty and morbidity of operating through or removing the previous mesh. First, we present herein for the first time the application of image analysis for automated identification of hernia meshes. Second, we discuss the novel development of a new entropy-based image texture feature using geostatistics and indicator kriging. Third, we seek to enhance the hernia mesh identification by combining the new texture feature with the gray-level co-occurrence matrix feature of the image. The two features can characterize complementary information of anatomic details of the abdominal hernia wall and its mesh on computed tomography. Experimental results have demonstrated the effectiveness of the proposed study. The new computational tool has potential for personalized mesh identification which can assist surgeons in the diagnosis and repair of complex abdominal wall hernias.     

Electrochemical behavior of Sn8Hg (gamma-2) and dental amalgam in a phosphate buffer solution

The gamma-2 phase (Sn₈Hg) and a dental amalgam in phosphate buffer have been studied by means of potentiostatic and galvanostatic techniques, along with a rotating ring-disc electrode (RRDE). The analysis of results has shown that phosphate ions play an important role in the corrosion of amalgam. The anodic reaction leads to the formation of soluble species and a passivating film, which is probably composed of tin hydroxide and tin phosphate.     

Development of a quadruped walking robot AiDIN-III using biologically inspired kinematic analysis

This paper presents a bio-inspired mechanism design for a quadruped walking robot. The approach is derived from the observation on the behaviors of quadruped locomotion, skeletal structure, and the study on the stability of walking based on morphological analysis. In the first, we define the design parameters such as the dimensions of the body and limbs, the center of mass position, and locomotion mechanisms based on surveys on the literatures from biologists. Then, by using the parameters, we propose an useful framework for determining the design parameters of a quadruped walking robot. For implementations, we manufacture a dog-type self-contained quadruped walking robot, named AiDIN-III (Artificial Digitigrade for Natural Environment version III) and the effectiveness of the proposed idea is validated via experimental works.     

A reversible data hiding scheme using complementary embedding strategy

Obtaining good visual quality and high hiding capacity with reversible data hiding systems is a technically challenging problem. In this paper, we propose a simple reversible data hiding scheme that uses a complementary hiding strategy. The proposed method embeds one secret bit horizontally and vertically into one cover pixel of a grayscale cover image by decreasing odd-valued pixels and increasing even-valued pixels by one. Experimental results show that the hiding capacity measured by bit per pixel (bpp) of the proposed scheme is at least 1.21 bpp with a PSNR (peak signal-to-noise ratio) value greater than 52 dB for all standard test images. Especially in the case of four-layer embedding, the PSNR value of the proposed method is still greater than 51 dB at a hiding capacity of about 5 bpp for all standard test images. In addition, the proposed method is quite simple because it primarily uses additions and subtractions. These results indicate that the proposed scheme is superior to many existing reversible data hiding schemes introduced in the literature.     

Dissipative particle dynamics simulations for fibre suspensions in newtonian and viscoelastic fluids

A versatile model of fibre suspensions in Newtonian and viscoelastic fluids has been developed using dissipative particle dynamics method. The viscoelastic fluid is modelled by linear chains with linear connector spring force (the Oldroyd-B model), which is known to be a reasonable model for the so-called Boger fluid (a dilute suspension of polymer in a highly viscous solvent). The numerical results are in excellent agreement with the analytical results of the Oldroyd-B model in simple shear flow. An effective meso-scale model of fibre in DPD is proposed and then incorporated with simple Newtonian fluid and our Boger fluid to enable entirely study rheological properties of fibre suspensions in both Newtonian and viscoelastic solvents. The numerical results are well compared with available experimental data and other numerical models.     

Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

A dispatching method for automated lifting vehicles in automated port container terminals

In automated container terminals, containers are transported from the marshalling yard to a ship and vice versa by automated vehicles. The automated vehicle type studied in this paper is an automated lifting vehicle (ALV) that is capable of lifting a container from the ground by itself. This study discusses how to dispatch ALVs by utilizing information about pickup and delivery locations and time in future delivery tasks. A mixed-integer programming model is provided for assigning optimal delivery tasks to ALVs. A procedure for converting buffer constraints into time window constraints and a heuristic algorithm for overcoming the excessive computational time required for solving the mathematical model are suggested. Numerical experiments are reported to compare the objective values and computational times by a heuristic algorithm with those by an optimizing method and to analyze the effects of dual cycle operation, number of ALVs, and buffer capacity on the performance of ALVs.