Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction

In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot’s end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated.     

Resistance of concrete protected by fabric to projectile impact

This paper reports on impact behavior of concrete panels protected by Polypropylene and Zylon fabric, respectively. Concrete panels were cast with different thickness and subjected to impact by a steel projectile. The initial and residual velocities were measured experimentally and the energy absorbed by the different concrete panels with and without fabric was calculated. All concrete panels were able to absorb almost all the kinetic energy of the projectiles. For concrete panels protected by fabric scabbing of concrete from the back face was considerably reduced and the debris contained by the fabric. Upper and lower bounds are proposed for energy absorbed per unit thickness and penetration results are compared with the available empirical formulas. It is shown that current penetration equations do not accurately predict impact parameters for concrete protected by fabric.     

Remineralization effects of self-assembling peptide P11-4 associated with three materials on early enamel carious lesions: An in vitro study

The aim of this study was to assess the remineralization of enamel caries lesions using the self-assembling peptide P₁₁-4 associated with different materials. Artificial early enamel lesions were prepared on 154 primary teeth. The samples were randomly divided into eight groups: (1) control, (2) P₁₁-4, (3) fluoridate toothpaste (FT), (4) P₁₁-4 + FT, (5) casein phosphopeptide–amorphous calcium phosphate (CPP–ACP), (6) P₁₁-4 + CPP–ACP, (7) fluoridate bioactive glass toothpaste (BT), and (8) P₁₁-4 + BT. The surface enamel microhardness (EMH) and energy-dispersive X-ray spectroscopy (EDS) of the teeth were then measured at the baseline, after demineralization, and after 28 days of remineralization. The enamel surfaces were assessed by field emission scanning electron microscopy (FESEM) and atomic force microscopy (AFM). The data were analyzed with one-way analysis of variance (ANOVA) (p < .05). EMH after demineralization was significantly lower than the baseline value (p < .001). The interventions led to an enhanced percentage of EMH recovery (%REMH), which was higher in Groups 6 and 7. There was no significant difference between Groups 3 and 4. Groups 1 and 2 had the lowest %REMH. The mean calcium/phosphate weight percentage ratio of P₁₁-4 was significantly lower than the others (p < .001). The FESEM and AFM images revealed mineral deposition on the eroded enamel and reductions in surface roughness in Groups 5 and 7.     

Denitrification en continu a l'aide de microorganismes immobilises sur des supports solides

In this paper, we describe a study of biological denitrification by immobilized cells. Nitrates are reduced in sterile solutions by Pseudomonas aeruginosa immobilized in a fixed bed reactor, and in synthetic waste water by mixed cultures immobilized into a fluidized bed reactor.The fixed bed reactor is a Plexiglas column filled with corn stovers (Table 1). It is 0.05 m in diameter and 0.55 in height, its volume being approx. 11. The fresh medium is injected at the base of the column and the liquid level is regulated by an overflow weir. Reactor and carrier are sterilized with ethylene-oxide. After sterilization 1 l. of a growing batch culture of Pseudomonas aeruginosa is introduced aseptically and the reactor is then fed continuously (45 ml h⁻¹) with fresh medium (N---NO₃ = 40 mg l⁻¹) until the first steady state is reached.Nitrates and nitrites are determinated by means of a colorimetric method.Reactor efficiency remains constant for over 40 days. Nitrates and nitrites concentrations are measured inside the reactor for flow varying from 2 to 16 ml min⁻¹ (Fig. 2). Reductions of nitrates and nitrites seem to be two first-order reactions (Fig. 3 and Table 2) and constant rate increases with flow rate (Fig. 4). Until nitrate concentration reaches 960 mg/l⁻¹ (N---NO₃) degradation is correct (Figs 5 and 6), beyond nitrites, which have been formed, seem to be inhibitor.Using this reactor, 50 mg N---NO₃ have been reduced per hour and per liter of empty reactor, but it may be possible to reduce 140 mg N---NO₃ l⁻¹ h⁻¹ if fresh medium contains 200 mg N---NO₃ l⁻¹.The fluidized bed reactor is a Plexiglas column filled with earthenware. It is 0.05 m in diameter and 3.15 m in height, its volume being approx. 6.201. Fresh medium is injected at the base of the column and the liquid level is regulated by an overflow weir. Figure 7 shows the retention time of the liquid in the reactor in relation to flow. The first steady state has been reached after 2 weeks, and it has not been possible to know half life time of the column.Four experiments were conducted (Table 3) and, for each nitrate, nitrite and methanol concentrations in the reactor were measured (Fig. 8). So, it appears that reduction of nitrates and nitrites are two first-order reactions (Table 4) and that constant rate values, which are higher than in fixed bed reactor, increase with flow.The reactor is more affected by a flow shift than by a nitrate concentration shift in fresh medium, and biomass linked onto carrier is about 76 mg of dry matter g⁻¹ of earthenware.So, our fluidized bed column is able to reduce 560 mg N---NO₃ h⁻¹ l⁻¹ of empty reactor, then retention time of liquid is less than 3 min.     

Ethylene glycol biodegradation in microbial fuel cell

Ethylene glycol is an environmental pollutant, which exists in airport runoff and industrial waste. In this article, biodegradation of ethylene glycol in a two-chamber, batch-mode microbial fuel cell was investigated. Glucose and ethylene glycol at different concentrations were used as carbon and energy sources. Chemical oxygen demand removal in the range of 92–98% indicated that microbial fuel cell can be used for biodegradation of ethylene glycol. Ethylene glycol also improved power generation and the maximum power density was 5.72 mW/m² (137.32 mW/m³), with respect to the same glucose and ethylene glycol concentrations (500 ppm).     

Profile modification using in situ gelation technology — a review

Oil production during the primary stage is achieved due to the natural energy stored in the reservoir. Upon depletion of this energy, the production ceases or the oil production rate becomes so small that it will not be economical to operate. At this stage, a large fraction of the initial oil in place is still trapped under the ground. The oil recovery efficiency during the primary stage is within 10% to 30% depending on the nature of the reservoir. This means that more than70% of the initial oil in place is the target for the secondary and/or improved oil recovery techniques.During the secondary recovery stage, some kind of fluid is injected to push the oil from the injection well toward the producer. Water and gases are the most commonly used displacing fluids in this process. Waterflood is the most common practice of secondary oil recovery techniques. Injection of carbon dioxide or other gases is also a common practice to improve oil recovery efficiency. Regardless of the type of the fluid used to displace the oil, the displacing fluid could bypass the oil and early breakthrough could occur. In the case of waterflood, the water/oil ratio could become so high that the process ceases to be economical any more. For injection of CO₂ or other gases, the high gas/oil ratio renders the process uneconomical. This is more dramatic for heterogeneous and layered reservoirs with contrasting permeability variation among the layers. To remedy the above problem, some kind of polymer solution is injected into the reservoir and is allowed to gel under certain conditions. The gel viscosity being much higher than the displacing fluid could impede the flow of displacing fluid through the already flooded regions; therefore, the displacing fluid is bound to find new paths which means additional oil can be displaced. Profile modification based on in situ gelation technology is an already proven economical process for improving oil recovery. There is a variety of gelation systems available in the market for the treatment of the reservoir. Most of the gelation systems in the market are based on cross-linking of polyacrylamide-type polymers by some kind of heavy metal ions such as chromium to produce a three-dimensional gel structure in situ in the reservoir. Recent research efforts at the University of Kansas have produced a new type of bio-polymer which gels without cross-linker. Gelation occurs by reducing the pH of the alkaline solution and the gelation process is reversible. This paper will discuss the in situ gelation techniques based on the commercially available systems and the newly discovered bio-polymer as mentioned above.     

VISCOMETRIC MEASUREMENT OF CHROMIUM(III)-POLYACRYLAMIDE GELS†

Gelled polymers are being used increasingly to modify the movement of injected fluids in secondary and enhaced oil recovery processes. A common gelation process involves the reduction of Cr(VI) to Cr(III) in the presence of polyacrylamide. The Cr(III) reacts or interacts with the polymer to form a gel network. Although correlations of gelation time with principal process variables have been obtained, viscometric data have not been reported during or after gelation. These data are needed for fluid flow calculations in surface equipment and estimation of flow behaviour in reservoir rocks.

A Weissenberg Rheogoniometer, with cone and plate geometry, was used to obtain viscometric data for the gelation of polyacrylamide and chromium (III). Solutions consisting of polyacrylamide polymer, sodium dichromate-dihydrate and sodium bisulfite were gelled under a steady shear field at constant temperature. The shear stress versus time profile for the galation process was interpreted to define a gelation time and to determine the apparent viscosity of the gelled fluid. The gelation time decreased as the applied shear rate increased up to about 14.25 sec^-1 and was affected by shear rate history. Viscometric properties of the gelled solutions were determined. Apparent viscosity of the gelled solutions decreased as the shear rate under which they were formed increased.

Post gelation studies indicated that gels exhibited a residual stress at zero shear rate and behaved as Bingham plastics under steady shear. Gels formed at low shear rates were more viscous than gels formed at high shear rates. However, the structure of these gels was susceptible to shear degradation.     

Capillary Pressure Estimation Using Statistical Pore Size Functions

Capillary pressure curves, which have been employed for a long period of time by researchers interested in pore size distribution, are commonly obtained from experimental measurements. The dynamic capillary pressure that influences the flow is affected by many factors including the pore size characteristics and pore scale dynamics. Hence, it is important to investigate the variation of the estimated pore size distribution with capillary number. In this study, a glass type micromodel is considered as the porous media sample. A parametric probability density function is proposed to express the pore size distribution of the porous model, which is also measured using an image analysis technique. The capillary pressure saturation mathematical model is developed by integrating the pore size distribution function. Model parameters with a physical significance are estimated by fitting the model to the measured capillary pressure data at different capillary numbers. The results of capillary pressure obtained are well matched to the measured values. The results show that the trends of the extracted pore size distribution curves have similar trends, but they are not exactly the same. Therefore, the dynamic capillary pressure data alone are not sufficient for estimation of the pore size distribution. As a related development, the prediction of the capillary pressure curves based on measured pore size distributions is also presented. The proposed probability distribution function has the flexibility of representing a wide variety of pore size distributions.