Prosthetic Hand Finger Control Using Fuzzy Sliding Modes

In order to improve the life quality of amputees, providing approximate manipulation ability of a human hand to that of a prosthetic hand is considered by many researchers. In this study, a biomechanical model of the index finger of the human hand is developed based on the human anatomy. Since the activation of finger bones are carried out by tendons, a tendon configuration of the index finger is introduced and used in the model to imitate the human hand characteristics and functionality. Then, fuzzy sliding mode control where the slope of the sliding surface is tuned by a fuzzy logic unit is proposed and applied to have the finger model to follow a certain trajectory. The trajectory of the finger model, which mimics the motion characteristics of the human hand, is pre-determined from the camera images of a real hand during closing and opening motion. Also, in order to check the robust behaviour of the controller, an unexpected joint friction is induced on the prosthetic finger on its way. Finally, the resultant prosthetic finger motion and the tendon forces produced are given and results are discussed.     

Limited Scale-Free Overlay Topologies for Unstructured Peer-to-Peer Networks

In unstructured peer-to-peer (P2P) networks, the overlay topology (or connectivity graph) among peers is a crucial component in addition to the peer/data organization and search. Topological characteristics have profound impact on the efficiency of a search on such unstructured P2P networks, as well as other networks. A key limitation of scale-free (power-law) topologies is the high load (i.e., high degree) on a very few number of hub nodes. In a typical unstructured P2P network, peers are not willing to maintain high degrees/loads as they may not want to store a large number of entries for construction of the overlay topology. Therefore, to achieve fairness and practicality among all peers, hard cutoffs on the number of entries are imposed by the individual peers, which limits scale-freeness of the overall topology, hence limited scale-free networks. Thus, it is expected that the efficiency of the flooding search reduces as the size of the hard cutoff does. We investigate the construction of scale-free topologies with hard cutoffs (i.e., there are not any major hubs) and the effect of these hard cutoffs on the search efficiency. Interestingly, we observe that the efficiency of normalized flooding and random walk search algorithms increases as the hard cutoff decreases.     

Visualization of fibrous and thread-like data

Thread-like structures are becoming more common in modern volumetric data sets as our ability to image vascular and neural tissue at higher resolutions improves. The thread-like structures of neurons and micro-vessels pose a unique problem in visualization since they tend to be densely packed in small volumes of tissue. This makes it difficult for an observer to interpret useful patterns from the data or trace individual fibers. In this paper we describe several methods for dealing with large amounts of thread-like data, such as data sets collected using Knife-Edge Scanning Microscopy (KESM) and Serial Block-Face Scanning Electron Microscopy (SBF-SEM). These methods allow us to collect volumetric data from embedded samples of whole-brain tissue. The neuronal and microvascular data that we acquire consists of thin, branching structures extending over very large regions. Traditional visualization schemes are not sufficient to make sense of the large, dense, complex structures encountered. In this paper, we address three methods to allow a user to explore a fiber network effectively. We describe interactive techniques for rendering large sets of neurons using self-orienting surfaces implemented on the GPU. We also present techniques for rendering fiber networks in a way that provides useful information about flow and orientation. Third, a global illumination framework is used to create high-quality visualizations that emphasize the underlying fiber structure. Implementation details, performance, and advantages and disadvantages of each approach are discussed.     

Conducting carbon/polymer composites as a catalyst support for proton exchange membrane fuel cells

Carbon/poly(3,4‐ethylene dioxythiophene) (C/PEDOT) composites are synthesized by in situ chemical oxidative polymerization of EDOT monomer on carbon black in order to decrease carbon corrosion that occurred in carbon‐supported catalysts used in proton exchange membrane fuel cell. The effects of different dopants including polystyrene sulfonic acid, p‐toluenesulfonic acid and camphorsulfonic acid with the addition of ethylene glycol or dimethyl sulfoxide on the properties of the composites are investigated. The synthesized composites are characterized by X‐ray diffraction, Fourier transform infrared spectroscopy, thermogravimetric analysis, surface area analysis and scanning electron microscope. Electrical conductivity is determined by using the four‐point probe technique. Electrochemical oxidation characteristics of the synthesized C/PEDOT composites are investigated by cyclic voltammetry by applying 1.2 V for 24 h. The composite prepared at 25 °C with p‐toluenesulfonic acid and ethylene glycol shows the best carbon corrosion resistance. Platinum‐supported catalyst by using this composite was prepared using microwave irradiation technique, and it was seen that the prepared catalyst did not significantly lose its hydrogen oxidation and oxygen reduction reaction activities after electrochemical oxidation. Copyright © 2013 John Wiley & Sons, Ltd.     

Using augmented reality technology in storytelling activities: examining elementary students’ narrative skill and creativity

The aim of the study was to examine the effects of augmented reality technology on stories in terms of narrative skill, story length and creativity and also to examine correlations between these variables. Posttest-only design with a nonequivalent group model was used. In this study, the sample consisted of 100 fifth-grade elementary students, comprising 46 boys and 54 girls. Purposive and convenience sampling methods were applied. For purposive sampling, the group’s ages, education levels, and experiences in storytelling activities were gathered, and for convenience sampling, easy access to schools was considered. As data collection tools, a suitable narrative scale was used which was found in the literature and creative story form was developed by the researcher. According to the findings, mean scores for all variables for the experimental group were higher than those for the control group. Also, a statistically significant mean difference was found between the experimental and control groups with regard to narrative skill, length of stories, and creativity in stories. In fact, a positive correlation was found between all variables. It is important to recognize when a technology is found to contribute positively to narrative skill and creativity in telling stories, and to ensure this technology is used. Determining correlation between these variables may provide a contribution to studies about evaluating the effect of the new technologies.     

Fast real-time caustics from height fields

Caustics are crucial in water rendering, yet they are often neglected in real-time applications due to the demanding computational requirements of the general-purpose caustics computation methods. In this paper we present a two-pass algorithm for caustics computation that is extremely fast and produces high-quality results. Our algorithm is targeted for commonly used height field representations of water and a planar caustic-receiving surface. The underlying theory of our approach is presented along with implementation details and pseudo codes.     

Gold recovery from dilute gold solutions using DEAE-cellulose

The present work investigates gold recovery using DEAE-cellulose, a common biopolymer derivative, from synthetically prepared diluted gold-bearing solutions of 50 ppm. The effects of different recovery parameters on gold recovery efficiency were studied in detail. It was demonstrated that gold recovery efficiency increased with an increasing amount of sorbent, as well as increasing contact time. A gold recovery efficiency of 99% was attained under conditions of 20–40 g DEAE-cellulose per liter at a shaking rate of 130 rpm for 30 min at room temperature. On the other hand, with smaller amounts of sorbent (6 g/l), it was also possible to recover gold from the solution with 99% efficiency when the reaction temperature was increased to 60 °C. The shaking rate and temperature were demonstrated to play a vital role in the recovery process. It was also found that gold recovery by DEAE-cellulose is an intermediate-controlled process with an activation energy of 37.11 kJ/mol. The XRD pattern and SEM images revealed that the recovered gold was in the metallic form.     

Using directionality in mobile routing

The increased usage of directional methods of communications has prompted research into leveraging directionality in every layer of the network stack. In this paper, we explore the use of directionality in layer 3 to facilitate routing in highly mobile environments. We introduce Mobile Orthogonal Rendezvous Routing Protocol (MORRP) for mobile ad-hoc networks (MANETs). MORRP is a lightweight, but scalable routing protocol utilizing directional communications (such as directional antennas or free-space-optical transceivers) to relax information requirements such as coordinate space embedding, node localization, and mobility. This relaxation is done by introducing a novel concept called the directional routing table (DRT) which maps a set-of-IDs to each interface direction to provide probabilistic routing information based on interface direction. We show that MORRP achieves connectivity with high probability even in highly mobile environments while maintaining only probabilistic information about destinations. Additionally, we compare MORRP with various proactive, reactive, and position-based routing protocols using single omni-directional interfaces and multiple directional interfaces and show that MORRP gains over 10–14 × additional goodput vs. traditional protocols and 15–20% additional goodput vs. traditional protocols using multiple interfaces. MORRP scales well without imposing DHT-like graph structures (eg: trees, rings, torus etc). We also show that high connectivity can be achieved without the need to frequently disseminate node position resulting increased scalability even in highly mobile environments.     

Structural characterization of basalt-based glass–ceramic coatings

There are a lot of technologically interesting characteristics of glass–ceramics, which are hard, wear resistant, oxidation and corrosion resistant ceramic materials. In the present study, the production of the basalt-based glass–ceramic coating by atmospheric plasma spray technique and their structural characterization were reported. Basalt-based glass coating was performed on AISI 1040 steel substrate which was pre-coated with Ni–5 wt% Al by using plasma spray gun. Basalt coatings of the glass form were crystallized at 800, 900 and 1000 °C for 1–4 h in orders to transform to the glass–ceramic structure. The presence of augite [(CaFeMg)SiO₃], diopside [Ca(Mg_0.15Fe_0.85)(SiO₃)₂] and aluminian diopside [Ca(Mg,Al)(Si,Al)₂O₆] crystalline phases formed in the basalt-based glass–ceramic coating layer was detected by X-ray diffraction analysis. Optical microscopy with micrometer was used for metallographic examinations. Differential scanning calorimeter was used for determining the crystallization temperature of glass form basalt-based coatings. Microhardness measurements were carried out on the basalt-based glass–ceramic coating layer with Vickers indenter. The hardness of coating layers is changing between 1009 and 1295 HV_0.05 depending on crystallization temperature and process times. It was found that, the higher the crystallization temperature, the more the crystalline phases were resulted. In addition, the lower the crystallization temperature and the longer the treatment time, the harder the coating layer became.