Mechanics of plain-woven fabrics for inflated structures

Pressurized fabric tubes, pressure-stabilized beams (known as air beams) and air-inflated structures are considered to be valuable technologies for lightweight, rapidly deployable structures. Design optimization of an inflated structure depends on a thorough understanding of woven fabric mechanics. In this paper the bending response of woven pressure-stabilized beams have been experimentally tested and analytically investigated. Additionally, the micromechanical effects of interacting tows have been studied through finite element models containing contact surfaces and nonlinear slip/stick conditions. Local unit cell models consisting of pairs of woven tows were created to characterize the effective constitutive relations. The material properties from the unit cell models were then used for the global continuum model subjected to 4-point flexure. An experimental set-up was designed and manufactured for testing of Vectran and PEN air beams. The air beam mid-span deflections were measured as functions of inflation pressure and bending load. Plots of the elastic and shear moduli with respect to the pressure and coefficient of friction have been generated. It was determined that the effective elastic and shear moduli were functions of inflation pressure, the material used and the geometry of the weave. It was shown that pneumatic or pressurized tube structures differ fundamentally from conventional metal structures.     

Structured Parallel Architecture for Displacement MIMO Kalman Equalizer in CDMA Systems

A reduced complexity MIMO Kalman equalizer architecture is proposed in this brief by jointly considering the displacement structure and the block-Toeplitz structure. Numerical matrix-matrix multiplications with O(F³) complexity are eliminated by simple data loading process, where F is the spreading factor. Finally, an iterative Conjugate-Gradient based algorithm is proposed to avoid the inverse of the Hermitian symmetric innovation covariance matrix in Kalman gain processor. The proposed architecture not only reduces the numerical complexity from O(F²) to O(Flog₂F) per chip, but also facilitates the parallel and pipelined VLSI implementation in real-time processing     

Failure mode analysis for a hazardous waste clean-up manipulator

This paper describes the application of Fault Tree Analysis to the design phase of a robot manipulator for hazardous waste retrieval. The robot is to be deployed in single-shell under-ground storage tanks at the US Department of Energy (DOE) site in Hanford, Washington. These tanks contain a variety of highly radioactive waste types, necessitating extremely safe and reliable manipulator operation. Based on preliminary design drawings of this long-reach manipulator, fault trees were constructed for several critical failure scenarios. Analysis of the trees revealed a number of ways to improve the safety and reliability of the manipulator design. This paper presents a summary of the fault tree analysis, with a discussion of the applicability of qualitative and quantitative fault tree methods to hazardous waste robotics.     

Multi-target tracking on confidence maps: An application to people tracking

We propose a generic online multi-target track-before-detect (MT-TBD) that is applicable on confidence maps used as observations. The proposed tracker is based on particle filtering and automatically initializes tracks. The main novelty is the inclusion of the target ID in the particle state, enabling the algorithm to deal with unknown and large number of targets. To overcome the problem of mixing IDs of targets close to each other, we propose a probabilistic model of target birth and death based on a Markov Random Field (MRF) applied to the particle IDs. Each particle ID is managed using the information carried by neighboring particles. The assignment of the IDs to the targets is performed using Mean-Shift clustering and supported by a Gaussian Mixture Model. We also show that the computational complexity of MT-TBD is proportional only to the number of particles. To compare our method with recent state-of-the-art works, we include a postprocessing stage suited for multi-person tracking. We validate the method on real-world and crowded scenarios, and demonstrate its robustness in scenes presenting different perspective views and targets very close to each other.     

Low-field magnetic resonance imaging of the pelvis in patients with anal dynamic graciloplasty: initial experience

The aim of this study was to determine whether low-field magnetic resonance (MR) imaging can safely and accurately depict inflammatory changes in patients with anal dynamic graciloplasty, in whom high-field MR imaging is contraindicated and ultrasonography and computed tomography are inadequate. A 0.2-T field-strength MR examination was performed in six patients with anal dynamic graciloplasty malfunction in whom reoperation was contemplated. The following sequences were applied:T ₂-weighted turbo spinecho with fat saturation,T ₁-weighted conventional spin-echo, and contrastenhancedT ₁-weighted conventional spin-echo with fat saturation. Results indicated that none of the patients experienced relevant discomfort, pacemaker malfunction, or electrode dislocation with low-field MR imaging. Inflammatory pelvic changes were visualized in four patients and atrophy of the transposed gracilis muscle in another. Surgery was thus avoided in the four, who underwent conservative treatment for their pelvic inflammation. It was concluded that these prelininary results demonstrate the feasibility of MR imaging with a low field strength in patients with anal dynamic graciloplasty. In such patients, in whom diagnostic imaging had been problematic, the potential for safe and accurate visualization will be a boon to treatment planning.     

A very sensitive ion collection device for plasma-laser characterization

In this paper a very sensitive ion collection device, for diagnostic of laser ablated-target plasma, is described. It allows for reducing down to few microvolts the signal threshold at digital scope input. A standard ion collector is coupled to a transimpedance amplifier, specially designed, which increases data acquisition sensitivity by a gain ≈1100 and does not introduce any significant distortion of input signal. By time integration of current intensity, an amount of charge as small as 2.7 × 10(-2) pC can be detected for photopeak events.     

Design space exploration for real-time embedded stream processors

We explore tradeoffs between organization and number of ALUs and clock frequency in a stream processor. The tool provides candidate low-power configurations and estimates of their real-time performance. The tool relates instruction-level, subword, and data parallelism to functional units' organization and utilization. The exploration methodology is applicable to all embedded-processor designs in signal and media processing.     

Chitosan Functionalized with Carboxyl Groups as a Recyclable Biomaterial for the Adsorption of Cu (II) and Zn (II) Ions in Aqueous Media

The modification of chitosan represents a challenging task in obtaining biopolymeric materials with enhanced removal capacity for heavy metals. In the present work, the adsorption characteristics of chitosan modified with carboxyl groups (CTS-CAA) towards copper (II) and zinc (II) ions have been tested. The efficacy of the synthesis of CTS-CAA has been evaluated by studying various properties of the modified chitosan. Specifically, the functionalized chitosan has been characterized by using several techniques, including thermal analyses (differential scanning calorimetry and thermogravimetry), spectroscopies (FT-IR, XRD), elemental analysis, and scanning electron microscopy. The kinetics and the adsorption isotherms of CTS-CAA towards both Cu (II) and Zn (II) have been determined in the aqueous solvent under variable pH. The obtained results have been analyzed by using different adsorption models. In addition, the experiments have been conducted at variable temperatures to explore the thermodynamics of the adsorption process. The regeneration of CTS-CAA has been investigated by studying the desorption process using different eluents. This paper reports an efficient protocol to synthesize chitosan-based material perspective as regenerative adsorbents for heavy metals.