A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Intelligent Service Robotics - Walking robots are considered as a promising solution for locomotion across irregular or rough terrain. While wheeled or tracked robots require flat surface like...     

A formal framework for scenario development in support of environmental decision-making

Scenarios are possible future states of the world that represent alternative plausible conditions under different assumptions. Often, scenarios are developed in a context relevant to stakeholders involved in their applications since the evaluation of scenario outcomes and implications can enhance decision-making activities. This paper reviews the state-of-the-art of scenario development and proposes a formal approach to scenario development in environmental decision-making. The discussion of current issues in scenario studies includes advantages and obstacles in utilizing a formal scenario development framework, and the different forms of uncertainty inherent in scenario development, as well as how they should be treated. An appendix for common scenario terminology has been attached for clarity. Major recommendations for future research in this area include proper consideration of uncertainty in scenario studies in particular in relation to stakeholder relevant information, construction of scenarios that are more diverse in nature, and sharing of information and resources among the scenario development research community.     

Effect of two different rubbers as secondary binders on the friction and wear characteristics of non-asbestos organic (NAO) brake friction materials

Binder provides structural integrity by holding all ingredients in the composition of a brake friction material. The modified binders have played a major role in improving the frictional performance and thermal resistance of the friction material. The present research work evaluates the influence of secondary binders (Nitrile Butadiene rubber (NBR) and Styrene Butadiene rubber (SBR)) on the tribological performance of the friction material using a full-scale inertia brake dynamometer as per JASO C406 standard. Three brake pads were developed by varying the type and composition of secondary rubber binder (5%NBR, 5%SBR and 2.5%NBR + 2.5%SBR) with rest of the ingredients kept unaltered. It was found that the quantity of SBR rubber powder present as secondary binder improved dry and wet recovery. Friction coefficient (μ) exhibited better stability during the fade with the inclusion of both the rubber powders. The friction material with the inclusion of both the NBR and SBR rubber powders exhibited overall better performance than compared to the inclusion of only one secondary binder rubber in the composition. The worn-out surface of the developed friction materials and the counter discs were characterised using FESEM.     

Multipopulation model of membrane-aerated biofilms

Biofilms cultivated on oxygen-filled gas-permeable membranes grow differently than conventional biofilms, as the chemical species required for growth diffuse from different sides of the biofilm. Oxygen is delivered directly to the base of the biofilm by the membrane, while organic substrates and other soluble nutrients are provided to the upper surface of the biofilm via the water in which the membranes are immersed. This counterdiffusion of nutrients results in a growth environment very different from that of conventional biofilms that receive both oxygen and other nutrients from the water. In recent years, membrane-supported biofilms have been shown to simultaneously remove chemical oxygen demand (COD) and inorganic nitrogen from wastewater in laboratory studies. Several investigators have developed computer models of these biofilms, but they have all focused on a single population of aerobic bacteria. While these models are useful in characterizing the behavior of these biofilms in pure cultures, they are not useful in modeling the behavior of the biofilms in mixed cultures such as those found in wastewater treatment. In this study, a multipopulation biofilm model was developed that includes aerobic heterotrophs, nitrifiers, denitrifiers, and acetoclastic methanogens. The model was constructed with Aquasim software and can predict the COD and inorganic nitrogen removal behavior observed previously in experimental studies. In this paper we present examples of predicted biofilm behavior and compare the results of this multiple-population model with the single-population models published previously. In addition, the behavior of the biofilm is discussed in terms of application to wastewater treatment.     

Coarse particulate matter and airborne endotoxin within wood stove homes

Emissions from indoor biomass burning are a major public health concern in developing areas of the world. Less is known about indoor air quality, particularly airborne endotoxin, in homes burning biomass fuel in residential wood stoves in higher income countries. A filter‐based sampler was used to evaluate wintertime indoor coarse particulate matter (PM_10‐2.5) and airborne endotoxin (EU/m³, EU/mg) concentrations in 50 homes using wood stoves as their primary source of heat in western Montana. We investigated number of residents, number of pets, dampness (humidity), and frequency of wood stove usage as potential predictors of indoor airborne endotoxin concentrations. Two 48‐h sampling events per home revealed a mean winter PM_10‐2.5 concentration (± s.d.) of 12.9 (± 8.6) μg/m³, while PM_2.5 concentrations averaged 32.3 (± 32.6) μg/m³. Endotoxin concentrations measured from PM_10‐2.5 filter samples were 9.2 (± 12.4) EU/m³ and 1010 (± 1524) EU/mg. PM_10‐2.5 and PM_2.5 were significantly correlated in wood stove homes (r = 0.36, P < 0.05). The presence of pets in the homes was associated with PM_10‐2.5 but not with endotoxin concentrations. Importantly, none of the other measured home characteristics was a strong predictor of airborne endotoxin, including frequency of residential wood stove usage.     

Expanded Polystyrene Foam Formed from Polystyrene Beads Coated with a Nanocrystalline SiO2 Film and the Analysis of Its Moisture Adsorption and Resistance to Mechanical Stress

Conventional expanded polystyrene can absorb moisture, which significantly degrades its properties. In the present study, it was demonstrated that SiO₂ can be deposited on polystyrene beads before pre-expansion and molding steps. Under the applied test conditions, expanded polystyrene with nanocrystalline SiO₂ additives had approximately 10% lower moisture adsorption and an 8.4% better resistance to deformation. Expanded polystyrene analysis suggested that the observed improvements were caused by the hydrophobic nature of nanocrystalline SiO₂ and, even more importantly, because SiO₂ acted as an amalgamation catalyst and significantly increased adhesion between the expanded polystyrene beads during the expanded polystyrene molding process.     

The properties of samarium doped ceria oxide thin films grown by e-beam deposition technique

One of the main challenges in today's solid oxide fuel cell (SOFC) technology is the reduction of their operating temperature. New types of oxygen ion conducting materials are currently under investigation to overcome the problems which SOFC faces at high temperatures. Samarium doped ceria oxide (SDC) was the material of investigation in this work. Optical quartz (SiO₂) and Fe–Ni–Cr alloy (Alloy 600) were the two types of chosen substrates onto which SDC thin films were deposited by e-beam evaporation technique. The bias voltage was applied to the substrate during film growth. It had an influence on film formation, its microstructure and density because of the ionized particles presence in the SDC vapor stream. Changes in crystallite size and surface morphology were determined from X-ray diffraction data and scanning electron microscopy images. Influence of bias voltage on porosity of formed SDC thin films on optical quartz were calculated from transmittance spectra data by using Swanepoel method. The porosity decreases up to 12% by decreasing bias voltage from 0 to ?150 V.     

Comparison of antiplatelet effects of aspirin, ticlopidine, or their combination after stent implantation

OBJECTIVE: To explore the basis of the gender-based differences in endocrine and surgical findings in patients with prolactinoma (prolactin cell adenoma) as well as in their clinical outcome. MATERIAL AND METHODS: In young or reproductive-age female patients, older women (beyond 40 years of age), and male patients, we systematically studied the following factors: operative and endocrine features (tumor size, invasiveness, preoperative serum prolactin level, and biochemical outcome), specific biologic variables (mitotic index, MIB-1 labeling index, and p27 immunoreactivity), and hormone receptor status (estrogen and progesterone receptor proteins as well as dopamine D2 receptor messenger RNA). RESULTS: Of the various factors assessed, the preoperative prolactin level and MIB-1 labeling index were lower in young female patients in comparison with older female and particularly male patients. Hormone levels were also positively associated with mitotic activity as well as the MIB-1 labeling index. Although invasion was infrequent in microadenomas of young female patients, no statistically significant differences in tumor size or invasiveness were noted among the three patient groups. Absence of differences in invasiveness may, in part, be explained by artifacts of case selection. CONCLUSION: The basis for the observed differences in proliferative activities in tumors of the three study groups is not readily apparent but may reflect differences in the endocrine milieu or the effect of sex steroid hormone receptors, tumoral vascularity, or specific growth factors.