Quantitative assessment of early healing of autogenous bone grafts using micro-computed tomography and Q-win image analyser

Abstract no. 59published_or_final_versio

Systematic object-invariant in-hand manipulation via reconfigurable underactuatuation: introducing the RUTH gripper

We introduce a reconfigurable underactuated robot hand able to perform systematic prehensile in-hand manipulations regardless of object size or shape. The hand utilises a two-degree-of-freedom five-bar linkage as the palm of the gripper, with three three-phalanx underactuated fingers—jointly controlled by a single actuator—connected to the mobile revolute joints of the palm. Three actuators are used in the robot hand system in total, one for controlling the force exerted on objects by the fingers through an underactuated tendon system, and two for changing the configuration of the palm and thus the positioning of the fingers. This novel layout allows decoupling grasping and manipulation, facilitating the planning and execution of in-hand manipulation operations. The reconfigurable palm provides the hand with a large grasping versatility, and allows easy computation of a map between task space and joint space for manipulation based on distance-based linkage kinematics. The motion of objects of different sizes and shapes from one pose to another is then straightforward and systematic, provided the objects are kept grasped.This is guaranteed independently and passively by the underactuated fingers using a custom tendon routing method, which allows no tendon length variation when the relative finger base positions change with palm reconfigurations. We analyse the theoretical grasping workspace and grasping and manipulation capability of the hand, present algorithms forcomputing the manipulation map and in-hand manipulation planning, and evaluate all these experimentally. Numericaland empirical results of several manipulation trajectories with objects of different size and shape clearly demonstrate the viability of the proposed concept

Development of a circuit for functional electrical stimulation

Author name used in this publication: Kai-Yu Tong2003-2004 > Academic research: refereed > Publication in refereed journalVersion of RecordPublishe

Inert gas clearance from tissue by co-currently and counter-currently arranged microvessels

To elucidate the clearance of dissolved inert gas from tissues, we have developed numerical models of gas transport in a cylindrical block of tissue supplied by one or two capillaries. With two capillaries, attention is given to the effects of co-current and counter-current flow on tissue gas clearance. Clearance by counter-current flow is compared with clearance by a single capillary or by two co-currently arranged capillaries. Effects of the blood velocity, solubility, and diffusivity of the gas in the tissue are investigated using parameters with physiological values. It is found that under the conditions investigated, almost identical clearances are achieved by a single capillary as by a co-current pair when the total flow per tissue volume in each unit is the same (i.e., flow velocity in the single capillary is twice that in each co-current vessel). For both co-current and counter-current arrangements, approximate linear relations exist between the tissue gas clearance rate and tissue blood perfusion rate. However, the counter-current arrangement of capillaries results in less-efficient clearance of the inert gas from tissues. Furthermore, this difference in efficiency increases at higher blood flow rates. At a given blood flow, the simple conduction-capacitance model, which has been used to estimate tissue blood perfusion rate from inert gas clearance, underestimates gas clearance rates predicted by the numerical models for single vessel or for two vessels with co-current flow. This difference is accounted for in discussion, which also considers the choice of parameters and possible effects of microvascular architecture on the interpretation of tissue inert gas clearance

Effects of Laminate Arrangement on the Failure Behaviour of Hybrid Composite Plates under Transverse Sinusoidal Load

The present work deals with the effects of laminate arrangement on the failure behaviour of hybrid composite plates under transverse sinusoidal load. Failure analysis has been a subject under study for many years, especially for composite materials. This is largely due to the spontaneous nature of composite materials when it fails without warning. Hybrid composite are commonly utilized to improve the unexpected and instantaneous failure mode of composites. Nevertheless, the failure behaviour of hybrid composites is still not well understood. Moreover, studies have not exploited the effects on sinusoidal transverse loading on hybrid composites. Therefore, the first and last ply failure of the hybrid composite laminate was simulated and analysed using built in failure criteria function in ANSYS. The hybrid composite consisted of graphite (GR) and glass (GL), with lamination schemes of [GL/GL/GL/GL], [GL/GL/GL/GR] and [GR/GL/GL/GL] were subjected of transverse sinusoidal loading.  The laminate failure was predicted using the Maximum Stress Theory. Prior to determining the first and last ply failure of the hybrid composite plate, numerical validation was conducted to ensure the accuracy of the finite element software. The failure curves of the first ply failure and last ply failure were plotted and the results showed significant difference in the correlation of loadings that caused first and last ply failures and the lamination scheme of the hybrid composite plates. Thus, it can be said that the present work proves to be of importance and valuable in the field of study as well as enriching the knowledge regarding the failure behaviour of hybrid composite plate under transverse sinusoidal load of different laminate arrangement

Design of an electrochemical micromachining machine

Electrochemical micromachining (μECM) is a non-conventional machining process based on the phenomenon of electrolysis. μECM became an attractive area of research due to the fact that this process does not create any defective layer after machining and that there is a growing demand for better surface integrity on different micro applications including microfluidics systems, stress-free drilled holes in automotive and aerospace manufacturing with complex shapes, etc. This work presents the design of a next generation μECM machine for the automotive, aerospace, medical and metrology sectors. It has three axes of motion (X, Y, Z) and a spindle allowing the tool-electrode to rotate during machining. The linear slides for each axis use air bearings with linear DC brushless motors and 2-nm resolution encoders for ultra precise motion. The control system is based on the Power PMAC motion controller from Delta Tau. The electrolyte tank is located at the rear of the machine and allows the electrolyte to be changed quickly. This machine features two process control algorithms: fuzzy logic control and adaptive feed rate. A self-developed pulse generator has been mounted and interfaced with the machine and a wire ECM grinding device has been added. The pulse generator has the possibility to reverse the pulse polarity for on-line tool fabrication.The research reported in this paper is supported by the European Commission within the project “Minimizing Defects in Micro-Manufacturing Applications (MIDEMMA)” (FP7-2011-NMPICT- FoF-285614)

Au/n-ZnO rectifying contact fabricated with hydrogen peroxide pretreatment

Au contacts were deposited on n -type ZnO single crystals with and without hydrogen peroxide pretreatment for the ZnO substrate. The Au/ZnO contacts fabricated on substrates without H2 O2 pretreatment were Ohmic and those with H2 O2 pretreatment were rectifying. With an aim of fabricating a good quality Schottky contact, the rectifying property of the Au/ZnO contact was systemically investigated by varying the treatment temperature and duration. The best performing Schottky contact was found to have an ideality factor of 1.15 and a leakage current of ∼ 10-7 A cm-2. A multispectroscopic study, including scanning electron microscopy, positron annihilation spectroscopy, deep level transient spectroscopy, x-ray photoelectron spectroscopy, and photoluminescence, showed that the H2 O2 treatment removed the OH impurity and created Zn-vacancy related defects hence decreasing the conductivity of the ZnO surface layer, a condition favorable for forming good Schottky contact. However, the H2 O2 treatment also resulted in a deterioration of the surface morphology, leading to an increase in the Schottky contact ideality factor and leakage current in the case of nonoptimal treatment time and temperature. © 2008 American Institute of Physics.published_or_final_versio

Deep level defects in a nitrogen-implanted ZnO homogeneous p-n junction

Nitrogen ions were implanted into undoped melt grown ZnO single crystals. A light-emitting p-n junction was subsequently formed by postimplantation annealing in air. Deep level transient spectroscopy was used to investigate deep level defects induced by N+ implantation and the effect of air annealing. The N+ implantation enhanced the electron trap at E C -(0.31±0.01) eV (E3) and introduced another one at E C -(0.95±0.02) eV (D1), which were removed after annealing at 900 and 750 °C, respectively. Another trap D2 (Ea =0.17±0.01 eV) was formed after the 750 °C annealing and persisted at 1200 °C. © 2008 American Institute of Physics.published_or_final_versio

Effect of genotyping error in model-free linkage analysis using microsatellite or single-nucleotide polymorphism marker maps

Errors while genotyping are inevitable and can reduce the power to detect linkage. However, does genotyping error have the same impact on linkage results for single-nucleotide polymorphism (SNP) and microsatellite (MS) marker maps? To evaluate this question we detected genotyping errors that are consistent with Mendelian inheritance using large changes in multipoint identity-by-descent sharing in neighboring markers. Only a small fraction of Mendelian consistent errors were detectable (e.g., 18% of MS and 2.4% of SNP genotyping errors). More SNP genotyping errors are Mendelian consistent compared to MS genotyping errors, so genotyping error may have a greater impact on linkage results using SNP marker maps. We also evaluated the effect of genotyping error on the power and type I error rate using simulated nuclear families with missing parents under 0, 0.14, and 2.8% genotyping error rates. In the presence of genotyping error, we found that the power to detect a true linkage signal was greater for SNP (75%) than MS (67%) marker maps, although there were also slightly more false-positive signals using SNP marker maps (5 compared with 3 for MS). Finally, we evaluated the usefulness of accounting for genotyping error in the SNP data using a likelihood-based approach, which restores some of the power that is lost when genotyping error is introduced

Hydrogen peroxide treatment induced rectifying behavior of Aun-ZnO contact

Conversion of the Aun-ZnO contact from Ohmic to rectifying with H2 O2 pretreatment was studied systematically using I-V measurements, x-ray photoemission spectroscopy, positron annihilation spectroscopy, and deep level transient spectroscopy. H2 O2 treatment did not affect the carbon surface contamination or the EC -0.31 eV deep level, but it resulted in a significant decrease of the surface OH contamination and the formation of vacancy-type defects (Zn vacancy or vacancy cluster) close to the surface. The formation of a rectifying contact can be attributed to the reduced conductivity of the surface region due to the removal of OH and the formation of vacancy-type defects. © 2007 American Institute of Physics.published_or_final_versio