Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications

Trabajo presentado al 34th Annual Mechanisms and Robotics Conference celebrado en Quebec del 15 al 18 de agosto de 2010.This paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength space of the Flexor Digitorum Profundus (FDP) and the Flexor Digitorum Superficialis (FDS) muscles. The design separates the strength space of the FDS and FDP muscles into a lighter strength region where finer manipulation and general approach tasks are executed, and a higher strength region where the more robust grasps are achieved. Two parallel actuator types and kinematic structures are designed to complement the requirements of both strength space regions.This research was performed under an award/contract from Telemedicine Advanced Technology Research Center (TATRC), of the U.S. Army Medical Research and Materiel Command (USAMRMC) of the U.S. Department of Defense.Peer Reviewe

ВДОСКОНАЛЕННЯ УПРАВЛІННЯ ФІНАНСУВАННЯМ ІННОВАЦІЙНО-ІНВЕСТИЦІЙНОЇ ДІЯЛЬНОСТІ НА ПРОМИСЛОВИХ ПІДПРИЄМСТВАХ

Метою статті є дослідження особливостей фінансових аспектів управління інноваційно-інвестиційною діяльністю промислових підприємств і визначення шляхів підвищення ефективності фінансування ІІДРозкрито сутність і зміст системи управління фінансуванням інноваційно-інвестиційної діяльності на промислових підприємства

Demand driven salt clean-up in a molten salt fast reactor – Defining a priority list

<div><p>The PUREX technology based on aqueous processes is currently the leading reprocessing technology in nuclear energy systems. It seems to be the most developed and established process for light water reactor fuel and the use of solid fuel. However, demand driven development of the nuclear system opens the way to liquid fuelled reactors, and disruptive technology development through the application of an integrated fuel cycle with a direct link to reactor operation. The possibilities of this new concept for innovative reprocessing technology development are analysed, the boundary conditions are discussed, and the economic as well as the neutron physical optimization parameters of the process are elucidated. Reactor physical knowledge of the influence of different elements on the neutron economy of the reactor is required. Using an innovative study approach, an element priority list for the salt clean-up is developed, which indicates that separation of Neodymium and Caesium is desirable, as they contribute almost 50% to the loss of criticality. Separating Zirconium and Samarium in addition from the fuel salt would remove nearly 80% of the loss of criticality due to fission products. The theoretical study is followed by a qualitative discussion of the different, demand driven optimization strategies which could satisfy the conflicting interests of sustainable reactor operation, efficient chemical processing for the salt clean-up, and the related economic as well as chemical engineering consequences. A new, innovative approach of balancing the throughput through salt processing based on a low number of separation process steps is developed. Next steps for the development of an economically viable salt clean-up process are identified.</p></div

INFLUENCE OF LINEAR ALKYLBENZENE SULFONATE (LAS) AS ORGANIC COSOLVENT ON LEACHING BEHAVIOR OF PCDD/FS FROM FLY-ASH AND SOIL

The leaching of polychlorinated dibenzo-p-dioxins and dibenzofurans (PCDD/Fs) was measured in soil and standard fly ash column eluted with pure water and linear alkylbenzene sulfonate (LAS)- water. The data obtained were used to evaluate the leachability of PCDD/Fs from waste dump like incineration residual slag and fly ash deposition. The leaching rate was shown to be increased significantly by using LAS water. The leachate contents of PCDD/Fs were above their known water solubility. Concentration of PCDD/Fs in the leachates as well as the relative leaching (calculated on the fly ash content) increased with increasing chlorinating degree and decreasing water solubility. LAS above the critical micelle concentration (CMC) probably enhances PCDD/Fs solubility