Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots

The actuation of miniaturized robots through external magnetic fields has great potential for medical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, the magnetic field of a mobile electromagnet, notably capable to generate a desired magnetic field in large 3D workspaces, has been identified first. Then, a control model of the field generation system has been developed to produce a desired magnetic field designed to generate a locomotion gait in a legged miniaturized robot. Preliminary experiments prove the viability of the approach.</p

The ARMM System-Autonomous Steering of Magnetically-Actuated Catheters:Towards Endovascular Applications

Positioning conventional endovascular catheters is not without risk, and there is a multitude of complications that are associated with their use in manual surgical interventions. By utilizing surgical manipulators, the efficacy of remote-controlled catheters can be investigated in vivo. However, technical challenges, such as the duration of catheterizations, accurate positioning at target sites, and consistent imaging of these catheters using non-hazardous modalities, still exist. In this paper, we propose the integration of multiple sub-systems in order to extend the clinical feasibility of an autonomous surgical system designed to address these challenges. The system handles the full synchronization of co-operating manipulators that both actuate a clinical tool. The experiments within this study are conducted within a clinically-relevant workspace and inside a gelatinous phantom that represents a life-size human torso. A catheter is positioned using magnetic actuation and proportional-integral (PI) control in conjunction with real-time ultrasound images. Our results indicate an average error between the tracked catheter tip and target positions of 2:09 0:49 mm. The median procedure time to reach targets is 32:6 s. We expect that our system will provide a step towards collaborative manipulators employing mobile electromagnets, and possibly improve autonomous catheterization procedures within endovascular surgeries

Diffraction based Hanbury Brown and Twiss interferometry performed at a hard x-ray free-electron laser

We demonstrate experimentally Hanbury Brown and Twiss (HBT) interferometry at a hard X-ray Free Electron Laser (XFEL) on a sample diffraction patterns. This is different from the traditional approach when HBT interferometry requires direct beam measurements in absence of the sample. HBT analysis was carried out on the Bragg peaks from the colloidal crystals measured at Linac Coherent Light Source (LCLS). We observed high degree (80%) spatial coherence of the full beam and the pulse duration of the monochromatized beam on the order of 11 fs that is significantly shorter than expected from the electron bunch measurements.Comment: 32 pages, 10 figures, 2 table

Subluxation: dogma or science?

Subluxation syndrome is a legitimate, potentially testable, theoretical construct for which there is little experimental evidence. Acceptable as hypothesis, the widespread assertion of the clinical meaningfulness of this notion brings ridicule from the scientific and health care communities and confusion within the chiropractic profession. We believe that an evidence-orientation among chiropractors requires that we distinguish between subluxation dogma vs. subluxation as the potential focus of clinical research. We lament efforts to generate unity within the profession through consensus statements concerning subluxation dogma, and believe that cultural authority will continue to elude us so long as we assert dogma as though it were validated clinical theory

Machine Learned Interatomic Potential for Dispersion Strengthened Plasma Facing Components

Tungsten (W) is a material of choice for the divertor material due to its high melting temperature, thermal conductivity, and sputtering threshold. However, W has a very high brittle-to-ductile transition temperature and at fusion reactor temperatures ($\geq$1000K) may undergo recrystallization and grain growth. Dispersion-strengthening W with zirconium carbide (ZrC) can improve ductility and limit grain growth, but much of the effects of the dispersoids on microstructural evolution and thermomechanical properties at high temperature are still unknown. We present a machine learned Spectral Neighbor Analysis Potential (SNAP) for W-ZrC that can now be used to study these materials. In order to construct a potential suitable for large-scale atomistic simulations at fusion reactor temperatures, it is necessary to train on ab initio data generated for a diverse set of structures, chemical environments, and temperatures. Further accuracy and stability tests of the potential were achieved using objective functions for both material properties and high temperature stability. Validation of lattice parameters, surface energies, bulk moduli, and thermal expansion is confirmed on the optimized potential. Tensile tests of W/ZrC bicrystals show that while the W(110)-ZrC(111) C-terminated bicrystal has the highest ultimate tensile strength (UTS) at room temperature, observed strength decreases with increasing temperature. At 2500K, the terminating C layer diffuses into the W, resulting in a weaker W-Zr interface. Meanwhile, the W(110)-ZrC(111) Zr-terminated bicrystal has the highest UTS at 2500K

Thermodynamic properties of 2-methyl lactic acid

© 2018 Elsevier Ltd The measurements of the values of the enthalpy of formation, vaporisation, sublimation and fusion of 2-methyl lactic acid have been performed using methods of combustion calorimetry, transpiration method and differential scanning calorimetry. A conformational analysis has been conducted to identify a set of stable conformers of the compound. Methods of statistical thermodynamics have been used to calculate the thermodynamic functions of the acid in the ideal gas state considering the contribution of the internal rotation in “rigid rotator – anharmonic oscillator” approximation within temperature interval (298.15–1500) К for the conformers under study