Systematic Design of edical Capsule Robots

Medical capsule robots that navigate inside the body as diagnostic and interventional tools are an emerging and challenging research area within medical CPSs. These robots must provide locomotion, sensing, actuation, and communication within severe size, power, and computational constraints. This paper presents the first effort for an open architecture, platform design, software infrastructure, and a supporting modular design environment for medical capsule robots to further this research area

Tool path pattern and feed direction selection in robotic milling for increased chatter-free material removal rate

Robotic milling becomes increasingly relevant to large-scale part manufacturing industries thanks to its cost-effective and portable manufacturing concept compared to large-scale CNC machine tools. Integration of milling processes with industrial robots is proposed to be well aligned with the aims and objective of the recent fourth industrial revolution. However, the industrial robots introduce position-dependent and asymmetrical dynamic flexibility, which may reflect to the tool tip dynamics under several conditions. Under such circumstances, the stability limits become dependent on the machining location and the feed direction. In this respect, selection of machining tool path patterns is crucial for increased chatter-free material removal rates (MRR). This paper proposes an approach to evaluate and select tool path patterns, offered by the existing CAM packages, for increased chatter-free MRR. The machining area is divided into number of machining locations. The optimal feed direction is decided based on the absolute stability at each region considering the asymmetrical and position-dependent tool tip dynamics. Then, the alternative tool path patterns are evaluated and the corresponding optimum feed direction is decided for increased chatter-free material removal. The application of the proposed approach is demonstrated through simulations and representative experiments

Composite Films of Arabinoxylan and Fibrous Sepiolite: Morphological, Mechanical, and Barrier Properties

Hemicelluloses represent a largely unutilized resource for future bioderived films in packaging and other applications. However, improvement of film properties is needed in order to transfer this potential into reality. In this context, sepiolite, a fibrous clay, was investigated as an additive to enhance the properties of rye flour arabinoxylan. Composite films cast from arabinoxylan solutions and sepiolite suspensions in water were transparent or semitransparent at additive loadings in the 2.5-10 wt % range. Scanning electron microscopy showed that the sepiolite was well dispersed in the arabinoxylan films and sepiolite fiber aggregation was not found. FT-IR spectroscopy provided some evidence for hydrogen bonding between sepiolite and arabinoxylan. Consistent with these findings, mechanical testing showed increases in film stiffness and strength with sepiolite addition and the effect of poly(ethylene glycol) methyl ether (mPEG) plasticizer addition. Incorporation of sepiolite did not significantly influence the thermal degradation or the gas barrier properties of arabinoxylan films, which is likely a consequence of sepiolite fiber morphology. In summary, sepiolite was shown to have potential as an additive to obtain stronger hemicellulose films although other approaches, possibly in combination with the use of sepiolite, would be needed if enhanced film barrier properties are required for specific applications.</p

X-ray induced reduction of Au and Pt ions on silicon substrates

Prolonged exposure to X-rays of HAuCl4, PtCl4 and their mixtures, deposited from an aqueous solution onto a silicon substrate, causes chemical reduction of the metal ions to their metallic states. The corresponding oxidation reaction is the conversion of chloride ions to chlorine. The resultant metal atoms aggregate to form metallic/bimetallic nanoclusters as evidenced from their XPS chemical shifts. Hence, X-rays are usable for in-situ nanoparticle production or for direct-writing applications on silicon substrates. © 2007 Elsevier B.V. All rights reserved

Preparation of Au and Au-Pt nanoparticles within PMMA matrix using UV and X-ray irradiation

Au and Au-Pt alloy nanoparticles are prepared and patterned at room temperature within the PMMA polymer matrix by the action of 254 nm UV light or X-rays. The polymer matrix enables us to entangle the kinetics of the photochemical reduction from the nucleation and growth processes, when monitored by UV-vis spectroscopy. Accordingly, increase of the temperature to 50 °C of the reaction medium increases the nucleation and growth rates of the nanoparticle formation by more than one order of magnitude, due to enhanced diffusion and nucleation at the higher temperature, but has no effect on the photochemical reduction process. Presence of Pt ions also increases the same rate, but by a factor two only. Similar photochemical reduction and particle growth take also place within the PMMA matrix, when these metal ions are subjected to prolonged exposure to X-rays, as evidenced by XPS analysis. Both angle-resolved and charge-contrast measurements using XPS reveal that the resultant Au and Pt species are in close proximity to each other, indicating the Au-Pt alloy formation to be the most likely case. © 2008 Elsevier Ltd. All rights reserved