Multiple configuration shell-core structured robotic manipulator with interchangeable mechatronic joints : a thesis presented in partial fulfilment of the requirements for the degree of Masters of Engineering in Mechatronics at Massey University, Turitea Campus, Palmerston North, New Zealand

With the increase of robotic technology utilised throughout industry, the need for skilled labour in this area has increased also. As a result, education dealing with robotics has grown at both the high-school and tertiary educational level. Despite the range of pedagogical robots currently on the market, there seems to be a low variety of these systems specifically related to the types of robotic manipulator arms popular for industrial applications. Furthermore, a fixed-arm system is limited to only serve as an educational supplement for that specific configuration and therefore cannot demonstrate more than one of the numerous industrial-type robotic arms. The Shell-Core structured robotic manipulator concept has been proposed to improve the quality and variety of available pedagogical robotic arm systems on the market. This is achieved by the reconfigurable nature of the concept, which incorporates shell and core structural units to make the construction of at least 5 mainstream industrial arms possible. The platform will be suitable, but not limited to use within the educational robotics industry at high-school and higher educational levels and may appeal to hobbyists. Later dubbed SMILE (Smart Manipulator with Interchangeable Links and Effectors), the system utilises core units to provide either rotational or linear actuation in a single plane. A variety of shell units are then implemented as the body of the robotic arm, serving as appropriate offsets to achieve the required configuration. A prototype consisting of a limited number of ‘building blocks’ was developed for proof-of-concept, found capable of achieving several of the proposed configurations. The outcome of this research is encouraging, with a Massey patent search confirming the unique features of the proposed concept. The prototype system is an economic, easy to implement, plug and play, and multiple-configuration robotic manipulator, suitable for various applications

Effects of feeding rapeseed oil, soybean oil or linseed oil on stearoyl-CoA desturase expression in the mammary gland of dairy cows

Extensive biohydrogenation of dietary fatty acids (FA) occurs in the rumen of dairy cattle, giving rise to a high proportion of saturated FA in milk fat. Saturated FA may contribute to increased risks of cardiovascular disease and the metabolic syndrome (Williams, 2000). Saturated FA, as well as several mono-unsaturated FA, can be desaturated by ¿9-desaturase, also known as stearoyl-CoA desaturase (SCD), present in the mammary gland of dairy cows. It is known that nutrition, especially polyunsaturated FA (PUFA), can affect the expression of SCD in rodents (Ntambi, 1999). Although various FA have been identified which can affect mammary SCD expression in dairy cattle, such knowledge is limited compared with rodents. Therefore, the objective of this study was to investigate the effect of dietary FA supplementation of C18:1 cis-9, C18:2 cis-9,12 or C18:3 cis-9,12,15, by feeding rapeseed oil, soybean oil or linseed oil respectively, or its mixture, on SCD expression in the mammary gland of dairy cows

The combined honours student experience survey data and the perceptions of staff and students

Data analysis from the University Student Survey (2016) at Canterbury Christ Church University revealed that combined honours students (n=780) were less satisfied than single honours students. The qualitative comments of the students referred to concerns about identifying with and belonging to the programme; and self confidence. In addition, on one programme (n=89), combined honours student were less satisfied than their single honours classmates on 18 of the 22 USS satisfaction measure statements. Three focus group with staff on this programme (n=18) and interviews with students (n=8) were undertaken to investigate the issues of lack of satisfaction further. This paper will report on the ongoing investigation and the potential development of learning and teaching interventions

What Explains the Variation in Estimates of Labour Supply Elasticities?

This paper performs a meta-analysis of empirical estimates of uncompensated labour supply elasticities. We find that much of the variation in elasticities can be explained by the variation in gender, participation rates, and country fixed effects. Country differences appear to be small though. There is no systematic impact of the model specification or marital status on reported elasticities. The decision to participate is more responsive than is the decision regarding hours worked. Even at the intensive margin, we find that the elasticity for women exceeds that for men. For men and women in the Netherlands, we predict an uncompensated labour supply elasticity of 0.1 and 0.5, respectively. These values are robust for alternative samples and specifications of the meta regression.labour supply, meta-analysis, uncompensated elasticity

Resonant diaphragm pressure measurement system with ZnO on Si excitation

The principle of measuring pressure by means of a resonant diaphragm has been studied. An oscillator consisting of an integrated amplifier with a piezoelectrically driven diaphragm in its feedback loop has been built. The oscillator frequency is accurately proportional to the square of the pressure in the range of 60 to 130 Torr.\ud The frequency range is 1324 to 1336 Hz (this range being limited by a spurious mode which could be suppressed by better processing) for a 25 mm diameter diaphragm made of a silicon wafer and with PZT ceramics as driver and receptor. We have made an integrated version (1 × 1 mm2) of a square resonant diaphragm pressure guage by selective etching of (1 0 0) planes with ethylenediamine. The piezoelectric driving materials was sputtered zinc oxide. A driver was deposited midway between the bending point and the point of greatest curvature.\ud A receptor was located at a symmetrical position to give a optimum transfer condition.\ud The integrated current amplifier had a low impedance differential input stage, two gain cells and a high impedance output stage. These electrical conditions ensured maximum elastic freedom of the diaphragm. A digital circuit in I2L technology has been designed and made with eight-bit parallel read out of the frequency. This circuit may be directly connected to a microprocessor. The whole system contains the sensor chip, the analog amplifier chip and the digital chip, all in compatible technology.\ud \u

Modelling Animal Systems Paper: Update of the Dutch protein evaluation system for ruminants: the DVE/OEB2010 system

In the current Dutch protein evaluation system (the DVE/OEB1991 system), two characteristics are calculated for each feed: true protein digested in the intestine (DVE) and the rumen degradable protein balance (OEB). Of these, DVE represents the protein value of a feed, while OEB is the difference between the potential microbial protein synthesis (MPS) on the basis of available rumen degradable protein and that on the basis of available rumen degradable energy. DVE can be separated into three components: (i) feed crude protein undegraded in the rumen but digested in the small intestine, (ii) microbial true protein synthesized in the rumen and digested in the small intestine, and (iii) endogenous protein lost in the digestive processes. Based on new research findings, the DVE/OEB1991 system has recently been updated to the DVE/OEB2010 system. More detail and differentiation is included concerning the representation of chemical components in feed, the rumen degradation characteristics of these components, the efficiency of MPS and the fractional passage rates. For each chemical component, the soluble, washout, potentially degradable and truly non-degradable fractions are defined with separate fractional degradation rates. Similarly, fractional passage rates for each of these fractions were identified and partly expressed as a function of fractional degradation rate. Efficiency of MPS is related to the various fractions of the chemical components and their associated fractional passage rates. Only minor changes were made with respect to the amount of DVE required for maintenance and production purposes of the animal. Differences from other current protein evaluation systems, viz. the Cornell Net Carbohydrate and Protein system and the Feed into Milk system, are discussed

Occurrence and Detection of Killer Yeasts on Chenin Blanc Grapes and Grape Skins

Two hundred and thirty killer yeast strains were selectively isolated from Chenin blanc grapes and grape skins collected from six wineries. The killer yeasts were divided into nine groups based on their colony morphology and colour on modified Wallerstein laboratory nutrient agar. All strains fermented Chenin blanc grape must (pH 3,5; 40 mg/ I free SO, and 5% (v/v) ethanol) at l4°C. Existing techniques in which methylene blue are used were evaluated to detect killer yeasts, to determine interactions between different killer phenotypes, and to determine the sensitivity of commercial strains to the killer toxins

Personal Change as a Key Determinant of the Outcomes of Organisational Transformation Interventions

The purpose of this study was to investigate the critical role of personal change, and its inherent elements, in determining the outcomes of organisational transformation interventions. The purposeful sampling method was used to involve expert organisational transformation consultants as participants (N=10). A qualitative content analysis technique was applied to infer meaningful explanations to the research problem. It was found that although personal change formed an integral part of transformation interventions, it was not adequately explored and utilised as a crucial and consequential dimension in influencing the results of organisational transformation interventions. The implications of the findings are discussed