Modeling and Control of a Flexible Structure Incorporating Inertial Slip-Stick Actuators

Shape and vibration control of a linear flexible structure by means of a new type of inertial slip-stick actuator are investigated. A nonlinear model representing the interaction between the structure and a six-degree-of-freedom Stewart platform system containing six actuators is derived, and closed-loop stability and performance of the controlled systems are investigated. A linearized model is also derived for design purposes. Quasistatic alignment of a payload attached to the platform is solved simply by using a proportional controller based on a linear kinematic model. The stability of this controller is examined using a dynamic model of the complete system and is validated experimentally by introducing random thermal elongations of several structural members. Vibration control is solved using an H∞ loop-shaping controller and, although its performance is found to be less satisfactory than desired, the nonlinear model gives good predictions of the performance and stability of the closed-loop system

Unethical aspects of homeopathic dentistry

In the last year there has been a great deal of public debate about homeopathy, the system of alternative medicine whose main principles are that like cures like and that potency increases relative to dilution. The House of Commons Select Committee on Science and Technology concluded in November 2009 that there is no evidence base for homeopathy, and agreed with some academic commentators that homeopathy should not be funded by the NHS. While homeopathic doctors and hospitals are quite commonplace, some might be surprised to learn that there are also many homeopathic dentists practising in the UK. This paper examines the statements made by several organisations on behalf of homeopathic dentistry and suggests that they are not entirely ethical and may be in breach of various professional guidelines

Contamination in complex healthcare trials:the falls in care homes (FinCH) study experience

BACKGROUND: Trials are at risk of contamination bias which can occur when participants in the control group are inadvertently exposed to the intervention. This is a particular risk in rehabilitation studies where it is easy for trial interventions to be either intentionally or inadvertently adopted in control settings. The Falls in Care Homes (FinCH) trial is used in this paper as an example of a large randomised controlled trial of a complex intervention to explore the potential risks of contamination bias. We outline the FinCH trial design, present the potential risks from contamination bias, and the strategies used in the design of the trial to minimise or mitigate against this. The FinCH trial was a multi-centre randomised controlled trial, with embedded process evaluation, which evaluated whether systematic training in the use of the Guide to Action Tool for Care Homes reduced falls in care home residents. Data were collected from a number of sources to explore contamination in the FinCH trial. Where specific procedures were adopted to reduce risk of, or mitigate against, contamination, this was recorded. Data were collected from study e-mails, meetings with clinicians, research assistant and clinician network communications, and an embedded process evaluation in six intervention care homes. During the FinCH trial, there were six new falls prevention initiatives implemented outside the study which could have contaminated our intervention and findings. Methods used to minimise contamination were: cluster randomisation at the level of care home; engagement with the clinical community to highlight the risks of early adoption; establishing local collaborators in each site familiar with the local context; signing agreements with NHS falls specialists that they would maintain confidentiality regarding details of the intervention; opening additional research sites; and by raising awareness about the importance of contamination in research among participants. CONCLUSION: Complex rehabilitation trials are at risk of contamination bias. The potential for contamination bias in studies can be minimized by strengthening collaboration and dialogue with the clinical community. Researchers should recognise that clinicians may contaminate a study through lack of research expertise

Quantifying moment redistribution in FRP-strengthened RC beams

Consideration of moment redistribution (MR) in the design of continuous reinforced concrete (RC) beams results in an efficient and economical design. Adding fibre-reinforced polymer (FRP) materials to reinforced structures to enhance flexural capacity leads to a reduction in ductility, such that design standards severely limit use of the MR in their design. This has forced engineers to use elastic analyses for strengthening design, which can lead to FRP wastage. To overcome this, complicated or empirical solutions have been applied to solve the problem of MR in strengthened concrete members, with limited success. This paper presents a novel theoretical strategy for quantifying and tracking MR in such members by employing basic structural mechanics without any need for estimating rotation capacity or ductility. Fully non-linear flexural behaviour of continuous strengthened members can be predicted and any geometry, loading arrangement and strengthening technique or configuration can be considered. The numerical model is validated against existing experimental data from the literature. Good agreement is shown between the experimental and numerical data, with the significance of this work being that, potentially, for the first time MR could credibly and confidently be incorporated into design guides for FRP strengthening of RC structures.The authors gratefully acknowledge funding provided by the Engineering and Physical Sciences Research Council (EPSRC EP/K019015/1) and the project partners (Concrete Repairs Ltd, Fyfe, Highways England, WSP/Parsons Brinckerhoff and Tony Gee and partners) for this research project

Anchorage and residual bond characteristics of 7-wire strand

© 2017 Elsevier Ltd The periodic assessment of our existing concrete infrastructure is a crucial part of maintaining appropriate levels of public safety over long periods of time. It is important that realistic predictions of the capacity of existing structures can be made in order to avoid unnecessary and expensive intervention work. Assessment is currently undertaken using codified models that are generally readily applied to infrastructure with simple geometric and reinforcement details that conform to design methods for new structures. This approach presents two significant challenges for prestressed structures: (1) design and construction practice has changed significantly in the past 50 years, and modern codified approaches can be incompatible with historic structures; and (2) deterioration of exposed soffits can lead to reduced cover to internal prestressing strand. Unless appropriate reductions are used in assessment of a structure with such problems, unnecessary load restrictions, or major strengthening or reconstruction work may be required, despite having carried a full service load since its construction. There are currently no widely accepted methods for the prediction of peak and residual capacities in prestressed concrete beams with inadequately detailed 7-wire strand. This paper presents a completely new prediction methodology, validated against new experimental results from 31 novel semi-beam tests. The proposed models for peak load, residual load, and bond stress-slip modelling provide reliable, accurate, and conservative results. Their results demonstrate feasible and appropriate capacity reduction factors for use in the assessment of existing concrete infrastructure

Perceptions of police use of force: The importance of trust

Purpose: The range of tactical force options available to police is increasing, while public debate about police use of force is never far from the headlines. This paper aims to examine what factors shape how people accept police use of force. Design/methodology/approach: The authors use two online experiments to test whether different force options affected judgments about the acceptability of police action and to explore the role of trust and legitimacy in people's judgments. Findings: The authors found across both studies that respondents judged scenarios involving a weapon (baton, CS spray, Taser) as less acceptable compared to scenarios that did not (talking down, handcuffs), but they did not draw much distinction between the specific weapon used. In study 1, exposure to different police tactics had no effect on trust and legitimacy. In study 2, prior perceptions of trust were strong predictors of acceptability judgments. Originality/value: There is a comparative paucity of British-based empirical research examining public attitudes toward different use of force resolutions by police. In this paper, the authors explore how use of force affects people's views of police at a time in which the nature and scope of force applications, how these are understood and indeed the basic enterprise of policing itself is being reconsidered and renegotiated

Cellular and ultrastructural location of angiotensinogen in rat and sheep kidney

Cellular and ultrastructural location of angiotensinogen in rat and sheep kidney. Recent evidence suggests the involvement of a local renin-angiotensin system in some renal actions of angiotensin II (Ang II). In this study the renal distribution of the precursor to angiotensin formation, angiotensinogen, was investigated in rats and sheep using immunohistochemistry, immunoelectron microscopy and non-isotopic hybridization histochemistry. Immunostaining for angiotensinogen was seen in proximal tubules (PCT) of both rat and sheep kidneys. In the rat the strongest immunostaining was found in the kidneys of neonatal (1 day old) rats. Staining declined after birth. Non-isotopic hybridization histochemistry using oligodeoxynucleotide probes labeled with biotin confirmed the presence of angiotensinogen mRNA expression in PCT of the rat renal cortex. Electron microscopic immunohistochemistry using antibodies raised against rat angiotensinogen showed weak staining in the adult of granule-like structures close to the apical membrane of PCT cells. In the neonatal rat kidney, angiotensinogen immunostaining was found throughout the PCT cells and was markedly stronger than that seen in adult rat kidney. In sheep, angiotensinogen immunostaining with an antibody raised against purified ovine angiotensinogen showed staining of PCT in fetal, newborn and adult sheep kidney. The strongest immunostaining seen was in fetal sheep kidney with a decline seen after birth. Reverse transcription polymerase chain reaction (RT-PCR) showed that angiotensinogen mRNA was expressed in the sheep kidney at all ages studied. Angiotensinogen expression was higher in fetal sheep kidneys (77 day and 141 day gestation) than in adult sheep kidney. In conclusion, angiotensinogen mRNA expression was detected in both rat and sheep kidneys. Immunostaining showed angiotensinogen protein in PCT cells of the renal cortex. Angiotensinogen staining and mRNA expression is highest during development and declines in the adult

Gaussian Approximation Potentials: theory, software implementation and application examples

Gaussian Approximation Potentials are a class of Machine Learned Interatomic Potentials routinely used to model materials and molecular systems on the atomic scale. The software implementation provides the means for both fitting models using ab initio data and using the resulting potentials in atomic simulations. Details of the GAP theory, algorithms and software are presented, together with detailed usage examples to help new and existing users. We review some recent developments to the GAP framework, including MPI parallelisation of the fitting code enabling its use on thousands of CPU cores and compression of descriptors to eliminate the poor scaling with the number of different chemical elements