Mechanical design and friction modelling of a cable-driven upper-limb exoskeleton

This paper presents a lightweight and low-inertia cable-driven upper-limb exoskeleton powerful enough to meet the requirements for activities of daily living. It presents the mechanical design, kinematic structure,the underlying actuation system, sensors, other electronic components as well as the controller of the exoskeleton. The extensive effect of friction on cable-driven designs, such as the one presented in this paper, requires proper mathematical modelling for controller design. Thus, we propose a current actuator model that describes the relationship between the motor current, velocity, and external load. The model relies on an underlying Stribeck+Coulomb friction representation and an additional parameter that modifies its Coulomb friction representation with an offset to represent adhesion between a cable and sheath. The model has been validated based on experimental data collected with the exoskeleton. The results show that the proposed model better captures the non-linear behaviour of the exoskeleton’s actuation system, increasing overall descriptive performance by 15%. However, adding the adhesion offset to extend the relation of static friction, does not improve the model

Fungicide resistance among Cladobotryum spp. – causal agents of cobweb disease of the edible mushroom Agaricus bisporus

A survey of fungicide resistance among isolates of the mushroom pathogens Cladobotryum mycophilum and C. dendroides Types I and II was undertaken, with respect to the active ingredients thiabendazole, carbendazim (benzimidazoles) and prochloraz manganese following an epidemic in Britain and Ireland in 1994/95. The majority of isolates (41/57) were strongly resistant to thiabendazole (ED50 > 200 ppm) and were exclusively C. dendroides Type II. All C. mycophilum and C. dendroides Type I isolates, and four C. dendroides Type II isolates, were weakly resistant to thiabendazole (ED50 1–10 ppm). Thiabendazole-resistant C. dendroides Type II isolates were only weakly resistant to carbendazim (ED50 2–10 ppm) and isolates which were weakly resistant to thiabendazole were carbendazim-sensitive (ED50 < 1 ppm), demonstrating a lack of complete cross resistance between these two benzimidazole fungicides. The ED50 values for all isolates with respect to prochloraz manganese ranged from 0.14 to 7.8 ppm. Benzimidazole resistance was considered to have been an important factor influencing the severity of the 1994/95 cobweb epidemic but 25% of isolates collected were benzimidazole sensitive

Differential Geometry applied to Acoustics : Non Linear Propagation in Reissner Beams

Although acoustics is one of the disciplines of mechanics, its "geometrization" is still limited to a few areas. As shown in the work on nonlinear propagation in Reissner beams, it seems that an interpretation of the theories of acoustics through the concepts of differential geometry can help to address the non-linear phenomena in their intrinsic qualities. This results in a field of research aimed at establishing and solving dynamic models purged of any artificial nonlinearity by taking advantage of symmetry properties underlying the use of Lie groups. The geometric constructions needed for reduction are presented in the context of the "covariant" approach.Comment: Submitted to GSI2013 - Geometric Science of Informatio

Improved understanding of dynamic water and mass budgets of high‐alpine karst systems obtained from studying a well‐defined catchment area

Large areas of Europe, especially in the Alps, are covered by carbonate rocks and in many alpine regions, karst springs are important sources for drinking water supply. Because of their high variability and heterogeneity, the understanding of the hydrogeological functioning of karst aquifers is of particular importance for their protection and utilisation. Climate change and heavy rainfall events are major challenges in managing alpine karst aquifers which possess an enormous potential for future drinking water supply. In this study, we present research from a high‐alpine karst system in the UNESCO Biosphere Reserve Großes Walsertal in Austria, which has a clearly defined catchment and is drained by only one spring system. Results show that (a) the investigated system is a highly dynamic karst aquifer with distinct reactions to rainfall events in discharge and electrical conductivity; (b) the estimated transient atmospheric CO2 sink is about 270 t/a; (c) the calculated carbonate rock denudation rate is between 23 and 47 mm/1000a and (d) the rainfall‐discharge behaviour and the internal flow dynamics can be successfully simulated using the modelling package KarstMod. The modelling results indicate the relevance of matrix storage in determining the discharge behaviour of the spring, particularly during low‐flow periods. This research and the consequent results can contribute and initiate a better understanding and management of alpine karst aquifers considering climate change with more heavy rainfall events and also longer dry periods.The investigated karst system contributes to the transient atmospheric CO2 sink with about 270 t/a. Carbonate denudation rates vary between 23 and 47 mm/1000a. Rainfall‐discharge modelling results indicate the importance of matrix storage particularly during low‐flow periods. imageBundesministerium für Bildung und Forschung http://dx.doi.org/10.13039/501100002347FP7 People: Marie‐Curie Actions http://dx.doi.org/10.13039/10001126

Strain-Based Analysis for Geometrically Nonlinear Beams: A Modal Approach

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/97066/1/AIAA2012-1713.pd

Prioritizing Stream Barrier Removal to Maximize Connected Aquatic Habitat and Minimize Water Scarcity

Instream barriers, such as dams, culverts, and diversions, alter hydrologic processes and aquatic habitat. Removing uneconomical and aging instream barriers is increasingly used for river restoration. Historically, selection of barrier removal projects used score‐and‐rank techniques, ignoring cumulative change and the spatial structure of stream networks. Likewise, most water supply models prioritize either human water uses or aquatic habitat, failing to incorporate both human and environmental water use benefits. Here, a dual‐objective optimization model identifies barriers to remove that maximize connected aquatic habitat and minimize water scarcity. Aquatic habitat is measured using monthly average streamflow, temperature, channel gradient, and geomorphic condition as indicators of aquatic habitat suitability. Water scarcity costs are minimized using economic penalty functions while a budget constraint specifies the money available to remove barriers. We demonstrate the approach using a case study in Utah\u27s Weber Basin to prioritize removal of instream barriers for Bonneville cutthroat trout, while maintaining human water uses. Removing 54 instream barriers reconnects about 160 km of quality‐weighted habitat and costs approximately US$10 M. After this point, the cost‐effectiveness of removing barriers to connect river habitat decreases. The modeling approach expands barrier removal optimization methods by explicitly including both economic and environmental water uses

Methods and approaches for blind test predictions of out-of-plane behavior of masonry walls: a numerical comparative study

Earthquakes cause severe damage to masonry structures due to inertial forces acting in the normal direction to the plane of the walls. The out-of-plane behavior of masonry walls is complex and depends on several parameters, such as material and geometric properties of walls, connections between structural elements, the characteristics of the input motions, among others. Different analytical methods and advanced numerical modeling are usually used for evaluating the out-of-plane behavior of masonry structures. Furthermore, different types of structural analysis can be adopted for this complex behavior, such as limit analysis, pushover, or nonlinear dynamic analysis.Aiming to evaluate the capabilities of different approaches to similar problems, blind predictions were made using different approaches. For this purpose, two idealized structures were tested on a shaking table and several experts on masonry structures were invited to present blind predictions on the response of the structures, aiming at evaluating the available tools for the out-of-plane assessment of masonry structures. This article presents the results of the blind test predictions and the comparison with the experimental results, namely in terms of formed collapsed mechanisms and control outputs (PGA or maximum displacements), taking into account the selected tools to perform the analysis.info:eu-repo/semantics/publishedVersio

Optimizing non-pharmaceutical intervention strategies against COVID-19 using artificial intelligence

One key task in the early fight against the COVID-19 pandemic was to plan non-pharmaceutical interventions to reduce the spread of the infection while limiting the burden on the society and economy. With more data on the pandemic being generated, it became possible to model both the infection trends and intervention costs, transforming the creation of an intervention plan into a computational optimization problem. This paper proposes a framework developed to help policy-makers plan the best combination of non-pharmaceutical interventions and to change them over time. We developed a hybrid machine-learning epidemiological model to forecast the infection trends, aggregated the socio-economic costs from the literature and expert knowledge, and used a multi-objective optimization algorithm to find and evaluate various intervention plans. The framework is modular and easily adjustable to a real-world situation, it is trained and tested on data collected from almost all countries in the world, and its proposed intervention plans generally outperform those used in real life in terms of both the number of infections and intervention costs

Monilochaetes and allied genera of the Glomerellales, and a reconsideration of families in the Microascales

We examined the phylogenetic relationships of two species that mimic Chaetosphaeria in teleomorph and anamorph morphologies, Chaetosphaeria tulasneorum with a Cylindrotrichum anamorph and Australiasca queenslandica with a Dischloridium anamorph. Four data sets were analysed: a) the internal transcribed spacer region including ITS1, 5.8S rDNA and ITS2 (ITS), b) nc28S (ncLSU) rDNA, c) nc18S (ncSSU) rDNA, and d) a combined data set of ncLSU-ncSSU-RPB2 (ribosomal polymerase B2). The traditional placement of Ch. tulasneorum in the Microascales based on ncLSU sequences is unsupported and Australiasca does not belong to the Chaetosphaeriaceae. Both holomorph species are nested within the Glomerellales. A new genus, Reticulascus, is introduced for Ch. tulasneorum with associated Cylindrotrichum anamorph; another species of Reticulascus and its anamorph in Cylindrotrichum are described as new. The taxonomic structure of the Glomerellales is clarified and the name is validly published. As delimited here, it includes three families, the Glomerellaceae and the newly described Australiascaceae and Reticulascaceae. Based on ITS and ncLSU rDNA sequence analyses, we confirm the synonymy of the anamorph genera Dischloridium with Monilochaetes. Consequently Dischloridium laeënse, type species of the genus, and three related species are transferred to the older genus Monilochaetes. The teleomorph of D. laeënse is described in Australiasca as a new species. The Plectosphaerellaceae, to which the anamorph genus Stachylidium is added, is basal to the Glomerellales in the three-gene phylogeny. Stilbella annulata also belongs to this family and is newly combined in Acrostalagmus. Phylogenetic analyses based on ncLSU, ncSSU, and combined ncLSU-ncSSU-RPB2 sequences clarify family relationships within the Microascales. The family Ceratocystidaceae is validated as a strongly supported monophyletic group consisting of Ceratocystis, Cornuvesica, Thielaviopsis, and the type species of Ambrosiella. The new family Gondwanamycetaceae, a strongly supported sister clade to the Ceratocystidaceae, is introduced for the teleomorph genus Gondwanamyces and its Custingophora anamorphs. Four families are accepted in the Microascales, namely the Ceratocystidaceae, Gondwanamycetaceae, Halosphaeriaceae, and Microascaceae. Because of a suggested affinity of a Faurelina indica isolate to the Microascales, the phylogenetic position of the Chadefaudiellaceae is reevaluated. Based on the results from a separate ncLSU analysis of the Dothideomycetes, Faurelina is excluded from the Microascales and placed in the Pleosporales