Active force control of 3-RRR planar parallel manipulator

This paper presents a new and novel method to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator using an active force control (AFC) strategy. A traditional proportional-integral-derivative (PID) controller was first designed and developed to demonstrate the basic and stable response of the manipulator in performing trajectory tracking tasks. Later, the AFC section was incorporated into the control scheme in cascade form by adding it in series with the PID controller (PID+AFC), its primary aim of which is to improve the overall system dynamic performance particularly when the manipulator is subjected to different loading conditions. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme in rejecting the disturbances compared to the traditional PID controller

Evaluation of Therapeutic Properties of a Low Energy Electron Beam Plus Spoiler for Local Treatment of Mycosis Fungoides: A Monte Carlo Study

Background: When using low-energy electron beams for the treatment of skin lesions, such as Mycosis Fungoides (MF), a beam spoiler is used to decrease electron therapeutic depth (R90) while increasing the surface dose. Objective: The aim of this study was to evaluate the characteristics of a 5 MeV electron beam when using a spoiler for the local treatment of MF skin lesions by Monte Carlo (MC) simulation. Methods: A Siemens Primus treatment head and an acrylic spoiler, positioned at the end of applicator, were simulated using BEAMnrc, an EGSnrc user code. The modelled beam was validated by measurement using MP3-M water tank, Roos parallel plate chamber and Semi flex Chamber-31013 (all from PTW, Freiburg, Germany). For different spoiler thicknesses, dose distributions in water were calculated for 2 field sizes and were compared to those for the corresponding open fields. Results: For a 1.3 cm spoiler, therapeutic range changed from 1.5 cm (open field) to 0.5 cm and 0.4 cm for 10 × 10 cm2 and 20 × 20 cm2 field sizes, respectively. Maximum increase in penumbra width was 2.8 and 3.8 cm for 10 × 10 cm2 and 20 × 20 cm2 field sizes, respectively. Maximum increase in bremsstrahlung contamination was %2 in both field sizes. Conclusion: R90 decreased exponentially with increase in spoiler thickness. The effect of field size on penumbra was much larger for spoiled beam compared to the open beam. The results of this research can be applied to optimize the radiation treatment of MF patients in our hospital

Design and Implementation of a Monte Carlo Framework for Assessment of Spoiler Applications in Abutting Electron Fields

Background: Field matching problems in abutting electron fields can be man-aged by using spoilers. Objective: The aim of this study was to design a Monte Carlo framework for the assessment of spoiler application in abutting electron fields. Material and Methods: In this experimental study, a Siemens Primus treatment head was simulated for a 5 MeV electron beam using BEAMnrc, DOSXYZnrc and EGSnrc user codes. Validation of beam model was done by measurement using a MP3-M water tank and a Semi-flex Chamber-31010 (PTW, Freiburg, Germany). An in-house routine was developed to calculate the combined isodose curves result-ing from simulated adjacent fields. The developed framework was analyzed using PMMA and chromium spoilers. Results: The penumbra width increased from 27.5 mm for open fields to 42 mm for PMMA and 40 mm for chromium. The maximum junction dose reduced from 115% for open fields to 107% for PMMA and 108% for chromium. R90 reduced about 6 mm for PMMA and 3 mm for chromium. Uniformity index reduced from 93% to 77% for both spoilers. Surface dose increased from 79% to 89% for PMMA and 88% for chromium. Conclusion: Using spoilers, penumbra width at the surface was increased, size and depth of hot spots as well as the therapeutic range were reduced and dose homo-geneity at the junction of abutting electron fields was improved. For both spoilers, the uniformity index reduced, and surface percent dose increased. The results of this research can be used to optimize dose distribution in electron beam treatment using abutting fields

Response of lettuce to Cd-enriched water and irrigation frequencies

This pot experiment was an attempt to investigate a broad response of lettuce to different cadmium (Cd) levels of irrigation water (0, 5, 10 and 20 mg l-1) under different irrigation intervals (1, 2 and 4 days). The results showed that increased level of soil Cd through irrigation eventually decreased the yield of lettuce in all cases; however, in some cases yield was increased with lower doses of Cd application. No injury symptoms were observed other than plant height and yield reduction. Shoot dry weight proved to be the most sensitive parameters to the cadmium, especially under water stress conditions. The results also showed that the concentrations of nutrient elements in lettuce shoot were suppressed by water stress. The presence of cadmium in irrigation water did not significantly affect the absorption of nutrient elements by plants except for Fe. Shoot Cd concentration and its uptake decreased with increasing irrigation frequencies and the reverse trend occurred with increasing Cd levels of irrigation water. However, the values were higher than recommended guideline in all conditions. Also, shoot Cd content showed a significant positive correlation with the final accumulated Cd concentration of soil and was expressed by a plateau model under the dry irrigation regime and linear models at other irrigation intervals. Overall, shoot Cd concentration was predicted by using a simple linear regression model regardless of evapotranspiration and transpiration rate of plant.Key words: Cadmium toxicity; chemical composition; irrigation frequency; lettuce

Evaluation of Therapeutic Properties of a Low Energy Electron Beam Plus Spoiler for Local Treatment of Mycosis Fungoides: A Monte Carlo Study

Background: When using low-energy electron beams for the treatment of skin lesions, such as Mycosis Fungoides (MF), a beam spoiler is used to decrease electron therapeutic depth (R90) while increasing the surface dose. Objective: The aim of this study was to evaluate the characteristics of a 5 MeV electron beam when using a spoiler for the local treatment of MF skin lesions by Monte Carlo (MC) simulation. Material and Methods: In this experimental study, a Siemens Primus treatment head and an acrylic spoiler, positioned at the end of applicator, were simu-lated using BEAMnrc, an EGSnrc user code. The modelled beam was validated by measurement using MP3-M water tank, Roos parallel plate chamber and Semi flex Chamber-31013 (all from PTW, Freiburg, Germany). For different spoiler thickness-es, dose distributions in water were calculated for 2 field sizes and were compared to those for the corresponding open fields. Results: For a 1.3 cm spoiler, therapeutic range changed from 1.5 cm (open field) to 0.5 cm and 0.4 cm for 10 × 10 cm2 and 20 × 20 cm2 field sizes, respectively. Maximum increase in penumbra width was 2.8 and 3.8 cm for 10 × 10 cm2 and 20 × 20 cm2 field sizes, respectively. Maximum increase in bremsstrahlung contamination was %2 in both field sizes. Conclusion: R90 decreased exponentially with increase in spoiler thickness. The effect of field size on penumbra was much larger for spoiled beam compared to the open beam. The results of this research can be applied to optimize the radiation treatment of MF patients in our hospital

Application of exploratory factor analysis method in the evaluating the competitiveness of port services

This applied research has been conducted to evaluate the competitiveness of port services using exploratory factor analysis and importance- performance analysis methods. First, by studying the ports competiveness literatures, 53 indicators of competitiveness of port services has been identified, And to reduce the number of variables affecting the competitiveness of ports and the formation of a new structure for them (Based on the correlations between variables), exploratory factor analysis method was used. Based on the obtained results from 53 identified indicators, in the factor analysis, only 27 of indicator have loadings on the eight factors of Logistics Cost, Connectivity, Port facility, Port Service and Availability, Safety and security, Efficiency and Productivity, Reliability, Hinterland condition. The obtained results from confirmatory factor analysis in this study showed that, among the eight factors, factors of Logistics Cost and factors of Connectivity have greatest influence on the port competitiveness. And factors of Reliability and factors of Hinterland condition have least influence on the port competitiveness. And also the results of the importance and performance analysis showed that among of eight factors, respectively efficiency and productivity factor has the highest and Hinterland condition has the lowest the difference between the performance averages from importance average. And also the Position of each factor in the quarters of the importance and performance matrix indicates that other than the second factor (Connectivity) and fifth factor (Safety and Security) all other factors located in a quarter one. Thus it can be concluded that the services of studies port from the perspective of located factors in quarter one (logistics costs, port facilities, port services, productivity and efficiency, reliability and the Hinterland) has a low performance And needs performance improvement according to their importance

Identification and ranking of causes of delay in container handling operation by TOPSIS method

This applied research has been conducted to identify and rank the causes of delay in container handling operation in two stages. In the first, having considered the daily census of container handling operation in the pertinent terminal of the port, As well, brain storming cessions attended by experts from the studied container terminals were held during which twenty seven numbers of causes of delay were detected. In the second stage, having considered the detected factors from the first stage, the probability of the causes occurrence, the extent of impact of causes on process after their occurrence and probability of causes detection before having effect on process have been determined by experts in form of a scale ranging from one to ten, Finally based on the obtained scores by each one of the causes, the decision matrix was formed and the mentioned causes were ranked by TOPSIS method. The abstained results showed that the causes of delays in loading and unloading operations in studied container terminals have significant different in the terms of probability of the causes occurrence, the extent of impact of causes on process after their occurrence and probability of causes detection before having effect on process. Finally to mitigation of these causes several strategies have been presented

Bio-corrosion behavior and mechanical characteristics of magnesium-titania-hydroxyapatite nanocomposites coated by magnesium-oxide flakes and silicon for use as resorbable bone fixation material

This study was aimed to improve of the corrosion resistance and mechanical properties of Mg/15TiO2/5HA nanocomposite by silicon and magnesium oxide coatings prepared using a powder metallurgy method. The phase evolution, chemical composition, microstructure and mechanical properties of uncoated and coated samples were characterized. Electrochemical and immersion tests used to investigate the in vitro corrosion behavior of the fabricated samples. The adhesion strength of ~36 MPa for MgO and ~32 MPa for Si/MgO coatings to substrate was measured by adhesion test. Fabrication a homogenous double layer coating with uniform thicknesses consisting micro-sized particles of Si as outer layer and flake-like particles of MgO as the inner layer on the surface of Mg/15TiO2/5HA nanocomposite caused the corrosion resistance and ductility increased whereas the ultimate compressive stress decreased. However, after immersion in SBF solution, Si/MgO-coated sample indicates the best mechanical properties compared to those of the uncoated and MgO-coated samples. The increase of cell viability percentage of the normal human osteoblast (NHOst) cells indicates the improvement in biocompatibility of Mg/15TiO2/5HA nanocomposite by Si/MgO coating