Multi-point static dexterous posture manipulation for the stiffness identification of serial kinematic end-effectors.

Masters Degree. University of KwaZulu-Natal, Durban.The low stiffness inherent in serial robots hinders its application to perform advanced operations due to its reduced accuracy imparted through deformations within the links and joints. The high repeatability, extended workspace, and speed of serial manipulators make them appealing to perform precision operations as opposed to its alternative, the CNC machine. However, due to the serial arrangement of the linkages of the system, they lack the accuracy to meet present-day demands. To address the low stiffness problem, this research provided a low-cost dexterous posture identification method. The study investigated the joint stiffness of a Fanuc M10-iA 6 Degree of Freedom (DOF) serial manipulator. The investigation involved a multivariable analysis that focused on the robot’s workspace, kinematic singularity, and dexterity to locate high stiffness areas and postures. The joint stiffness modelling applied the Virtual Joint Method (VJM), which replaced the complicated mechanical robot joints with one-dimensional (1-D) springs. The effects of stress and deflection are linearly related; the highest stress in a robot’s structure is distributed to the higher load-bearing elements such as the robot joints, end-effector, and tool. Therefore, by locating optimal postures, the induced stresses can be better regulated throughout the robot’s structure, thereby reducing resonant vibrations of the system and improving process accuracy and repeatability. These aspects are quantifiably pitched in terms of the magnitude differences in the end-effector deflection. The unique combination of the dexterity and the stiffness analyses aimed to provide roboticists and manufacturers with an easy and systematic solution to improve the stiffness, accuracy, and repeatability of their serial robots. A simple, user-friendly and cost-effective alternative to deflection measurements using accelerometers is provided, which offers an alternative to laser tracking devices that are commonly used for studies of this nature. The first investigation focused on identifying the overall workspace of the Fanuc M-10iA robot. The reachable workspace was investigated to understand the functionality and potential of the Fanuc robot. Most robotic studies stem from analysing the workspace since the workspace is a governing factor of the manipulator and end-effector placement, and its operations, in a manufacturing setting. The second investigation looked at identifying non-reachable areas and points surrounding the robot. This analysis, along with the workspace examination, provided a conclusive testing platform to test the dexterity and stiffness methodologies. Although the research focused on fixing the end-effector at a point (static case), the testing platform was structured precisely to cater for all robotic manufacturing tasks that are subjected to high applied forces and vibrations. Such tasks include, but are not limited to, drilling, tapping, fastening, or welding, and some dynamic and hybrid manufacturing operations. The third investigation was the application of a dexterous study that applied an Inverse Kinematic (IK) method to localise multiple robot configurations about a user-defined point in space. This process was necessary since the study is based on a multi-point dexterous posture identification technique to improve the stiffness of Serial Kinematic Machines (SKMs). The stiffness at various points and configurations were tested, which provided a series of stiff and non-stiff areas and postures within the robot’s workspace. MATLAB®, a technical computing software, was used to model the workspace and singularity of the robot. The dexterity and stiffness analyses were numerically evaluated using Wolfram Mathematica. The multivariable analyses served to improve the accuracy of serial robots and promote their functionality towards high force application manufacturing tasks. Apart from the improved stiffness performance offered, the future benefit of the method could advance the longevity of the robot as well as minimise the regular robot maintenance that is often required due to excessive loading, stress, and strain on the robot motors, joints, and links

Para-infectious brain injury in COVID-19 persists at follow-up despite attenuated cytokine and autoantibody responses

To understand neurological complications of COVID-19 better both acutely and for recovery, we measured markers of brain injury, inflammatory mediators, and autoantibodies in 203 hospitalised participants; 111 with acute sera (1–11 days post-admission) and 92 convalescent sera (56 with COVID-19-associated neurological diagnoses). Here we show that compared to 60 uninfected controls, tTau, GFAP, NfL, and UCH-L1 are increased with COVID-19 infection at acute timepoints and NfL and GFAP are significantly higher in participants with neurological complications. Inflammatory mediators (IL-6, IL-12p40, HGF, M-CSF, CCL2, and IL-1RA) are associated with both altered consciousness and markers of brain injury. Autoantibodies are more common in COVID-19 than controls and some (including against MYL7, UCH-L1, and GRIN3B) are more frequent with altered consciousness. Additionally, convalescent participants with neurological complications show elevated GFAP and NfL, unrelated to attenuated systemic inflammatory mediators and to autoantibody responses. Overall, neurological complications of COVID-19 are associated with evidence of neuroglial injury in both acute and late disease and these correlate with dysregulated innate and adaptive immune responses acutely

Investigating Post-partum Ovarian Cyclicity Following Various Treatments in Dairy Cows

The present study envisages the effect of PGF2α and antibiotic treatment on ovarian cyclic activity and regression of corpus luteum verum in post-partum dairy cows. Cows were divided into three treatment (PG8, PG25, antibiotic) and a control group. Ovarian activity was studied by examining follicular dynamics upto 42 days post-partum in which diameter of dominant follicle before first ovulation, the number of days to first ovulation and complete regression of corpus luteum verum were evaluated. Body condition score was recorded for all the cows in different groups. Also, ovulation on ovary ipsilateral or contralateral to previous gravid uterine horn was noted. On transrectal ultrasonography at a 3-day interval, dominant follicle diameter prior to ovulation was significantly higher (p0.05) lower in PG8 group i.e. 24.33±1.48 days in comparison to PG25, antibiotic and control group (26.67±1.48, 29.00±1.81and 27.60±1.40 days post-partum, respectively). A subsequent ovarian activity was affected as 70.83 and 66.33% Ist and IInd ovulations occurred on the ovary contralateral to corpus luteum verum. In conclusion, contralateral ovary was more active in terms of ovulation whereas presence of corpus luteum verum had no effect on post-partum ovarian cyclic activity

Dimensional accuracy enhancement of machined-hole through UAECDM-process under the magnetic-field-assistance

Electrochemical discharge machining (ECDM) is a micro-machining hybrid technique that utilizes electrical discharge and electrochemical machining principles. However, the issue of insufficient electrolyte in the hydrodynamic region hinders the continuation of the machining action. Although ultrasonic tool vibrations have been used to overcome this problem to some extent, the excessive mechanical energy produced by high-amplitude tool vibration may lead to surface crack formations. As a result, the present work employs two flushing improvement methods, namely the ultrasonic vibrations and magnetic filed assistances, in the ECDM process. A comparative study has been performed to identify the effect of the magnetic field on discharge quality. The material removal rate and depth of penetration were increased by 11% and 24%, respectively, and the observed reduction in hole overcut and taper angle was around 35% and 50%, respectively. Optical microscope images quantified improvement in dimensional accuracy and decreased HAZ area.</p

Development of high oleic and low linoleic acid transgenics in a zero erucic acid Brassica juncea L. (Indian mustard) line by antisense suppression of the fad2 gene

A zero erucic acid (C22:1) line of Brassica juncea (VH486), adapted to the agronomic conditions of Northern India, has been modified for its fatty acid composition in the seed oil with antisense constructs using the sequence of fad2 gene of B. rapa. The full-length B. rapa fad2 cDNA sequence was determined by 5' and 3' RACE of a partial sequence available in the EST database. Construct pASfad2.1 contained 315 to 1251 bp and construct pASfad2.2 contained 1 to 1251 bp fragment of the fad2 gene, both in antisense orientation, driven by a truncated napin promoter. Analysis of the levels of linoleic acid (C18:2) in the BC1 seeds of single-copy transgenics showed that the construct pASfad2.2 gave better suppression of the fad2 gene as compared to the construct pASfad2.1. The BC1 transgenic seeds containing the pASfad2.2 construct segregated into two distinct classes of C18:2&gt;20% (putative null homozygotes) and C18:2&lt;20% (putative heterozygotes) in a 1:1 ratio, while the T1 seeds segregated into three classes, C18:2&gt;20%, C18:2 between 12% and 20%) and C18:2&lt;12% (putative homozygotes) in a 1:2:1 ratio. Putative homozygous T1 seeds (C18:2&lt;12% analyzed by the half-seed method) of four of the transgenic lines were grown to establish T2 homozygous lines. These had ca. 73% C18:1 and 8 to 9% each of C18:2 and C18:3 (&#945;-linolenic acid) fractions in comparison to ca. 53% C18:1, 24% C18:2 and 16% C18:3 in the parental line VH486

DNA methylation networks underlying mammalian traits

Using DNA methylation profiles ( n = 15,456) from 348 mammalian species, we constructed phyloepigenetic trees that bear marked similarities to traditional phylogenetic ones. Using unsupervised clustering across all samples, we identified 55 distinct cytosine modules, of which 30 are related to traits such as maximum life span, adult weight, age, sex, and human mortality risk. Maximum life span is associated with methylation levels in HOXL subclass homeobox genes and developmental processes and is potentially regulated by pluripotency transcription factors. The methylation state of some modules responds to perturbations such as caloric restriction, ablation of growth hormone receptors, consumption of high-fat diets, and expression of Yamanaka factors. This study reveals an intertwined evolution of the genome and epigenome that mediates the biological characteristics and traits of different mammalian species

DNA methylation networks underlying mammalian traits

Using DNA methylation profiles ( = 15,456) from 348 mammalian species, we constructed phyloepigenetic trees that bear marked similarities to traditional phylogenetic ones. Using unsupervised clustering across all samples, we identified 55 distinct cytosine modules, of which 30 are related to traits such as maximum life span, adult weight, age, sex, and human mortality risk. Maximum life span is associated with methylation levels in subclass homeobox genes and developmental processes and is potentially regulated by pluripotency transcription factors. The methylation state of some modules responds to perturbations such as caloric restriction, ablation of growth hormone receptors, consumption of high-fat diets, and expression of Yamanaka factors. This study reveals an intertwined evolution of the genome and epigenome that mediates the biological characteristics and traits of different mammalian species

Delaying surgery for patients with a previous SARS-CoV-2 infection

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