315 research outputs found

    Mobile Manipulation: A Case Study

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    Particle Transportation Using Programmable Electrode Arrays

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    This study presents a technique to manipulate particles in microchannels using arrays of individually excitable electrodes. These electrodes were energized sequentially to form a non-uniform electric field that moved along the microchannel. The non-uniform electric field caused dielectrophoresis to make polarized particles move. This technique was demonstrated using viable yeast cells in a suspending medium with different conductivities. The viable yeast cells experienced positive dielectrophoresis and negative dielectrophoresis in medium conductivity of 21.5 μS/cm and 966 μS/cm respectively. The experimental results indicate that the cells can be transported in either condition using the proposed technique.Singapore-MIT Alliance (SMA

    Investigation of the Dimensional Variation of Microstructures Through the μMIM Process

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    The mass production of components with dimensions in the micron and sub-micron range is anticipated to be one of the leading technology areas for the present century and to be of high market potential. Micro metal injection molding (μMIM) has the potential to be an important contributor to this industry as it can produce precise metallic microstructures in large quantities at a relatively low production cost. The μMIM process is a miniaturization of metal injection molding (MIM) methods. The process comprises of four main steps: mixing, injection molding, debinding and sintering. A metallic powder is mixed with a binder system to form the feedstock. The feedstock is then injection molded into the required shape and the binder removed via thermal or other means. The final microstructures are obtained by sintering the remaining powder in a controlled environment. In this work, the dimensional variation of the microstructures, in particular the warpage, roughness and volume variation, at each stage of the μMIM process was quantified and compared. The results of a preliminary study of the sensitivity of warpage of the microstructures to the packing pressure are also reported.Singapore-MIT Alliance (SMA

    Phase appearance or disappearance in two-phase flows

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    This paper is devoted to the treatment of specific numerical problems which appear when phase appearance or disappearance occurs in models of two-phase flows. Such models have crucial importance in many industrial areas such as nuclear power plant safety studies. In this paper, two outstanding problems are identified: first, the loss of hyperbolicity of the system when a phase appears or disappears and second, the lack of positivity of standard shock capturing schemes such as the Roe scheme. After an asymptotic study of the model, this paper proposes accurate and robust numerical methods adapted to the simulation of phase appearance or disappearance. Polynomial solvers are developed to avoid the use of eigenvectors which are needed in usual shock capturing schemes, and a method based on an adaptive numerical diffusion is designed to treat the positivity problems. An alternate method, based on the use of the hyperbolic tangent function instead of a polynomial, is also considered. Numerical results are presented which demonstrate the efficiency of the proposed solutions

    On the statistical modeling of persistence in total ozone anomalies

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    Geophysical time series sometimes exhibit serial correlations that are stronger than can be captured by the commonly used first‐order autoregressive model. In this study we demonstrate that a power law statistical model serves as a useful upper bound for the persistence of total ozone anomalies on monthly to interannual timescales. Such a model is usually characterized by the Hurst exponent. We show that the estimation of the Hurst exponent in time series of total ozone is sensitive to various choices made in the statistical analysis, especially whether and how the deterministic (including periodic) signals are filtered from the time series, and the frequency range over which the estimation is made. In particular, care must be taken to ensure that the estimate of the Hurst exponent accurately represents the low‐frequency limit of the spectrum, which is the part that is relevant to long‐term correlations and the uncertainty of estimated trends. Otherwise, spurious results can be obtained. Based on this analysis, and using an updated equivalent effective stratospheric chlorine (EESC) function, we predict that an increase in total ozone attributable to EESC should be detectable at the 95% confidence level by 2015 at the latest in southern midlatitudes, and by 2020–2025 at the latest over 30°–45°N, with the time to detection increasing rapidly with latitude north of this range

    Impact of long-range correlations on trend detection in total ozone

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    Total ozone trends are typically studied using linear regression models that assume a first-order autoregression of the residuals [so-called AR(1) models]. We consider total ozone time series over 60°S–60°N from 1979 to 2005 and show that most latitude bands exhibit long-range correlated (LRC) behavior, meaning that ozone autocorrelation functions decay by a power law rather than exponentially as in AR(1). At such latitudes the uncertainties of total ozone trends are greater than those obtained from AR(1) models and the expected time required to detect ozone recovery correspondingly longer. We find no evidence of LRC behavior in southern middle-and high-subpolar latitudes (45°–60°S), where the long-term ozone decline attributable to anthropogenic chlorine is the greatest. We thus confirm an earlier prediction based on an AR(1) analysis that this region (especially the highest latitudes, and especially the South Atlantic) is the optimal location for the detection of ozone recovery, with a statistically significant ozone increase attributable to chlorine likely to be detectable by the end of the next decade. In northern middle and high latitudes, on the other hand, there is clear evidence of LRC behavior. This increases the uncertainties on the long-term trend attributable to anthropogenic chlorine by about a factor of 1.5 and lengthens the expected time to detect ozone recovery by a similar amount (from ∼2030 to ∼2045). If the long-term changes in ozone are instead fit by a piecewise-linear trend rather than by stratospheric chlorine loading, then the strong decrease of northern middle- and high-latitude ozone during the first half of the 1990s and its subsequent increase in the second half of the 1990s projects more strongly on the trend and makes a smaller contribution to the noise. This both increases the trend and weakens the LRC behavior at these latitudes, to the extent that ozone recovery (according to this model, and in the sense of a statistically significant ozone increase) is already on the verge of being detected. The implications of this rather controversial interpretation are discussed
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