Elongation Modeling and Compensation for the Flexible Tendon-Sheath System

In tendon-driven systems, the elongation of the tendon would result in inaccuracy in the position control of the system. This becomes a critical challenge for those applications, such as surgical robots, which require the tendon-sheath system with flexible and even time-varying configurations but lack of corresponding sensory feedback at the distal end due to spatial restrictions. In this paper, we endeavor to address this problem by modeling the tendon elongation in a flexible tendon-sheath system. Targeting at flexibility in practical scenarios, we first derived a model describing the relationship between the overall tendon elongation and the input tension with arbitrary route configurations. It is shown that changes in the route configuration would significantly affect the tendon elongation. We also proposed a remedy to enhance the system tolerance against potential unmodeled perturbations along the transmission route during operation. A scaling factor S was introduced as a design guideline to determine the scaling effect. A dedicated platform that was able to measure the tensions at both ends and the overall tendon elongation was designed and set up to validate the new findings. Discussions were made on the performance and the future implementation of the proposed models and remedy.published_or_final_versio

Comparative performance of squeeze film air journal bearings made of aluminium and copper

This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited. Copyright @ 2012 The Authors - The article can be accessed from the links below.This article has been made available through the Brunel Open Access Publishing Fund.Two tubular squeeze film journal bearings, made from Al 2024 T3 and Cu C101, were excited by driving the single-layer piezoelectric actuators at a 75-V AC with a 75-V DC offset. The input excitation frequencies were coincident with the 13th modal frequency, at 16.32 and 12.18 kHz for the respective Al and Cu bearings, in order to produce a ‘triangular’ modal shape. The paper also provided a CFX model, used to solve the Reynolds equation and the equation of motion, to explain the squeeze film effect of an oscillating plate with pressure end leakage. The dynamic characteristics of both bearings were studied in ANSYS and then validated by experiments with respect to their squeeze film thickness and load-carrying capacity. It was observed that whilst both bearings did levitate a load when excited at mode 13, the Al bearing showed a better floating performance than Cu bearing. This is due to the fact that the Al bearing had a higher modal frequency and a greater amplitude response than the Cu bearing.This article is made available through the Brunel Open Access Publishing Fund

Reliable measurement of elastic modulus of cells by nanoindentation in an atomic force microscope

The elastic modulus of an oral cancer cell line UM1 is investigated by nanoindentation in an atomic force microscope with a flat-ended tip. The commonly used Hertzian method gives apparent elastic modulus which increases with the loading rate, indicating strong effects of viscoelasticity. On the contrary, a rate-jump method developed for viscoelastic materials gives elastic modulus values which are independent of the rate-jump magnitude. The results show that the rate-jump method can be used as a standard protocol for measuring elastic stiffness of living cells, since the measured values are intrinsic properties of the cells. © 2011 Elsevier Ltd.postprin

Chemical Composition and Insecticidal Activity of Essential Oil of Artemisia frigida Willd (Compositae) against Two Grain Storage Insects

Purpose: To investigate the chemical composition and insecticidal activity of the essential oil of the aerial parts of Artemisia frigida against maize weevils (Sitophilus zeamais) and booklice (Liposcelis bostrychophila)DMethods: Steam distillation of A. frigida aerial parts was carried out in a Clavenger apparatus to extract its volatile oil content. Gas  chromatography/mass spectrometric (GC/MS) analyses (HP-5MS column) ofthe essential oil were performed and its contact toxicity was determined using topical application and filter paper impregnation technique while its fumigant toxicity was evaluated using sealed-space method.Results: A total of 32 components of the essential oil were identified. The principal compounds were cis-ρ-menth-2-en-1-ol (20.8%), 1,8-cineole (12.0%), borneol (10.2%), lavandulol (9.3%), camphor (6.9%), and bicyclogermacrene (5.5%). The oil exhibited contact toxicity against adult S. zeamais and L. bostrychophila with LC50 value of 17.97 µg/adult and 254.38 µg/cm2, respectively. The essential oils also possessed fumigant toxicity against S. zeamais and L. bostrychophila with LC50 value of 69.46mg/L and 1.25 mg/L air.Conclusion: The study indicates that the essential oil of A. frigida has a potential to be developed to a natural fumigant/insecticide for the control of grain storage insects.Keywords: Artemisia frigida, Sitophilus zeamais, Liposcelis bostrychophila, Insecticidal activity, Essential oil, Cis-ρ-Menth-2-en-1-ol; 1,8-Cineol

The association of HBV core promoter double mutations (A1762T and G1764A) with viral load differs between HBeAg positive and anti-HBe positive individuals: A longitudinal analysis

Background/Aims: Although there have been a few reports regarding the effect of basal core promoter (BCP) double mutations (A1762T and G1764A) on hepatitis B viral loads, the association remains uncertain. We aim to determine the association after controlling for HBeAg - a strong confounding factor.Methods: We selected randomly 190 individuals from a Chinese cohort of 2258 subjects for cross-sectional analysis and 56 of the 190 for longitudinal analysis of viral loads.Results: In multivariable analysis of the cross-sectional data, BCP double mutations are significantly associated with lower viral loads in HBeAg positive subjects but no difference was found in anti-HBe positive subjects. Triple mutations at nucleotide (nt) 1753, 1762 and 1764 and mutations between nt 1809 and 1817, precore stop mutation (nt 1896) and genotype are not associated with viral loads in either HBeAg or anti-HBe positive subjects. Analysis of the longitudinal data yielded similar results to the cross-sectional data. Viral loads differ significantly between individuals infected with wild-type and BCP double mutations prior to HBeAg seroconversion but this difference is lost after seroconversion.Conclusions: BCP double mutations are associated with lower viral loads in HBeAg positive individuals but have no effect on the viral loads of anti-HBe positive individuals. (C) 2008 European Association for the Study of the Liver. Published by Elsevier B.V. All rights reserved

Zn-vacancy related defects in ZnO grown by pulsed laser deposition

Undoped and Ga-doped ZnO (002) films were grown c-sapphire using the pulsed laser deposition (PLD) method. Znvacancy related defects in the films were studied by different positron annihilation spectroscopy (PAS). These included Doppler broadening spectroscopy (DBS) employing a continuous monenergetic positron beam, and positron lifetime spectroscopy using a pulsed monoenergetic positron beam attached to an electron linear accelerator. Two kinds of Znvacancy related defects namely a monovacancy and a divacancy were identified in the films. In as-grown undoped samples grown with relatively low oxygen pressure P(O2)≤1.3 Pa, monovacancy is the dominant Zn-vacancy related defect. Annealing these samples at 900 oC induced Zn out-diffusion into the substrate and converted the monovacancy to divacancy. For the undoped samples grown with high P(O2)=5 Pa irrespective of the annealing temperature and the as-grown degenerate Ga-doped sample (n=1020 cm-3), divacancy is the dominant Zn-vacancy related defect. The clustering of vacancy will be discussed.published_or_final_versio

Design of vertically-stacked polychromatic light-emitting diodes

A new design for a polychromatic light-emitting diode (LED) is proposed and demonstrated, LED chips of the primary colors are physically stacked on top of each other. Light emitted from each layer of the stack passes through each other, and thus is mixed naturally without additional optics. As a color-tunable device, a wide range of colors can be generated, making it suitable for display purposes. As a phosphor-free white light LED, luminous efficacy of 30 lm/watt was achieved. © 2009 Optical Society of America.published_or_final_versio

Cathodic bacterial community structure applying the different co-substrates for reductive decolorization of Alizarin Yellow R

Selective enrichment of cathodic bacterial community was investigated during reductive decolorization of AYR fedding with glucose or acetate as co-substrates in biocathode. A clear distinction of phylotype structures were observed between glucose-fed and acetate-fed biocathodes. In glucose-fed biocathode, Citrobacter (29.2%), Enterococcus (14.7%) and Alkaliflexus (9.2%) were predominant, and while, in acetate-fed biocathode, Acinetobacter (17.8%) and Achromobacter (6.4%) were dominant. Some electroactive or reductive decolorization genera, like Pseudomonas, Delftia and Dechloromonas were commonly enriched. Both of the higher AYR decolorization rate (k(AYR) = 0.46) and p-phenylenediamine (PPD) generation rate (k(PPD) = 0.38) were obtained fed with glucose than acetate (k(AYR) = 0.18; k(PPD) = 0.16). The electrochemical behavior analysis represented a total resistance in glucose-fed condition was about 73.2% lower than acetate-fed condition. The different co-substrate types, resulted in alteration of structure, richness and composition of bacterial communities, which significantly impacted the performances and electrochemical behaviors during reductive decolorization of azo dyes in biocathode. (C) 2016 Elsevier Ltd. All rights reserved.11116Ysciescopu

A systematic simulation methodology for LNG ship operations in port waters: a case study in Meizhou Bay

With the increment for liquefied natural gas (LNG) demand, LNG carriers are becoming larger in size. The operational safety of the carriers and the associated terminals is increasingly attracting attention. This is particularly true when a large LNG vessel approaches a terminal, requiring a detailed investigation of ship handling in port waters, especially in certain unusual cases. A full mission simulator provides an effective tool for research and training in operations of both port terminals and ships. This paper presents an experimental design methodology of the full mission simulation. The details as to how the simulation is achieved are described, and the simulation strategies applicable to LNG ships are specified. A typical case study is used to demonstrate and verify the proposed design methodology. The proposed methodology of the full mission simulation provides guidance for port safety research, risk evaluation and seafarer training. © 2017 Institute of Marine Engineering, Science & Technolog

A new hybrid approach to human error probability quantification-applications in maritime operations

Human Reliability Analysis (HRA) has always been an essential research issue in safety critical systems. Cognitive Reliability Error Analysis Method (CREAM), as a well-known second generation HRA method is capable of conducting both retrospective and prospective analysis, thus being widely used in many sectors. However, the needs of addressing the use of a deterministic approach to configure common performance conditions (CPCs) and the assignment of the same importance to all the CPCs in a traditional CREAM method reveal a significant research gap to be fulfilled. This paper describes a modified CREAM methodology based on an Evidential Reasoning (ER) approach and a Decision Making Trial and Evaluation Laboratory (DEMATEL) technique for making human error probability quantification in CREAM rational. An illustrative case study associated with maritime operations is presented. The proposed method is validated by sensitivity analysis and the quantitative analysis result is verified through comparing the real data collected from Shanghai coastal waters. Its main contribution lies in that it for the first time addresses the data incompleteness in HEP, given that the previous relevant studies mainly focus on the fuzziness in data. The findings will provide useful insights for quantitative assessment of seafarers' errors to reduce maritime risks due to human errors