Design, analysis, and control of a cable-driven parallel platform with a pneumatic muscle active support

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The neck is an important part of the body that connects the head to the torso, supporting the weight and generating the movement of the head. In this paper, a cable-driven parallel platform with a pneumatic muscle active support (CPPPMS) is presented for imitating human necks, where cable actuators imitate neck muscles and a pneumatic muscle actuator imitates spinal muscles, respectively. Analyzing the stiffness of the mechanism is carried out based on screw theory, and this mechanism is optimized according to the stiffness characteristics. While taking the dynamics of the pneumatic muscle active support into consideration as well as the cable dynamics and the dynamics of the Up-platform, a dynamic modeling approach to the CPPPMS is established. In order to overcome the flexibility and uncertainties amid the dynamic model, a sliding mode controller is investigated for trajectory tracking, and the stability of the control system is verified by a Lyapunov function. Moreover, a PD controller is proposed for a comparative study. The results of the simulation indicate that the sliding mode controller is more effective than the PD controller for the CPPPMS, and the CPPPMS provides feasible performances for operations under the sliding mode control

A Proposed Theoretical Model of Discontinuous Usage of Voice-Activated Intelligent Personal Assistants (IPAs)

Based on the contradictory phenomenon of rapid development of Voice-Activated Intelligent Personal Assistants (Voice-Activated IPAs) and discontinuous usage of it, this paper investigates the antecedents of discontinuous usage of Voice-Activated IPAs. We first analyze the topic of Siri usage discussion from Zhihu\u27s Q&A website, and then propose a theoretical model which hypothesized that discontinuous usage of Voice-Activated IPAs are affected by perceived ambiguity, cognitive overload, privacy concern, social embarrassment and lack of integration. It is hypothesized that perceived ambiguity will exert nonlinear impacts on discontinuous usage. Meanwhile, perceived ambiguity is also affected by level of personification in a nonlinear way. Scale development and data collection would be conducted for the future work. It is expected that the results our research could provide theoretical and practical implications for the design of Voice-Activated IPAs

Theoretical and experimental investigations of the bifurcation behavior of creep groan of automotive disk brakes

There are several low frequency vibration phenomena which can be observed in automotive disk brakes. Creep groan is one of them provoking noise and structural vibrations of the car. In contrast to other vibration phenomena like brake squeal, creep groan is caused by the stick-slip-effect. A fundamental investigation of creep groan is proposed in this paper theoretically and experimentally with respect to parameter regions of the occurrence. Creep groan limit cycles are observed while performing experiments in a test rig with an idealized brake. A nonlinear model using the bristle friction law is set up in order to simulate the limit cycle of creep groan. As a result, the system shows three regions of qualitatively different behavior depending on the brake pressure and driving speed, i.e. a region with a stable equilibrium solution and a stable limit cycle, a region with only a stable equilibrium solution, and a region with only a stable limit cycle. The limit cycle can be interpreted as creep groan while the equilibrium solution is the desired vibration-free case. These three regions and the bifurcation behavior are demonstrated by the corresponding map. The experimental results are analyzed and compared with the simulation results showing good agreement. The bifurcation behavior and the corresponding map with three different regions are also confirmed by the experimental results. At the end, a similar map with the three regions is also measured at a test rig with a complete real brake

QoS multicast tree construction in IP/DWDM optical internet by bio-inspired algorithms

Copyright @ Elsevier Ltd. All rights reserved.In this paper, two bio-inspired Quality of Service (QoS) multicast algorithms are proposed in IP over dense wavelength division multiplexing (DWDM) optical Internet. Given a QoS multicast request and the delay interval required by the application, both algorithms are able to find a flexible QoS-based cost suboptimal routing tree. They first construct the multicast trees based on ant colony optimization and artificial immune algorithm, respectively. Then a dedicated wavelength assignment algorithm is proposed to assign wavelengths to the trees aiming to minimize the delay of the wavelength conversion. In both algorithms, multicast routing and wavelength assignment are integrated into a single process. Therefore, they can find the multicast trees on which the least wavelength conversion delay is achieved. Load balance is also considered in both algorithms. Simulation results show that these two bio-inspired algorithms can construct high performance QoS routing trees for multicast applications in IP/DWDM optical Internet.This work was supported in part ny the Program for New Century Excellent Talents in University, the Engineering and Physical Sciences Research Council (EPSRC) of UK under Grant EP/E060722/1, the National Natural Science Foundation of China under Grant no. 60673159 and 70671020, the National High-Tech Reasearch and Development Plan of China under Grant no. 2007AA041201, and the Specialized Research Fund for the Doctoral Program of Higher Education under Grant no. 20070145017

Sensitivity enhancement of a Cu (II) metal organic framework-acetylene black-based electrochemical sensor for ultrasensitive detection of imatinib in clinical samples

Imatinib (IMB), an anticancer drug, is extensively used for chemotherapy to improve the quality of life of cancer patients. The aim of therapeutic drug monitoring (TDM) is to guide and evaluate the medicinal therapy, and then optimize the clinical effect of individual dosing regimens. In this work, a highly sensitive and selective electrochemical sensor based on glassy carbon electrode (GCE) modified with acetylene black (AB) and a Cu (II) metal organic framework (CuMOF) was developed to measure the concentration of IMB. CuMOF with preferable adsorbability and AB with excellent electrical conductivity functioned cooperatively to enhance the analytical determination of IMB. The modified electrodes were characterized using X-rays diffraction (XRD), X-ray photoelectron spectroscopy (XPS), fourier transform infrared (FT-IR), ultraviolet and visible spectrophotometry (UV-vis), electrochemical impedance spectroscopy (EIS), scanning electron microscopy (SEM), energy dispersive X‐ray spectroscopy (EDS), brunauer‒emmett‒teller (BET) and barrett‒joyner‒halenda (BJH) techniques. Analytical parameters such as the ratio of CuMOF to AB, dropping volumes, pH, scanning rate and accumulation time were investigated through cyclic voltammetry (CV). Under optimal conditions, the sensor exhibited an excellent electrocatalytic response for IMB detection, and two linear detection ranges were obatined of 2.5 nM-1.0 μM and 1.0–6.0 μM with a detection limit (DL) of 1.7 nM (S/N = 3). Finally, the good electroanalytical ability of CuMOF-AB/GCE sensor facilitated the successful determination of IMB in human serum samples. Due to its acceptable selectivity, repeatability and long-term stability, this sensor shows promising application prospects in the detection of IMB in clinical samples

Dust aerosol optical depth retrieval and dust storm detection for Xinjiang Region using Indian National Satellite Observations

The Xinjiang Uyghur Autonomous Region (Xinjiang) is located near the western border of China. Xinjiang has a high frequency of dust storms, especially in late winter and early spring. Geostationary satellite remote sensing offers an ideal way to monitor the regional distribution and intensity of dust storms, which can impact the regional climate. In this study observations from the Indian National Satellite (INSAT) 3D are used for dust storm detection in Xinjiang because of the frequent 30-min observations with six bands. An analysis of the optical properties of dust and its quantitative relationship with dust storms in Xinjiang is presented for dust events in April 2014. The Aerosol Optical Depth (AOD) derived using six predefined aerosol types shows great potential to identify dust events. Cross validation between INSAT-3D retrieved AOD and MODIS AOD shows a high coefficient of determination (R2 = 0.92). Ground validation using AERONET (Aerosol Robotic Network) AOD also shows a good correlation with R2 of 0.77. We combined the apparent reflectance (top-of-atmospheric reflectance) of visible and shortwave infrared bands, brightness temperature of infrared bands and retrieved AOD into a new Enhanced Dust Index (EDI). EDI reveals not only dust extent but also the intensity. EDI performed very well in measuring the intensity of dust storms between 22 and 24 April 2014. A visual comparison between EDI and Feng Yun-2E (FY-2E) Infrared Difference Dust Index (IDDI) also shows a high level of similarity. A good linear correlation (R2 of 0.78) between EDI and visibility on the ground demonstrates good performance of EDI in estimating dust intensity. A simple threshold method was found to have a good performance in delineating the extent of the dust plumes but inadequate for providing information on dust plume intensity