Calibration of parallel kinematics machine-tools using small displacement torsors

The accuracy of a machine-tool depends on manufacturing and assembly errors, backlash in the structure and the links, thermal variations, vibrations, and others. The method presented in this paper deals with manufacturing and assembly errors but it can be adapted to other sources of errors. This method uses the concept of Small Displacement Torsors (SDT) to the calibration of parallel kinematics machine-tools. The following hypothesis is made: the defaults of the structure can be modelled by a combination of small displacements of the surfaces in contact. The method consists first of all in modelling each link by a SDT expressed in the local frame of the link (n parameters characterize the defaults of the structure). Then each torsor is written in the frame of the structure where measurements are done. The value of the components of the torsors depends on the pose (position and orientation) of the tool. The relations between the torsors and the tool pose are calculated (N equations connect the parameters to the pose of the tool). Then the pose error is measured in m correctly selected points, so that the n parameters can be identified solving the equation : E=M.D, where E is the vector containing the measured pose errors ; M is the invertible matrix formed with the relations between the torsors and the tool pose ; D is the vector containing the parameters of the torsors. After the identification of vector D, the hypothesis of small displacement must be verified. Finally the pose error of the tool can be calculated in all the working volume. This paper presents the general method based on the Small Displacement Torsors. The links used in machine-tools is modelled by SDT. Then this method is applied to the calibration of the Hita-STT machine-tool, an industrial prototype. The objective is to reach an absolute accuracy of less than 10 microns with a relative accuracy of 5 microns, considering manufacturing and assembly errors in the first calibration phase

Surface topography of hydroxyapatite affects ROS17/2.8 cells response

Hydroxyapatite (HA) has been used in orthopedic, dental, and maxillofacial surgery as a bone substitute. The aim of this investigation was to study the effect of surface topography produced by the presence of microporosity on cell response, evaluating: cell attachment, cell morphology, cell proliferation, total protein content, and alkaline phosphatase (ALP) activity. HA discs with different percentages of microporosity (< 5%, 15%, and 30%) were confected by means of the combination of uniaxial powder pressing and different sintering conditions. ROS17/2.8 cells were cultured on HA discs. For the evaluation of attachment, cells were cultured for two hours. Cell morphology was evaluated after seven days. After seven and fourteen days, cell proliferation, total protein content, and ALP activity were measured. Data were compared by means of ANOVA and Duncan’s multiple range test, when appropriate. Cell attachment (p = 0.11) and total protein content (p = 0.31) were not affected by surface topography. Proliferation after 7 and 14 days (p = 0.0007 and p = 0.003, respectively), and ALP activity (p = 0.0007) were both significantly decreased by the most irregular surface (HA30). These results suggest that initial cell events were not affected by surface topography, while surfaces with more regular topography, as those present in HA with 15% or less of microporosity, favored intermediary and final events such as cell proliferation and ALP activity

Cleaved-facet violet laser diodes with lattice-matched Al0.82In0.18N/GaN multilayers as n-cladding

Electrically injected, edge-emitting cleaved-facet violet laser diodes were realized using a 480 nm thick lattice matched Si doped Al0.82In0.18N/GaN multilayer as the cladding on the n-side of the waveguide. Far-field measurements verify strong mode confinement to the waveguide. An extra voltage is measured and investigated using separate mesa structures with a single AlInN insertion. This showed that the electron current has a small thermally activated shunt resistance with a barrier of 0.135 eV and a current which scales according to V-n, where n similar to 3 at current densities appropriate to laser operation. (C) 2011 American Institute of Physics. (doi:10.1063/1.3589974

Quantitative measurement of thyroglobulin mRNA in peripheral blood of patients after total thyroidectomy

Previous studies have reported the clinical usefulness of reverse transcription-polymerase chain reaction (RT-PCR) detection of thyroglobulin (TG) mRNA in the peripheral blood of patients with differentiated thyroid carcinoma. To evaluate this usefulness, we measured TG mRNA in the peripheral blood of patients diagnosed with thyroid carcinoma after total thyroidectomy by real-time quantitative RT-PCR using glyceraldehyde-3-phosphate dehydrogenase (GAPDH) mRNA as an internal control. Surprisingly, we detected TG mRNA in all samples obtained after total thyroidectomy, including those from 4 medullary carcinomas. Further, there was no statistical difference in expression levels of TG mRNA in the patients with or without metastasis, and no significant correlation was found between serum TG concentrations and the expression levels of TG mRNA. These results give rise to a question regarding the clinical applications of not only RT-PCR detection but also quantitative measurement of TG mRNA in peripheral blood. © 2001 Cancer Research Campaign http://www.bjcancer.co

Low temperature method for the production of calcium phosphate fillers

BACKGROUND: Calcium phosphate manufactured samples, prepared with hydroxyapatite, are used as either spacers or fillers in orthopedic surgery, but these implants have never been used under conditions of mechanical stress. Similar conditions also apply with cements. Many authors have postulated that cements are a useful substitute material when implanted in vivo. The aim of this research is to develop a low cristalline material similar to bone in porosity and cristallinity. METHODS: Commercial hydroxyapatite (HAp) and monetite (M) powders are mixed with water and compacted to produce cylindrical samples. The material is processed at a temperature of 37–120 degrees C in saturated steam to obtain samples that are osteoconductive. The samples are studied by X-ray powder diffraction (XRD), Vickers hardness test (HV), scanning electron microscopy (SEM), and porosity evaluation. RESULTS: The X-ray diffractions of powders from the samples show patterns typical of HAp and M powders. After thermal treatment, no new crystal phase is formed and no increase of the relative intensity of the peaks is obtained. Vicker hardness data do not show any relationship with treatment temperature. The total porosity decreases by 50–60% according to the specific thermal treatment. Scanning electron microscopy of the surfaces of the samples with either HAp 80%-M 20% (c) or Hap 50%-M 50% (f), show cohesion of the powder grains. CONCLUSIONS: The dissolution-reprecipitation process is more intesive in manufactured samples (c) and (f), according to Vickers hardness data. The process occurs in a steam saturated environment between 37 degrees and 120 degrees C. (c) (f) manufactured samples show pore dimension distributions useful to cellular repopulation in living tissues

Next Generation Short-Term Forecasting of Wind Power – Overview of the ANEMOS Project.

International audienceThe aim of the European Project ANEMOS is to develop accurate and robust models that substantially outperform current state-of-the-art methods, for onshore and offshore wind power forecasting. Advanced statistical, physical and combined modelling approaches were developed for this purpose. Priority was given to methods for on-line uncertainty and prediction risk assessment. An integrated software platform, 'ANEMOS', was developed to host the various models. This system is installed by several end-users for on-line operation and evaluation at a local, regional and national scale. Finally, the project demonstrates the value of wind forecasts for the power system management and market integration of wind power. Keywords: Wind power, short-term forecasting, numerical weather predictions, on-line software, tools for wind integration

T-2 toksin - pojavnost i toksičnost u peradi

T-2 toxin is the most toxic type A trichothecene mycotoxin. It is the secondary metabolite of the Fusarium fungi, and is common in grain and animal feed. Toxic effects have been shown both in experimental animals and in livestock. It has been implicated in several outbreaks of human mycotoxicoses. Toxic effects in poultry include inhibition of protein, DNA, and RNA synthesis, cytotoxicity, immunomodulation, cell lesions in the digestive tract, organs and skin, neural disturbances and low performance in poultry production (decreased weight gain, egg production, and hatchability). Concentrations of T-2 toxin in feed are usually low, and its immunosuppressive effects and secondary infections often make diagnosis difficult. If at the onset of the disease, a change in diet leads to health and performance improvements in animals, this may point to mycotoxin poisoning. Regular control of grain and feed samples is a valuable preventive measure, and it is accurate only if representative samples are tested. This article reviews the incidence and toxic effects of T-2 toxin in poultry.T-2 toksin je najtoksičniji predstavnik trikotecenskih mikotoksina tipa A. On je sekundarni produkt metabolizma plijesni roda Fusarium i često je prisutan u žitaricama i hrani za životinje. Štetni učinci uočeni su u eksperimentalnih životinja i životinja u uzgoju. On se povezuje s pojavom bolesti ljudi od mikotoksikoza. Učinci toksina u peradi su višestruki: inhibicija sinteze proteina, DNA i RNA, citotoksični učinak, imunomodulatorni učinak, oštećenje stanica probavnog sustava, organa i kože, živčani poremećaji te pad proizvodnih karakteristika u uzgoju peradi (slabiji prirast, pad nesivosti i valivosti). Koncentracije T-2 toksina u hrani redovito su vrlo malene, a zbog imunosupresivnog djelovanja toksina te istodobne sekundarne infekcije bolest se često teško dijagnosticira. Pri pojavi bolesti promjenom hrane može doći do poboljšanja zdravstvenog stanja, što tako|er upućuje na moguće trovanje mikotoksinima. Redovita kontrola uzoraka žitarica i hrane za životinje jedna je od preventivnih mjera, a detekcija mikotoksina u žitaricama i hrani pouzdana je samo ako se ispituje reprezentativan uzorak. U radu su opisani učestalost i toksični učinci T-2 toksina u peradi

Calibrage d'une machine-outils parallèle à 5 axes à grands angles d'inclinaison, Hita-PDR (Poursuite De Rigidité).

Les cinématiques parallèles se caractérisent par une structure à plusieurs chaînes cinématiques reliant la base à l’organe terminal. Les déplacements des moteurs sont couplés, ce qui accroît la complexité du calibrage de ces structures. Ce papier présente un système de mesure adapté à la machine-outils à cinématique parallèle Hita-PDR. Ce dispositif, composé d’un gabarit étalon et d’appareils de mesure, permet d’obtenir la position et l’orientation de l’organe terminal pour toutes les poses du volume de travail et suivant les cinq degrés de liberté de la machine. Plusieurs stratégies de calibrage adaptées à la machine Hita-PDR sont ensuite présentées et comparées

Calibration of the 5-dof parallel kinematics HITA-STT

The parallel kinematics machine tool HITA-STT (Stiffness Tracking Technology) developed by Willemin–Machines S.A. and EPFL is now able to machine. This machine can reach accelerations of 5g. It is characterized by a tilt of ± 60° around the B-axis. This characteristics combined with the disposition of the kinematics allows to machine five faces of a cube without changing its position in the rotary table, what means in one set-up. The machine is patented. The first machining tests showed the necessity to develop a good calibration method in order to reach similar precision as the most precise machine tools, without high manufacturing costs. The particularity of this machine is its parallel mechanism. That means that a movement in a single direction needs a combination of all the actuators’ displacements. The calibration of this structure is then not obvious due to the combination of the actuators’ movements. The goal of this paper is to present a new method to calibrate the 5-dof parallel kinematics and the HITA-STT machine tool in particular. This calibration method could be named “Method of calibration by decomposition in a sum of elementary defects” (DSED). It is based on the observation that the error of position and orientation of the spindle, generated by several defects, is equal to the sum of the errors generated by only one defect at the same time. This calibration method will be integrated to the existing controller so that the calibration process will be totally automatic and will require shortest time to calibrate the machine automatically in manufacturing conditions