A novel design process of low cost 3D printed ambidextrous finger designed for an ambidextrous robotic hand

This paper presents the novel mechanical design of an ambidextrous finger specifically designed for an ambidextrous anthropomorphic robotic hand actuated by pneumatic artificial muscles. The ambidextrous nature of design allows fingers to perform both left and right hand movements. The aim of our design is to reduce the number of actuators, increase the range of movements with best possible range ideally greater than a common human finger. Four prototypes are discussed in this paper; first prototype is focused on the choice of material and to consider the possible ways to reduce friction. Second prototype is designed to investigate the tendons routing configurations. Aim of third and fourth prototype is to improve the overall performance and to maximize the grasping force. Finally, a unified design (Final design) is presented in great detail. Comparison of all prototypes is done from different angles to evaluate the best design. The kinematic features of intermediate mode have been analysed to optimize both the flexibility and the robustness of the system, as well as to minimize the number of pneumatic muscles. The final design of an ambidextrous finger has developed, tested and 3D printed

Settlements of Neighboring Buildings During Piling Works

Two case histories of heavy damaging the neighbouring buildings in Sankt-Petersburg during construction the bored piles are presented. The analysis of causes of the damages has shown that ground inflow into the housing tubes due to low strength properties of water saturated liquid-plastic loams is the main cause of additional settlements of existing houses during construction the bored piles of large diameter close to them

The analysis of size-segregated cloud condensation nuclei counter (CCNC) data and its implications for cloud droplet activation

Ambient aerosol, CCN (cloud condensation nuclei) and hygroscopic properties were measured with a size-segregated CCNC (cloud condensation nuclei counter) in a boreal environment of southern Finland at the SMEAR (Station for Measuring Ecosystem-Atmosphere Relations) II station. The instrumental setup operated at five levels of supersaturation <i>S</i> covering a range from 0.1–1% and measured particles with a size range of 20–300 nm; a total of 29 non-consecutive months of data are presented. The median critical diameter <i>D</i>_c ranged from 150 nm at <i>S</i> of 0.1% to 46 nm at <i>S</i> of 1.0%. The median aerosol hygroscopicity parameter &kappa; ranged from 0.41 at <i>S</i> of 0.1% to 0.14 at <i>S</i> of 1.0%, indicating that ambient aerosol in Hyytiälä is less hygroscopic than the global continental or European continental averages. It is, however, more hygroscopic than the ambient aerosol in an Amazon rainforest, a European high Alpine site or a forested mountainous site. A fairly low hygroscopicity in Hyytiälä is likely a result of a large organic fraction present in the aerosol mass comparative to other locations within Europe. A considerable difference in particle hygroscopicity was found between particles smaller and larger than ~100 nm in diameter, possibly pointing out to the effect of cloud processing increasing &kappa; of particles > 100 nm in diameter. The hygroscopicity of the smaller, ~50 nm particles did not change seasonally, whereas particles with a diameter of ~150 nm showed a decreased hygroscopicity in the summer, likely resulting from the increased VOC emissions of the surrounding boreal forest and secondary organic aerosol (SOA) formation. For the most part, no diurnal patterns of aerosol hygroscopic properties were found. Exceptions to this were the weak diurnal patterns of small, ~50 nm particles in the spring and summer, when a peak in hygroscopicity around noon was observed. No difference in CCN activation and hygroscopic properties was found on days with or without atmospheric new particle formation. During all seasons, except summer, a CCN-inactive fraction was found to be present, rendering the aerosol of 75–300 nm in diameter as internally mixed in the summer and not internally mixed for the rest of the year

THE USE OF NEW REAGENT KITS FOR DETECTION AND DESCRIPTION OF ADDITIONAL ALLELES

During the screening typing of recruited volunteers with Volga Federal District for unrelated hematopoietic stem cell registry on the loci (HLA)-A, B, DRB1, DRB345 in sample No 1758 identified a new allele at locus A. The use of basic kit AlleleSEQR HLA-A Sequencing in combination with HARP – A2F98A allowed to determine the genotype of this sample – А*30:01:01, a new allele А*25, В*13, 44, DRB1*03, 09, DRB3*02, DRB4*01

A laboratory investigation of the ice nucleation efficiency of three types of mineral and soil dust

Surface-collected dust from three different locations around the world was examined with respect to its ice nucleation activity (INA) with the ETH Portable Ice Nucleation Chamber (PINC). Ice nucleation experiments were conducted with particles of 200 and 400&thinsp;nm in diameter in the temperature range of 233–243&thinsp;K in both the deposition nucleation and condensation freezing regimes. Several treatments were performed in order to investigate the effect of mineralogical composition, as well as the presence of biological and proteinaceous, organic and soluble compounds on the INA of mineral and soil dust. The INA of untreated dust particles correlated well with the total feldspar and K-feldspar content, corroborating previously published results. The removal of heat-sensitive proteinaceous and organic components from the particle surface with heat decreased the INA of dusts. However, the decrease in the INA was not proportional to the amount of these organic components, indicating that different proteinaceous and organic species have different ice nucleation activities, and the exact speciation is required in order to determine why dusts respond differently to the heating process. The INA of certain dusts increased after the removal of soluble material from the particle surface, demonstrating the low INA of the soluble compounds and/or the exposition of the underlying active sites. Similar to the proteinaceous organic compounds, soluble compounds seem to have different effects on the INA of surface-collected dusts, and a general conclusion about how the presence of soluble material on the particle surface affects its INA is not possible. The investigation of the heated and washed dusts revealed that mineralogy alone is not able to fully explain the observed INA of surface-collected dusts at the examined temperature and relative humidity conditions. The results showed that it is not possible to predict the INA of surface-collected soil dust based on the presence and amount of certain minerals or any particular class of compounds, such as soluble or proteinaceous/organic compounds. Instead, at temperatures of 238–243&thinsp;K the INA of the untreated, surface-collected soil dust in the condensation freezing mode can be roughly approximated by one of the existing surrogates for atmospheric mineral dust, such as illite NX. Uncertainties associated with mechanical damage and possible changes to the mineralogy during treatments, as well as with the BET surface area and its immediate impact on the number of active sites (ns, BET), are addressed.</p

АНАЛИЗ ПОТРЕБЛЕНИЯ ЭЛЕКТРОЭНЕРГИИ АСИНХРОННЫМИ ДВИГАТЕЛЯМИ КЛАССОВ ЭФФЕКТИВНОСТИ IE1 И IE2 В НАСОСНОЙ УСТАНОВКЕ МОЩНОСТЬЮ 11 кВт

Purpose. Comparative analysis of energy consumption indicators of electric motors of different energy efficiency classes in an electric drive of a centrifugal pump with power of 11 kW of a water supply system with throttle regulation. Methodology. In this paper a comparison of energy consumption of 11 kW pump units with induction motors of energy efficiency classes IE1 and IE2 is presented. The induction motors are powered directly from the mains. Both considered pump configurations have the same fluid flow rate characteristic of open pump systems. The amount of water consumed by the pump is adjusted by throttling. Results. The results on the daily and annual energy consumption of the two considered pump system configurations are obtained. It is shown that the pump unit using the IE2 class motor provides the annual energy savings of 9.65 thousand rubles and the life cycle energy savings of 158 thousand rubles compared to the IE1 class motor. The payback period of the IE2 class motor is calculated, which is 5 months if a new installation is commissioned and 2 years if the motor is replaced in an operating installation. Practical value. Nowadays the countries of the Eurasian Economic Union mainly use electric motors of the lowest energy efficiency class IE1, according to the IEC 60034-30 Standard (GOST IEC 60034-30-1-2016). However, according to the decision of the Commission of the Eurasian Economic Union, since the 1st of September, 2021 all general-purpose motors shall not be less efficient than the IE2 efficiency level. Therefore, the analysis of the economic effect of replacing IE1 class motors with IE2 class motors becomes relevant for the countries of the Eurasian Union. Pump drives are one of the most important consumers of electricity. Most of the pump drives are powered directly from the mains.На сегодняшний день в странах Евразийского экономического союза в основном применяются электродвигатели низкого класса энергоэффективности IE1, согласно стандарту МЭК 60034-30 (ГОСТ МЭК 60034-30-1-2016). Однако, согласно решению комиссии Евразийского экономического союза, с 1 сентября 2021 г. значение коэффициента полезного действия двигателей не должно быть меньше значений, установленных для класса энергетической эффективности IE2. Поэтому для стран Евразийского союза актуальным становится анализ экономического эффекта от замены двигателей класса IE1 на двигатели класса IE2. В данной работе представлен сравнительный анализ показателей энергопотребления асинхронных электродвигателей классов энергоэффективности IE1 и IE2 в электроприводе центробежного насоса мощностью 11 кВт системы водоснабжения с дроссельным регулированием. Асинхронные двигатели питаются напрямую от электрической сети. Обе насосные системы имеют один и тот же график расхода жидкости, характерный для разомкнутых насосных систем. Количество расходуемой насосом воды регулируется за счет дросселирования. Получены результаты по суточному и годовому энергопотреблению двух рассмотренных конфигураций насосной системы. Показано что система, где применяется асинхронный двигатель класса энергоэффективности IE2, обеспечивает экономию 118,6 евро за год и 2000 евро за жизненный цикл, по сравнению с асинхронным двигателем класса IE1. Рассчитан срок окупаемости двигателя класса IE2, который составляет 5 месяцев в случае введения в строй новой установки и 2 года, в случае замены двигателя в работающей установке.

Dynamic magnetic response of a ferrofluid in a static uniform magnetic field

A theory for the frequency-dependent magnetic susceptibility of a ferrofluid in a static uniform magnetic field is developed, including the dipolar interactions between the constituent particles. Interactions are included within the framework of modified mean-field theory. Predictions are given for the linear responses of the magnetization to a probing ac field both parallel and perpendicular to the static field and are tested against results from Brownian dynamics simulations. The effects of the particle concentration and dipolar coupling constant on the field-dependent static susceptibilities and the frequency dispersions are shown to be substantial, which justifies taking proper account of the interactions between particles. The theory is reliable provided that the volume concentration and dipolar coupling constant are not too large and within the range of values for real ferrofluids. © 2018 American Physical Society

Analysis of the Payback Period of a Modernized Pump Unit with Induction Electric Motors of Advanced Energy Efficiency Classes

Aim. The comparative analysis of energy consumption, electricity costs during lifetime cycle and payback period of a pump unit with 90 kW 2-pole induction motors, belonging to various energy efficiency classes, feeding directly from power grid. Methods. The examined operating modes aligned with a typical operating cycle of a pump unit with approximately constant flow rate of 75-110 % of the rated flow. The calculations were based on the pump and induction motors nameplate data, which, in their turn, were based on the manufacturers’ experimental data. Results. The calculations of energy consumption, electricity costs and payback periods of a pump unit with 90 kW 2-pole induction motors, feeding directly from power grid have been performed in the article. The application of induction motors belonging to IE2, IE3 and IE4 energy efficiency classes has been discussed. Practical value. It has been demonstrated, than in case of replacement of an induction motor of energy efficiency class IE2 due to planned retrofit, payback period for an IE4 induction motor is 2.18 years, energy savings within a calculated 20-year operating period are 268MW·h, which makes €41110 in money terms. under the same conditions, the replacement of an induction motor of energy efficiency class IE2 with an induction motor of energy efficiency class IE3 will allow to save 88 MW·h within a calculated operating period, which, expressed in monetary terms, is €13500 and the payback period is 5.11 years. Thus, the article proves that despite a higher initial price, the choice of an induction motor of energy efficiency class IE4 tends to be more economically advantageous. © 2021, National Technical University "Kharkiv Polytechnic Institute". All rights reserved.Acknowledgment. The work was partially supported by the Ministry of Science and Higher Education of the Russian Federation (through the basic part of the government mandate, Project No. FEUZ-2020-0060)