An algebraic formulation of exact force-, moment-isotropy in spatial parallel manipulators

In this paper, we present an algebraic method to study and design spatial parallel manipulators that demonstrate isotropy in the force and moment distributions.We use the force and moment transformation matrices separately,and derive conditions for their isotropy individually as well as in combination. The isotropy conditions are derived in closed-form in terms of the invariants of the quadratic forms associated with these matrices. The formulation has been applied to a class of Stewart platform manipulators. We obtain multi-parameter families of isotropic manipulator analytically. In addition to computing the isotropic configurations of an existing manipulator,we demonstrate a procedure for designing the manipulator for isotropy at a given configuration.

Enhanced endocytosis of nano-curcumin in nasopharyngeal cancer cells: An atomic force microscopy study

Recent studies in drug development have shown that curcumin can be a good competent due to its improved anticancer, antioxidant, anti-proliferative, and anti-inflammatory activities. A detailed real time characterization of drug (curcumin)-cell interaction is carried out in human nasopharyngeal cancer cells using atomic force microscopy. Nanocurcumin shows an enhanced uptake over micron sized drugs attributed to the receptor mediated route. Cell membrane stiffness plays a critical role in the drug endocytosis in nasopharyngeal cancer cells. (C) 2011 American Institute of Physics. [doi:10.1063/1.3653388]

System Nd-Pd-O: Phase diagram and thermodynamic properties of oxides using a solid-state cell with advanced features

An isothermal section of the phase diagram for the system Nd-Pd-O at 1350 K has been established by equilibration of samples representing 13 different compositions and phase identification after quenching by optical and scanning electron microscopy, x-ray diffraction, and energy dispersive analysis of x-rays. The binary oxides PdO and NdO were not stable at 1350 K. Two ternary oxides Nd4PdO7 and Nd2Pd2O5 were identified. Solid and liquid alloys, as well as the intermetallics NdPd3 and NdPd5, were found to be in equilibrium with Nd2O3. Based on the phase relations, three solidstate cells were designed to measure the Gibbs energies of formation of PdO and the two ternary oxides. An advanced version of the solid-state cell incorporating a buffer electrode was used for high-temperature thermodynamic measurements. The function of the buffer electrode, placed between reference and working electrodes, was to absorb the electrochemical flux of the mobile species through the solid electrolyte caused by trace electronic conductivity. The buffer electrode prevented polarization of the measuring electrode and ensured accurate data. Yttria-stabilized zirconia was used as the solid electrolyte and pure oxygen gas at a pressure of 0.1 MP a as the reference electrode. Electromotive force measurements, conducted from 950 to 1425 K, indicated the presence of a third ternary oxide Nd2PdO4, stable below 1135 (±10) K. Additional cells were designed to study this compound. The standard Gibbs energy of formation of PdO (†f G 0) was measured from 775 to 1125 Kusing two separate cell designs against the primary reference standard for oxygen chemical potential. Based on the thermodynamic information, chemical potential diagrams for the system Nd-Pd-O were also developed.

The standard enthalpy and entropy of formation of Rh2O3 - A third-law optimization

The standard Gibbs energy of formation of Rh203 at high temperature has been determined recently with high precision. The new data are significantly different from those given in thermodynamic compilations.Accurate values for enthalpy and entropy of formation at 298.15 K could not be evaluated from the new data,because reliable values for heat capacity of Rh2O3 were not available. In this article, a new measurement of the high temperature heat capacity of Rh2O3 using differential scanning calorimetry (DSC) is presented.The new values for heat capacity also differ significantly from those given in compilations. The information on heat capacity is coupled with standard Gibbs energy of formation to evaluate values for standard enthalpy and entropy of formation at 289.15 K using a multivariate analysis. The results suggest a major revision in thermodynamic data for Rh2O3. For example, it is recommended that the standard entropy of Rh203 at 298.15 K be changed from 106.27 J mol-' K-'given in the compilations of Barin and Knacke et al. to 75.69 J mol-' K". The recommended revision in the standard enthalpy of formation is from -355.64 kJ mol-'to -405.53 kJ mol".

Particle dynamics in the channel flow of a turbulent particle-gas suspension at high Stokes number. Part 1. DNS and fluctuating force model

The fluctuating force model is developed and applied to the turbulent flow of a gas-particle suspension in a channel in the limit of high Stokes number, where the particle relaxation time is large compared to the fluid correlation time, and low particle Reynolds number where the Stokes drag law can be used to describe the interaction between the particles and fluid. In contrast to the Couette flow, the fluid velocity variances in the different directions in the channel are highly non-homogeneous, and they exhibit significant variation across the channel. First, we analyse the fluctuating particle velocity and acceleration distributions at different locations across the channel. The distributions are found to be non-Gaussian near the centre of the channel, and they exhibit significant skewness and flatness. However, acceleration distributions are closer to Gaussian at locations away from the channel centre, especially in regions where the variances of the fluid velocity fluctuations are at a maximum. The time correlations for the fluid velocity fluctuations and particle acceleration fluctuations are evaluated, and it is found that the time correlation of the particle acceleration fluctuations is close to the time correlations of the fluid velocity in a `moving Eulerian' reference, moving with the mean fluid velocity. The variances of the fluctuating force distributions in the Langevin simulations are determined from the time correlations of the fluid velocity fluctuations and the results are compared with direct numerical simulations. Quantitative agreement between the two simulations are obtained provided the particle viscous relaxation time is at least five times larger than the fluid integral time.

Particle dynamics in the channel flow of a turbulent particle-gas suspension at high Stokes number. Part 2. Comparison of fluctuating force simulations and experiments

The particle and fluid velocity fluctuations in a turbulent gas-particle suspension are studied experimentally using two-dimensional particle image velocimetry with the objective of comparing the experiments with the predictions of fluctuating force simulations. Since the fluctuating force simulations employ force distributions which do not incorporate the modification of fluid turbulence due to the particles, it is of importance to quantify the turbulence modification in the experiments. For experiments carried out at a low volume fraction of 9.15 x 10(-5) (mass loading is 0.19), where the viscous relaxation time is small compared with the time between collisions, it is found that the gas-phase turbulence is not significantly modified by the presence of particles. Owing to this, quantitative agreement is obtained between the results of experiments and fluctuating force simulations for the mean velocity and the root mean square of the fluctuating velocity, provided that the polydispersity in the particle size is incorporated in the simulations. This is because the polydispersity results in a variation in the terminal velocity of the particles which could induce collisions and generate fluctuations; this mechanism is absent if all of the particles are of equal size. It is found that there is some variation in the particle mean velocity very close to the wall depending on the wall-collision model used in the simulations, and agreement with experiments is obtained only when the tangential wall-particle coefficient of restitution is 0.7. The mean particle velocity is in quantitative agreement for locations more than 10 wall units from the wall of the channel. However, there are systematic differences between the simulations and theory for the particle concentrations, possibly due to inadequate control over the particle feeding at the entrance. The particle velocity distributions are compared both at the centre of the channel and near the wall, and the shape of the distribution function near the wall obtained in experiments is accurately predicted by the simulations. At the centre, there is some discrepancy between simulations and experiment for the distribution of the fluctuating velocity in the flow direction, where the simulations predict a bi-modal distribution whereas only a single maximum is observed in the experiments, although both distributions are skewed towards negative fluctuating velocities. At a much higher particle mass loading of 1.7, where the time between collisions is smaller than the viscous relaxation time, there is a significant increase in the turbulent velocity fluctuations by similar to 1-2 orders of magnitude. Therefore, it becomes necessary to incorporate the modified fluid-phase intensity in the fluctuating force simulation; with this modification, the mean and mean-square fluctuating velocities are within 20-30% of the experimental values.

Force measurements on hypersonic waveriders in the IISc hypersonic shock tunnel HST2

The drag and lift coefficients for a viscous optimized Mach 6 conical waverider has been measured using an accelerometer force balance system in the IISc hypersonic shock tunnel. A rubber bush placed in between the waverider model and the steel sting ensures unrestrained motion to the model during shock tunnel testing (500 mu s). Two accelerometers mounted on the model are used to measure the model accelerations in the axial and normal directions. The measured value of lift to drag ratio at zero angle of incidence for the IISc conical waverider with viscous optimized leading edge is 2.149, which compares well with the value reported in the open literature (Anderson et al 1991) for similar class of waveriders designed for a flight Mach number of 6. The details of the experimental study along with illustrative numerical results are discussed in this paper.

A new 6-component accelerometer force balance for short duration ground testing facilities

A new six-component accelerometer force balance is developed and used in the HST2 shock tunnel of Indian Institute of Science. Aerodynamic forces and moments for a hypersonic slender body measured using this balance system at a free stream Mach number of 5.75 and Reynolds number of 1.5 million and stagnation enthalpy of 1.5 and 2 MJ/kg are presented. These measured values compare well with the theoretical values estimated using modified Newtonian theory.

A novel free floating accelerometer force balance system for shock tunnel applications

In order to overcome the interference of the model mounting system with the external aerodynamics of the body during shock tunnel testing, a new free floating internally mountable balance system that ensures unrestrained model motion during testing has been designed, fabricated and tested. Minimal friction ball bearings are used for ensuring the free floating condition of the model during tunnel testing. The drag force acting on a blunt leading edge flat plate at hypersonic Mach number has been measured using the new balance system. Finite element model (FEM) and CFD are exhaustively used in the design as well as for calibrating the new balance system. The experimentally measured drag force on the blunt leading edge flat plate at stagnation enthalpy of 0.7 and 1.2 MJ/kg and nominal Mach number of 5.75 matches well with FEM results. The concept can also be extended for measuring all the three fundamental aerodynamic forces in short duration test facilities like free piston driven shock tunnels.

Tensile force distribution along the reinforcement for reinforced soil foundations

In a reinforced soil bed system reinforcement layer is usually placed with or without end anchorage. Since soil is weak in tension reinforcement develop tension under the applied load or the displacement of the footing. This tensile force is distributed along the length of the reinforcement subjected to the end condition. The reinforccement tension helps in distributing the load over a wider area, and becomes more effective at large induced settlements. As a result, vertical componenent of tensile force generated becomes effective in reducing applied load. However, very few studies to quantify the tensile force along the reinforcement have been reported in the literature. In this paper an attempt has been made to obtain the true nature of tensile force distribution along the reinforcement. For a reinforced soil bed below a strip footing this paper brings out induced tensile force distribution along the reinforcement at different load levels and for different types of reinforcements.