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.

Statistical Analysis of Wrist Pulse Signals Obtained Under Different Food Intake Conditions

It is well known that wrist pulse signals contain information about the status of health of a person and hence diagnosis based on pulse signals has assumed great importance since long time. In this paper the efficacy of signal processing techniques in extracting useful information from wrist pulse signals has been demonstrated by using signals recorded under two different experimental conditions viz. before lunch condition and after lunch condition. We have used Pearson's product-moment correlation coefficient, which is an effective measure of phase synchronization, in making a statistical analysis of wrist pulse signals. Contour plots and box plots are used to illustrate various differences. Two-sample t-tests show that the correlations show statistically significant differences between the groups. Results show that the correlation coefficient is effective in distinguishing the changes taking place after having lunch. This paper demonstrates the ability of the wrist pulse signals in detecting changes occurring under two different conditions. The study assumes importance in view of limited literature available on the analysis of wrist pulse signals in the case of food intake and also in view of its potential health care applications.

Mycobacterium tuberculosis groE promoter controls the expression of the bicistronic groESL1 operon and shows differential regulation under stress conditions

Heat shock promoters of mycobacteria are strong promoters that become rapidly upregulated during macrophage infection and thus serve as valuable candidates for expressing foreign antigens in recombinant BCG vaccine. In the present study, a new heat shock promoter controlling the expression of the groESL1 operon was identified and characterized. Mycobacterium tuberculosis groESL1 operon codes for the immunodominant 10 kDa (Rv3418c, GroES/Cpn10/Hsp10) and 60 kDa (Rv3417c, GroEL1/Cpn60.1/Hsp60) heat shock proteins. The basal promoter region was 115 bp, while enhanced activity was seen only with a 277-bp fragment. No promoter element was seen in the groES-groEL1 intergenic region. This operon codes for a bicistronic mRNA transcript as determined by reverse transcriptase-PCR and Northern blot analysis. Primer extension analysis identified two transcriptional start sites (TSSs) TSS1 (-236) and TSS2 (-171), out of which one (TSS2) was heat inducible. The groE promoter was more active than the groEL2 promoter in Mycobacterium smegmatis. Further, it was found to be differentially regulated under stress conditions, while the groEL2 promoter was constitutive.

Shock propagation in gas dynamics: explicit form of higher order compatibility conditions

With the use of tensor analysis and the method of singular surfaces, an infinite system of equations can be derived to study the propagation of curved shocks of arbitrary strength in gas dynamics. The first three of these have been explicitly given here. This system is further reduced to one involving scalars only. The choice of dependent variables in the infinite system is quite important, it leads to coefficients free from singularities for all values of the shock strength.

Self-Absorption and Focusing Effects in Carrier Relaxation Dynamics under Depletion Conditions

The effect of a one-dimensional field (1) on the self-absorption characteristics and (2) when we have a finite numerical aperture for the objective lens that focuses the laser beam on the solid are considered here. Self-absorption, in particular its manifestation as an inner filter for the emitted signal, has been observed in luminescence experiments. Models for this effect exist and have been analyzed, but only in the absence of space charge. Using our previous results on minority carrier relaxation in the presence of a field, we obtain expressions incorporating inner filter effects. Focusing of a light beam on the sample, by an objective lens, results in a three-dimensional source and consequently a three-dimensional continuity equation to be solved for the minority carrier concentration. Assuming a one-dimensional electric field and employing Fourier-Bessel transforms, we recast the problem of carrier relaxation and solve the same via an identity that relates it to solutions obtained in the absence of focusing effects. The inner filter effect as well as focusing introduces new time scales in the problem of carrier relaxation. The interplay between the electric field and the parameters which characterize these effects and the consequent modulation of the intensity and time scales of carrier decay signals are analyzed and discussed.

Determination of the magnetic moment by QCD sum rules

The magnetic moment of the Λ hyperon is calculated using the QCD sum-rule approach of Ioffe and Smilga. It is shown that μΛ has the structure μΛ=(2/3(eu+ed+4es)(eħ/2MΛc)(1+δΛ), where δΛ is small. In deriving the sum rules special attention is paid to the strange-quark mass-dependent terms and to several additional terms not considered in earlier works. These terms are now appropriately incorporated. The sum rule is analyzed using the ratio method. Using the external-field-induced susceptibilities determined earlier, we find that the calculated value of μΛ is in agreement with experiment.

Vibrations of a Beam in Variable Contact With a Flat Surface

We study small vibrations of cantilever beams contacting a rigid surface. We study two cases: the first is a beam that sags onto the ground due to gravity, and the second is a beam that sticks to the ground through reversible adhesion. In both cases, the noncontacting length varies dynamically. We first obtain the governing equations and boundary conditions, including a transversality condition involving an end moment, using Hamilton's principle. Rescaling the variable length to a constant value, we obtain partial differential equations with time varying coefficients, which, upon linearization, give the natural frequencies of vibration. The natural frequencies for the first case (gravity without adhesion) match that of a clamped-clamped beam of the same nominal length; frequencies for the second case, however, show no such match. We develop simple, if atypical, single degree of freedom approximations for the first modes of these two systems, which provide insights into the role of the static deflection profile, as well as the end moment condition, in determining the first natural frequencies of these systems. Finally, we consider small transverse sinusoidal forcing of the first case and find that the governing equation contains both parametric and external forcing terms. For forcing at resonance, w find that either the internal or the external forcing may dominate.

Heat exposure and hypothyroid conditions decrease hydrogen peroxide generation in liver mitochondria

Exposure of rats to heat (39 +/- 1 degree C) decreased H2O2 generation in mitochondria of the liver, but not of the kidney or the heart. The effect was obtained with three substrates, succinate, glycerol 1-phosphate and choline, with a decrease to 50% in the first 2-3 days of exposure, and a further decrease on longer exposure. The dehydrogenase activity with only glycerol 1-phosphate decreased, which is indicative of the hypothyroid condition, whereas choline dehydrogenase activity remained unchanged and that of succinate dehydrogenase decreased on long exposure. The serum concentration of thyroxine decreased in heat-exposed rats. Thyroxine treatment of rats increased H2O2 generation. Hypothyroid conditions obtained by treatment with propylthiouracil or thyroidectomy caused a decrease in H2O2 generation and changes in dehydrogenase activities similar to those with heat exposure. Treatment of heat-exposed or thyroidectomized rats with thyroxine stimulated H2O2 generation by a mechanism apparently involving fresh protein synthesis. The results indicate that H2O2 generation in mitochondria of heat-exposed animals is determined by thyroid status.

On the sufficient conditions for the equality of the unassignable polynomial and Davison's fixed polynomial of strongly connected systems

In this technical note, it is established that the unassignable polynomial defined for a not strongly connected decentralized control system is not equal to Davison's fixed polynomial. This leads to a "sufficient condition" for the equality of the unassignable polynomial and Davison's fixed polynomial for strongly connected systems.

Modulation of succinate dehydrogenase in response to environmental stress conditions of hypobaria and hypoxia

1. 1. An increase in the oxidation of succinate by hepatic mitochondria in rats exposed to hypoxia (O2-N2; 1:9, v/v) or hypobaria (0.5 atm) was observed which appears to be due to modification of the activity of the rate-limiting succinate dehydrogenase [succinate: (acceptor) oxidoreductase, EC 1.3.99.1].

Salt-Fog Pollution Test-A Modification to Suit Natural Conditions

Salt-fog tests as per International Electrotechnical Commission (IEC) recommendations were conducted on stationtype insulators with large leakage lengths. Later, tests were conducted to simulate natural conditions. From these tests, it was understood that the pollution flashover would occur because of nonuniform pollution layers causing nonuniform voltage distribution during a natural drying-up period. The leakage current during test conditions was very small and the evidence was that the leakage current did not play any significant role in causing flashovers. In the light of the experimental results, some modification of the test procedure is suggested.

Estimation of higher natural frequencies of polar orthotropic annular plates

A method based on an assumption that the radial bending moment is zero at a nodal circle is shown to yield accurate estimates of natural frequencies corresponding to higher modes of transversely vibrating polar orthotropic annular plates for various combinations of clamped, simply supported and free edge conditions. This method is found to be convenient for the determination of locations of nodal circles as well. Numerical investigations revealed that for small holes, nodal circles tend to move towards the outer edge with increasing number of nodal diameters. For large holes, it has been shown that the plate behaves like a long rectangular strip.

Lower Bound Limit Analysis of Rectangular Slabs

A general method for the development of valid lower bound solutions to uniformly distributed and orthotropically reinforced rectangular concrete slabs obeying normal moment criterion is described. General expressions for moment field have been obtained for nine cases of slabs having all combinations of simply supported and clamped-edge conditions. The lower bound collapse loads have been compared with the upper bound values obtained by the yield line theory. The paper also focuses attention to the need for the development of valid upper bound solutions with the satisfaction of kinematical admissibility and the flow rules associated with the normal moment criterion.

Estimation of higher natural frequencies of polar orthotropic annular plates

A method based on an assumption that the radial bending moment is zero at a nodal circle is shown to yield accurate estimates of natural frequencies corresponding to higher modes of transversely vibrating polar orthotropic annular plates for various combinations of clamped, simply supported and free edge conditions. This method is found to be convenient for the determination of locations of nodal circles as well. Numerical investigations revealed that for small holes, nodal circles tend to move towards the outer edge with increasing number of nodal diameters. For large holes, it has been shown that the plate behaves like a long rectangular strip.

Heat transfer to power-law fluids in thermal entrance region with viscous dissipation for constant heat flux conditions

An analytical solution of the heat transfer problem with viscous dissipation for non-Newtonian fluids with power-law model in the thermal entrance region of a circular pipe and two parallel plates under constant heat flux conditions is obtained using eigenvalue approach by suitably replacing one of the boundary conditions by total energy balance equation. Analytical expressions for the wall and the bulk temperatures and the local Nusselt number are presented. The results are in close agreement with those obtained by implicit finite-difference scheme. It is found that the role of viscous dissipation on heat transfer is completely different for heating and cooling conditions at the wall. The results for the case of cooling at the wall are of interest in the design of the oil pipe line.