Minimal force jump within human and assistive robot cooperation

When an assistant robotic manipulator cooperatively performs a task with a human and the task is required to be highly reliable, then fault tolerance is essential. To achieve the fault tolerance force within the human robot cooperation, it is required to map the effects of the faulty joint of the robot into the manipulator’s healthy joints’ torque space and the human force. The objective is to optimally maintain the cooperative force within the human robot cooperation. This paper aims to analyze the fault tolerant force within the cooperation and two frameworks are proposed. Then they have been validated through a fault scenario. Finally, the minimum force jump which is the optimal fault tolerance has been achieved.

Double layer structure of ionic liquids at the Au(111) electrode interface : an atomic force microscopy investigation

The double layer structure of two ionic liquids (ILs), 1-butyl-1- methylpyrrolidinium tris(pentafluoroethyl)trifluorophosphate ([Py ₁,₄]FAP) and 1-ethyl-3-methylimidazolium tris(pentafluoroethyl) trifluorophosphate ([EMIm]FAP) at the polarized Au(111) electrode interface is probed using Atomic Force Microscopy force measurements. The force-separation profiles suggest a multilayered morphology is present at the electrified Au(111)-IL interface, with more near surface layers detected at higher potentials. At the (slightly negative) open circuit potential, multiple ion layers are present, and the innermost layer, in contact with the Au(111) surface, is enriched in the cation due to electrostatic adsorption. Upon applying negative electrode potentials (-1.0 V, -2.0 V), stronger IL near surface structure is detected: both the number of ion layers and the force required to rupture these layers increases. Positive electrode potentials (+1.0 V, +2.0 V) also enhance IL near surface structure, but not as much as negative potentials, because surface-adsorbed anions are less effective at templating structure in subsequent layers than cations. This interfacial structure is not consistent with a double layer in the Stern-Gouy-Chapman sense, as there is no diffuse layer. The structure is consistent with a capicitative double-layer model, with a very small separation distance between the planes of charge.

Movement and force

How – and why – do things move? How do we describe how they move? This chapter looks at ideas and activities concerning movement and force. It deals with two major issues: firstly, ideas children have about motion and the strategies for teaching about motion in the primary school program. This will include some discussion of the different contexts in which movement and force can be studied. Secondly, it looks at the wider context of studying movement and force, linking it with technology and science as a human endeavour.

Structuring in liquid alkanes between solid surfaces : force measurements and mean-field theory

Measurements have been made of the solvation forces between mica surfaces in the even-numbered n-alkanes from hexane to hexadecane. In all cases the force law is qualitatively very similar, characterized by a decaying oscillatory function of distance, as occurs for simple isotropic liquids. The spacing between successive minima in the force does not increase with carbon number, and is comparable to the width of a linear alkane molecule rather than its length or any average diameter. This suggests that the alkanes have some tendency towards a parallel orientation near the mica surfaces. The measurements give no indication of any strong repulsive component expected from mean-field theories of higher alkanes or polymers. The results of one such theory are presented, and the reasons for its failure to match the experimental data are discussed.

Self-assembled monolayers on mercury probed with a modified surface force apparatus

Self-assembled monolayers (SAMs) of three thiol compounds formed on mercury are investigated by a combination of cyclic voltammetry, electrocapillary curves, and a novel method of measuring electrical doublelayer properties. The last method involves a modified surface force apparatus in which a flat mica surface is pressed down toward a fixed mercury drop held beneath it, while both are immersed in aqueous electrolyte solution. Optical interference measurements are made of the mica-mercury separation as a function of electrical potential applied to the mercury, which yields information on the double-layer interaction between the two surfaces. Mercury is decorated by SAMs of 11-mercapto-1-undecanoic acid, which is shown to bring negative charge to the mercury/aqueous interface due to dissociation of the carboxylic acid groups; 11-mercapto-1- undecanol, which although it is uncharged changes the dipole potential of the interface; and 1-undecanethiol, which likewise changes the dipole potential, but by a different amount. The difference between the changes in dipole potential (90 mV) can be related to the different terminal groups of these two SAMs, -CH3 compared to -OH, that are in contact with the aqueous phase.

Extending the surface force apparatus capabilities by using white light interferometry in reflection

The application of surface force apparatus (SFA) capabilities in measuring interactions between surfaces over nanometer separations was described. The technique is used when both the materials are transparent. It was observed that the poorly reflecting surface produce fringes that have low contrast and low finesse. The results show that the technique is successful when the visibility of the interference fringes is maximized.

Direct measurement of the force between two lipid bilayers and observation of their fusion

The force between twophosphatidylcholine bilayers is measured as a function of their separation, showing a strong hydration repulsion at short range, as previously reported by LeNeveu et al. (LeNeveu, D.M., Rand, R.P., Parsegian, V.A. and Gingell, D. (1977) (Biophys. J. 18, 209-230). The experimental technique also allows direct observation of the molecular process by which two bilayers fuse into one.