The Inverse Jacobian Control Method Applied to a Four Degree of Freedom Confined Space Robot

Thesis (Master's)--University of Washington, 2016-06

Crystallization Behaviors of n-Octadecane in Confined Space: Crossover of Rotator Phase from Transient to Metastable Induced by Surface Freezing

In this paper, the confined crystallization and phase transition behaviors of n-octadecane in microcapsules with a diameter of about 3 Pm were studied with the combination of differential scanning calorimetry (DSC), temperature dependent Fourier transform infrared spectroscopy (FTIR), and X-ray diffraction (XRD).

Crystallization behaviors of n-nonadecane in confined space: Observation of metastable phase induced by surface freezing

Crystallization and phase transition behaviors of n-nonadecane in microcapsules with a diameter of about 5 mu m were studied with the combination of differential scanning calorimetry ( DSC) and synchrotron radiation X-ray diffraction ( XRD). As evident from the DSC measurement, a surface freezing monolayer, which is formed in the microcapsules before the bulk crystallization, induces a novel metastable rotator phase ( RII), which has not been reported anywhere else. We argue that the existence of the surface freezing monolayer decreases the nucleating potential barrier of the RII phase and induces its appearance, while the lower free energy in the confined geometry turns the transient RII phase to a " long- lived" metastable phase.

Automatic Lameness Detection in a Milking Robot : Instrumentation, measurement software, algorithms for data analysis and a neural network model

The aim of this thesis is to develop a fully automatic lameness detection system that operates in a milking robot. The instrumentation, measurement software, algorithms for data analysis and a neural network model for lameness detection were developed. Automatic milking has become a common practice in dairy husbandry, and in the year 2006 about 4000 farms worldwide used over 6000 milking robots. There is a worldwide movement with the objective of fully automating every process from feeding to milking. Increase in automation is a consequence of increasing farm sizes, the demand for more efficient production and the growth of labour costs. As the level of automation increases, the time that the cattle keeper uses for monitoring animals often decreases. This has created a need for systems for automatically monitoring the health of farm animals. The popularity of milking robots also offers a new and unique possibility to monitor animals in a single confined space up to four times daily. Lameness is a crucial welfare issue in the modern dairy industry. Limb disorders cause serious welfare, health and economic problems especially in loose housing of cattle. Lameness causes losses in milk production and leads to early culling of animals. These costs could be reduced with early identification and treatment. At present, only a few methods for automatically detecting lameness have been developed, and the most common methods used for lameness detection and assessment are various visual locomotion scoring systems. The problem with locomotion scoring is that it needs experience to be conducted properly, it is labour intensive as an on-farm method and the results are subjective. A four balance system for measuring the leg load distribution of dairy cows during milking in order to detect lameness was developed and set up in the University of Helsinki Research farm Suitia. The leg weights of 73 cows were successfully recorded during almost 10,000 robotic milkings over a period of 5 months. The cows were locomotion scored weekly, and the lame cows were inspected clinically for hoof lesions. Unsuccessful measurements, caused by cows standing outside the balances, were removed from the data with a special algorithm, and the mean leg loads and the number of kicks during milking was calculated. In order to develop an expert system to automatically detect lameness cases, a model was needed. A probabilistic neural network (PNN) classifier model was chosen for the task. The data was divided in two parts and 5,074 measurements from 37 cows were used to train the model. The operation of the model was evaluated for its ability to detect lameness in the validating dataset, which had 4,868 measurements from 36 cows. The model was able to classify 96% of the measurements correctly as sound or lame cows, and 100% of the lameness cases in the validation data were identified. The number of measurements causing false alarms was 1.1%. The developed model has the potential to be used for on-farm decision support and can be used in a real-time lameness monitoring system.

Uncertainty based online planning for UAV target finding in cluttered and GPS-denied environments

There are some scenarios in which Unmmaned Aerial Vehicle (UAV) navigation becomes a challenge due to the occlusion of GPS systems signal, the presence of obstacles and constraints in the space in which a UAV operates. An additional challenge is presented when a target whose location is unknown must be found within a confined space. In this paper we present a UAV navigation and target finding mission, modelled as a Partially Observable Markov Decision Process (POMDP) using a state-of-the-art online solver in a real scenario using a low cost commercial multi rotor UAV and a modular system architecture running under the Robotic Operative System (ROS). Using POMDP has several advantages to conventional approaches as they take into account uncertainties in sensor information. We present a framework for testing the mission with simulation tests and real flight tests in which we model the system dynamics and motion and perception uncertainties. The system uses a quad-copter aircraft with an board downwards looking camera without the need of GPS systems while avoiding obstacles within a confined area. Results indicate that the system has 100% success rate in simulation and 80% rate during flight test for finding targets located at different locations.

Spatially-confined crystallization of poly(vinylidene fluoride)

Nanometre-sized poly(vinylidene fluoride) (PVDF) particle domains in a confined space were obtained by blending PVDF with excess poly(methyl methacrylate) (PMMA). When these particles were small enough they showed beta -form structure, which was different from the structure of bigger particles or PVDF bulk. However, the beta -form was thermodynamically metastable because it could eventually be transformed to a more stable phase by annealing at a certain temperature. Larger particle domains were of identical phase to the bulk, indicating that small size favours the formation of the beta -form. (C) 2000 Society of Chemical Industry.

Room-temperature, atmospheric plasma needle reduces adenovirus gene expression in HEK 293A host cells

Room-temperature, atmospheric-pressure plasma needle treatment is used to effectively minimize the adenovirus (AdV) infectivity as quantified by the dramatic reduction of its gene expression in HEK 293A primary human embryonic kidney cells studied by green fluorescent protein imaging. The AdV titer is reduced by two orders of magnitude within only 8 min of the plasma exposure. This effect is due to longer lifetimes and higher interaction efficacy of the plasma-generated reactive species in confined space exposed to the plasma rather than thermal effects commonly utilized in pathogen inactivation. This generic approach is promising for the next-generation anti-viral treatments and imunotherapies.

Calculation of the speed of walking of individuals with transfemoral amputation fitted with bone-anchored prosthesis

Typically, the walking ability of individuals with a transfemoral amputation (TFA) can be represented by the speed of walking (SofW) obtained in experimental settings. Recent developments in portable kinetic systems allow assessing the level of activity of TFA during actual daily living outside the confined space of a gait lab. Unfortunately, only minimal spatio-temporal characteristics could be extracted from the kinetic data including the cadence and the duration on gait cycles. Therefore, there is a need for a way to use some of these characteristics to assess the instantaneous speed of walking during daily living. The purpose of the study was to compare several methods to determine SofW using minimal spatial gait characteristics.

Direct and sensitized (energy and electron transfer) geometric isomerization of stilbene within zeolites: a comparison between solution and zeolite as reaction media

The trans- and cis-stilbenes upon inclusion in NaY zeolite are thermally stable. Direct excitation and triplet sensitization results in geometric isomerization and the excited state behavior under these conditions are similar to that in solution. Upon direct excitation, a photostationary state consisting of 65% cis and 35% trans isomers is established. Triplet sensitization with 2-acetonaphthone gave a photostationary state consisting of 63% cis and 37% trans isomers. These numbers are similar to the ones obtained in solution. Thus, the presence of cations and the confined space within the zeolite have very little influence on the overall chemistry during direct and triplet sensitization. However, upon electron transfer sensitization with N-methylacridinium (NMA) as the sensitizer within NaY, isomerization from cis-stilbene radical cation to trans-stilbene occurs and the recombination of radical ions results in triplet stilbene. Prolonged irradiation gave a photostationary state (65% cis and 35% trans) similar to triplet sensitization. This behavior is unique to the zeolite and does not take place in solution. Steady state fluorescence measurements showed that the majority of stilbene molecules are close to the N-methylacridinium sensitizer. Diffuse reflectance flash photolysis studies established that independent of the isomer being sensitized only trans radical cation is formed. Triplet stilbene is believed to be generated via recombination of stilbene radical cation and sensitizer radical anion. One should be careful in using acidic HY zeolite as a medium for photoisomerization of stilbenes. In our hands, in these acidic zeolites isomerization dominated the photoisomerization. (C) 2002 Elsevier Science B.V. All rights reserved.

基于复合喷气压电驱动器的柔性机械臂振动控制

空间机器人和大型柔性空间结构在航天器调姿、变轨、外部扰动的情况下将引起振动问题,其低频大幅值振动将持续很长时间,这将影响航天器系统的稳定性和控制精度。为了快速抑制低频大幅值振动及残余振动,提出采用复合可控反作用力幅值的喷气式驱动和压电陶瓷驱动方案进行振动控制。进行基于复合控制的柔性臂系统动力学建模并给出控制算法。设计并建立柔性机械臂试验平台,构建气动驱动控制回路及压电驱动控制回路。进行基于压电陶瓷驱动器、喷气式驱动器及复合喷气和压电驱动器的柔性臂大幅值低频模态振动控制的几种方法试验比较研究。试验结果表明,采用的控制方案和方法既可以快速地抑制柔性机械臂统的低频大幅值振动,又明显地同时抑制高频和低频小幅值残余振动。

空间柔性双臂机器人系统建模、控制与仿真研究

空间柔性多臂机器人系统是高度非线性,强耦合的动力学系统,其动力学的研究是比较复杂和困难的问题.本文针对极为复杂的空间柔性双臂机器人系统,建立了其系统动力学模型,利用逆动力学控制算法对该动力学模型实现了轨迹跟踪控制,仿真结果表明该方法具有较好的控制效果,分析了在仿真过程中出现的有关数值算法的问题.

Uma abordagem comportamental para inserção de robôs em ambientes culturais

In this work, we propose methodologies and computer tools to insert robots in cultural environments. The basic idea is to have a robot in a real context (a cultural space) that can represent an user connected to the system through Internet (visitor avatar in the real space) and that the robot also have its representation in a Mixed Reality space (robot avatar in the virtual space). In this way, robot and avatar are not simply real and virtual objects. They play a more important role in the scenery, interfering in the process and taking decisions. In order to have this service running, we developed a module composed by a robot, communication tools and ways to provide integration of these with the virtual environment. As welI we implemented a set of behaviors with the purpose of controlling the robot in the real space. We studied available software and hardware tools for the robotics platform used in the experiments, as welI we developed test routines to determine their potentialities. Finally, we studied the behavior-based control model, we planned and implemented alI the necessary behaviors for the robot integration to the real and virtual cultural spaces. Several experiments were conducted, in order to validate the developed methodologies and tools

How different is water crystallization from polymer crystallization under confinement?

Ziel der vorliegenden Dissertation war es, Einblicke in das Kristallisationsverhalten weicher Materie („soft matter“), wie verschiedener Polymere oder Wasser, unter räumlicher Einschränkung („confinement“) zu erlangen. Dabei sollte untersucht werden, wie, weshalb und wann die Kristallisation in nanoporösen Strukturen eintritt. Desweiteren ist Kristallisation weicher Materie in nanoporösen Strukturen nicht nur aus Aspekten der Grundlagenforschung von großem Interesse, sondern es ergeben sich zahlreiche praktische Anwendungen. Durch die gezielte Steuerung der Kristallinität von Polymeren könnten somit Materialien mit verschiendenen mechanischen und optischen Eigenschaften erhalten werden. Desweiteren wurde auch räumlich eingeschränktes Wasser untersucht. Dieses spielt eine wichtige Rolle in der Molekularbiologie, z.B. für das globuläre Protein, und als Wolkenkondensationskeime in der Atmosphärenchemie und Physik. Auch im interstellaren Raum ist eingeschränktes Wasser in Form von Eispartikeln anzutreffen. Die Kristallisation von eingeschränktem Wasser zu verstehen und zu beeinflussen ist letztlich auch für die Haltbarkeit von Baumaterialien wie etwa Zement von großem Interesse.rnUm dies zu untersuchen wird Wasser in der Regel stark abgekühlt und das Kristallisationsverhalten in Abhängigkeit des Volumens untersucht. Dabei wurde beobachtet, dass Mikro- bzw. Nanometer große Volumina erst ab -38 °C bzw. -70 °C kristallisieren. Wasser unterliegt dabei in der Regel dem Prozess der homogenen Nukleation. In der Regel gefriert Wasser aber bei höheren Temperaturen, da durch Verunreinigungen eine vorzeitige, heterogene Nukleation eintritt.rnDie vorliegende Arbeit untersucht die sachdienlichen Phasendiagramme von kristallisierbaren Polymeren und Wasser unter räumlich eingeschränkten Bedingungen. Selbst ausgerichtetes Aluminiumoxid (AAO) mit Porengrößen im Bereich von 25 bis 400 nm wurden als räumliche Einschränkung sowohl für Polymere als auch für Wasser gewählt. Die AAO Nanoporen sind zylindrisch und parallel ausgerichtet. Außerdem besitzen sie eine gleichmäßige Porenlänge und einen gleichmäßigen Durchmesser. Daher eignen sie sich als Modelsystem um Kristallisationsprozesse unter wohldefinierter räumlicher Einschränkung zu untersuchen.rnEs wurden verschiedene halbkristalline Polymere verwendet, darunter Poly(ethylenoxid), Poly(ɛ-Caprolacton) und Diblockcopolymere aus PEO-b-PCL. Der Einfluss der Porengröße auf die Nukleation wurde aus verschiedenen Gesichtspunkten untersucht: (i) Einfluss auf den Nukleationmechanismus (heterogene gegenüber homogener Nukleation), (ii) Kristallorientierung und Kristallinitätsgrad und (iii) Zusammenhang zwischen Kristallisationstemperatur bei homogener Kristallisation und Glasübergangstemperatur.rnEs konnte gezeigt werden, dass die Kristallisation von Polymeren in Bulk durch heterogene Nukleation induziert wird und das die Kristallisation in kleinen Poren hauptsächlich über homogene Nukleation mit reduzierter und einstellbarer Kristallinität verläuft und eine hohe Kristallorientierung aufweist. Durch die AAOs konnte außerdem die kritische Keimgröße für die Kristallisation der Polymere abgeschätzt werden. Schließlich wurde der Einfluss der Polydispersität, von Oligomeren und anderen Zusatzstoffen auf den Nukleationsmechanismus untersucht.rn4rnDie Nukleation von Eis wurde in den selben AAOs untersucht und ein direkter Zusammenhang zwischen dem Nukleationstyp (heterogen bzw. homogen) und der gebildeten Eisphase konnte beobachtet werden. In größeren Poren verlief die Nukleation heterogen, wohingegen sie in kleineren Poren homogen verlief. Außerdem wurde eine Phasenumwandlung des Eises beobachtet. In den größeren Poren wurde hexagonales Eis nachgewiesen und unter einer Porengröße von 35 nm trat hauptsächlich kubisches Eis auf. Nennenswerter Weise handelte es sich bei dem kubischem Eis nicht um eine metastabile sondern eine stabile Phase. Abschließend wird ein Phasendiagramm für räumlich eingeschränktes Wasser vorgeschlagen. Dieses Phasendiagramm kann für technische Anwendungen von Bedeutung sein, so z.B. für Baumaterial wie Zement. Als weiteres Beispiel könnten AAOs, die die heterogene Nukleation unterdrücken (Porendurchmesser ≤ 35 nm) als Filter für Reinstwasser zum Einsatz kommen.rnNun zur Anfangs gestellten Frage: Wie unterschiedlich sind Wasser und Polymerkristallisation voneinander unter räumlicher Einschränkung? Durch Vergleich der beiden Phasendiagramme kommen wir zu dem Schluss, dass beide nicht fundamental verschieden sind. Dies ist zunächst verwunderlich, da Wasser ein kleines Molekül ist und wesentlich kleiner als die kleinste Porengröße ist. Wasser verfügt allerdings über starke Wasserstoffbrückenbindungen und verhält sich daher wie ein Polymer. Daher auch der Name „Polywasser“.

A patterned abrasion caused by the impact of a cartridge case may simulate an atypical muzzle imprint mark.

In contact shots, the muzzle imprint is an informative finding associated with the entrance wound. It typically mirrors the constructional components being in line with the muzzle or just behind. Under special conditions, other patterned skin marks located near a gunshot entrance wound may give the impression to be part of the muzzle imprint. A potential mechanism causing a patterned pressure abrasion in close proximity to the bullet entrance site is demonstrated on the basis of a suicidal shot to the temple. The skin lesion in question appeared as a ring-shaped excoriation with a diameter corresponding to that of the cartridge case. Two hypotheses concerning the causative mechanism were investigated by test shots: - After being ejected, the cartridge case ricocheted inside a confined space (car cabin in the particular case) and secondarily hit the skin near the gunshot entrance wound. - The ejection of the cartridge case failed so that the case became stuck in the ejection port and its mouth contacted the skin when the body collapsed after being hit.

Integrated luminescent chemical microsensors based on GaN LEDs for security applications using smartphones

Development of PCB-integrateable microsensors for monitoring chemical species is a goal in areas such as lab-on-a-chip analytical devices, diagnostics medicine and electronics for hand-held instruments where the device size is a major issue. Cellular phones have pervaded the world inhabitants and their usefulness has dramatically increased with the introduction of smartphones due to a combination of amazing processing power in a confined space, geolocalization and manifold telecommunication features. Therefore, a number of physical and chemical sensors that add value to the terminal for health monitoring, personal safety (at home, at work) and, eventually, national security have started to be developed, capitalizing also on the huge number of circulating cell phones. The chemical sensor-enabled “super” smartphone provides a unique (bio)sensing platform for monitoring airborne or waterborne hazardous chemicals or microorganisms for both single user and crowdsourcing security applications. Some of the latest ones are illustrated by a few examples. Moreover, we have recently achieved for the first time (covalent) functionalization of p- and n-GaN semiconductor surfaces with tuneable luminescent indicator dyes of the Ru-polypyridyl family, as a key step in the development of innovative microsensors for smartphone applications. Chemical “sensoring” of GaN-based blue LED chips with those indicators has also been achieved by plasma treatment of their surface, and the micrometer-sized devices have been tested to monitor O2 in the gas phase to show their full functionality. Novel strategies to enhance the sensor sensitivity such as changing the length and nature of the siloxane buffer layer are discussed in this paper.