Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle

Robotic surgical tools used in minimally invasive surgeries (MIS) require miniaturized and reliable actuators for precise positioning and control of the end-effector. Miniature pneumatic artificial muscles (MPAMs) are a good choice due to their inert nature, high force to weight ratio, and fast actuation. In this paper, we present the development of miniaturized braided pneumatic muscles with an outer diameter of similar to 1.2 mm, a high contraction ratio of about 18%, and capable of providing a pull force in excess of 4 N at a supply pressure of 0.8 MPa. We present the details of the developed experimental setup, experimental data on contraction and force as a function of applied pressure, and characterization of the MPAM. We also present a simple kinematics and experimental data based model of the braided pneumatic muscle and show that the model predicts contraction in length to within 20% of the measured value. Finally, a robust controller for the MPAMs is developed and validated with experiments and it is shown that the MPAMs have a time constant of similar to 10 ms thereby making them suitable for actuating endoscopic and robotic surgical tools.

Direct parameter extraction in feedthrough-embedded capacitive MEMS resonators

This paper presents a method for fast and accurate determination of parameters relevant to the characterization of capacitive MEMS resonators like quality factor (Q), resonant frequency (fn), and equivalent circuit parameters such as the motional capacitance (Cm). In the presence of a parasitic feedthrough capacitor (CF) appearing across the input and output ports, the transmission characteristic is marked by two resonances: series (S) and parallel (P). Close approximations of these circuit parameters are obtained without having to first de-embed the resonator motional current typically buried in feedthrough by using the series and parallel resonances. While previous methods with the same objective are well known, we show that these are limited to the condition where CF ≪ CmQ. In contrast, this work focuses on moderate capacitive feedthrough levels where CF > CmQ, which are more common in MEMS resonators. The method is applied to data obtained from the measured electrical transmission of fabricated SOI MEMS resonators. Parameter values deduced via direct extraction are then compared against those obtained by a full extraction procedure where de-embedding is first performed and followed by a Lorentzian fit to the data based on the classical transfer function associated with a generic LRC series resonant circuit. © 2011 Elsevier B.V. All rights reserved.

An Improved Energy Method For Determining Young'S Modulus By Instrumented Indentation Using A Berkovich Tip

We previously proposed a method for estimating Young's modulus from instrumented nanoindentation data based on a model assuming that the indenter had a spherical-capped Berkovich geometry to take account of the bluntness effect. The method is now further improved by releasing the constraint on the tip shape, allowing it to have a much broader arbitrariness to range from a conical-tipped shape to a flat-ended shape, whereas the spherical-capped shape is just a special case in between. This method requires two parameters to specify a tip geometry, namely, a volume bluntness ratio V-r and a height bluntness ratio h(r). A set of functional relationships correlating nominal hardness/reduced elastic modulus ratio (H-n/E-r) and elastic work/total work ratio (W-e/W) were established based on dimensional analysis and finite element simulations, with each relationship specified by a set of V-r and h(r). Young's modulus of an indented material can be estimated from these relationships. The method was shown to be valid when applied to S45C carbon steel and 6061 aluminum alloy.

La familia Stromateidae en la Argentina (Pisces, Stromateidae).

A brief synthesis of the systematics of argentine Stromateidae is given together with a general key and morphological and statistical data based on numerous specimens. The southern limit of the range of Perilus parus is discussed. (PDF tiene 12 paginas)

Demand analysis for Nigerian fisheries

This paper reviews available past fisheries statistics data and examines the basis of derivation of the estimates and concludes that much needs to be done to establish reliable fisheries data based on well defined methodology. Subsequently, fish consumption data for the ten-year-period 1971-1979 were related to the yearly population that consumes the fish

Accelerogram processing using reliability bounds and optimal correction methods

This study addresses the problem of obtaining reliable velocities and displacements from accelerograms, a concern which often arises in earthquake engineering. A closed-form acceleration expression with random parameters is developed to test any strong-motion accelerogram processing method. Integration of this analytical time history yields the exact velocities, displacements and Fourier spectra. Noise and truncation can also be added. A two-step testing procedure is proposed and the original Volume II routine is used as an illustration. The main sources of error are identified and discussed. Although these errors may be reduced, it is impossible to extract the true time histories from an analog or digital accelerogram because of the uncertain noise level and missing data. Based on these uncertainties, a probabilistic approach is proposed as a new accelerogram processing method. A most probable record is presented as well as a reliability interval which reflects the level of error-uncertainty introduced by the recording and digitization process. The data is processed in the frequency domain, under assumptions governing either the initial value or the temporal mean of the time histories. This new processing approach is tested on synthetic records. It induces little error and the digitization noise is adequately bounded. Filtering is intended to be kept to a minimum and two optimal error-reduction methods are proposed. The "noise filters" reduce the noise level at each harmonic of the spectrum as a function of the signal-to-noise ratio. However, the correction at low frequencies is not sufficient to significantly reduce the drifts in the integrated time histories. The "spectral substitution method" uses optimization techniques to fit spectral models of near-field, far-field or structural motions to the amplitude spectrum of the measured data. The extremes of the spectrum of the recorded data where noise and error prevail are then partly altered, but not removed, and statistical criteria provide the choice of the appropriate cutoff frequencies. This correction method has been applied to existing strong-motion far-field, near-field and structural data with promising results. Since this correction method maintains the whole frequency range of the record, it should prove to be very useful in studying the long-period dynamics of local geology and structures.

Convivência da pessoa idosa com diabetes buscando autonomia para o autocuidado: estudo sociopoético

Este trabalho refere-se ao educar/cuidar/pesquisar centrado na orientação de enfermagem para o autocuidado da pessoa idosa, com diabetes, visando seu bem-estar; visto a evidência do crescimento demográfico da população idosa em todo o mundo e, em especial, no Brasil. Tem como objetivo aplicar, no contexto de um curso de autocuidado ministrado em oficina sociopoética, o Diagrama de Nola Pender como instrumento de produção de dados sobre a construção de ações e apresentação de propostas de comportamentos de saúde, visando o bem-estar de pessoas. O marco teórico enfoca a Teoria de promoção da saúde de Nola Pender, que defende o processo de capacitação da comunidade para buscar sua qualidade de vida e saúde, incluindo maior participação e controle deste processo. O marco teórico metodológico é a sociopoética, que fundamenta um estudo qualitativo, descritivo, desenvolvido em 2012, após aprovação do Comitê de Ética da Universidade do Estado do Rio de Janeiro, mediante a instituição do Grupo Pesquisador, dispositivo analítico, deste método, composto por 10 sujeitos, aplicando-se as técnicas de pesquisa de sensibilidade e artísticas. São resultados da técnica Vivência de Lugares Geomíticos a delimitação das categorias temáticas, a saber: Medo do desconhecido; Transcendendo a convivência com a diabetes através da aceitação; O autocuidado como resolução dos problemas a serem enfrentados; Busca da cura da diabetes através de uma vida saudável; e Expectativas para o futuro. Na técnica Corpo como território mínimo emergiram os temas: Insegurança; Fragilidade; Dificuldade no controle da glicemia; Controle; Autocuidado; Otimismo; Perseverança; Dificuldade no controle da alimentação; Tranquilidade; Dependência; Conformação; Revolta; Equilíbrio; Desânimo; Autoestima; Autoimagem e Descuidado. Aplicando o Diagrama de Nola Pender constatou-se entre os membros do Grupo Pesquisador (GP) os fatores pessoais que influenciam a conduta prévia à adoção do autocuidado, os benefícios de ações percebidas durante o ensino do autocuidado, e as demandas de competência para assumi-lo, visando à promoção da saúde. Conclui-se, que a conduta de promoção de saúde é a variável que conduz a um olhar através de ações dirigidas que tenham resultados positivos para o bem-estar e o equilíbrio das dimensões corporais. Entre as condutas de promoção da saúde adotadas pelo GP estão: ter compromisso na realização de atividades físicas; alimentação saudável, uso de medicação diariamente e regularmente, além do autocuidado com o corpo e mente, através de práticas de atividade física e de lazer.

反射率对入射角扫描测定单轴晶体的折射率

通过分析波矢沿任意方向的单轴晶体的折射率,在光轴位于入射面内时,给出了入射光分别为s光和p光的反射率拟合函数。利用改进的反射率扫描仪,测量了CaCO3晶体的s光和p光反射率随入射角变化情况,由理论拟合获得单轴晶体的两个主折射率,分别为no=1.6559和ne=1.4851。这种方法不需要对样品进行加工,其精度达到0.0001。另外,对于晶体光轴未知的情况,采用改进的布儒斯特技术分别测出三个晶体表面的布儒斯特角,由此可以确定光轴的方向。

The Ragfish, Icosteus aenigmaticus Lockington, 1880: A Synthesis of Historical and Recent Records From the North Pacific Ocean and the Bering Sea

Knowledge of the distribution and biology of the ragfish, Icosteus aenigmaticus, an aberrant deepwater perciform of the North Pacific Ocean, has increased slowly since the first description of the species in the 1880’s which was based on specimens retrieved from a fish monger’s table in San Francisco, Calif. As a historically rare, and subjectively unattractive appearing noncommercial species, ichthyologists have only studied ragfish from specimens caught and donated by fishermen or by the general public. Since 1958, I have accumulated catch records of >825 ragfish. Specimens were primarily from commercial fishermen and research personnel trawling for bottom and demersal species on the continental shelves of the eastern North Pacific Ocean, Gulf of Alaska, Bering Sea, and the western Pacific Ocean, as well as from gillnet fisheries for Pacific salmon, Oncorhynchus spp., in the north central Pacific Ocean. Available records came from four separate sources: 1) historical data based primarily on published and unpublished literature (1876–1990), 2) ragfish delivered fresh to Humboldt State University or records available from the California Department of Fish and Game of ragfish caught in northern California and southern Oregon bottom trawl fisheries (1950–99), 3) incidental catches of ragfish observed and recorded by scientific observers of the commercial fisheries of the eastern Pacific Ocean and catches in National Marine Fisheries Service trawl surveys studying these fisheries from 1976 to 1999, and 4) Japanese government research on nearshore fisheries of the northwestern Pacific Ocean (1950–99). Limited data on individual ragfish allowed mainly qualitative analysis, although some quantitative analysis could be made with ragfish data from northern California and southern Oregon. This paper includes a history of taxonomic and common names of the ragfish, types of fishing gear and other techniques recovering ragfish, a chronology of range extensions into the North Pacific and Bering Sea, reproductive biology of ragfish caught by trawl fisheries off northern California and southern Oregon, and topics dealing with early, juvenile, and adult life history, including age and growth, food habits, and ecology. Recommendations for future study are proposed, especially on the life history of juvenile ragfish (5–30 cm FL) which remains enigmatic.

Uso de web services e softwares livres na disseminação de informações georreferenciadas sobre produtos da floresta amazônica.

Georreferenced information has been increasingly required for the planning and decision-making in different sectors of society. New ways of dissemination of data, such as the Open Geospatial Consortium (OGC) web services, have contributed to the ease of access to this information. Even with all the technological advances in the area of data distribution, there is still low availability of georreferenced data about the Amazon. The goal of the present work is the development of a spatial data infrastructure (SDI), that is, an environment of sharing and use of georreferenced data based on the technology of web services, metadata and interfaces that allow the user easy access to these data. The present work discussess the OGC patterns, the most relevant georeferrenced data servers, the main web clients, and the revolution in the dissemination of georeferrenced data which geobrowsers and web clients offered to regular users. Data to be released for the case study come from the project Exploitation of Non-wooden Forest Products-PFNM-in progress at the National Institute of Research in the Amazon-INPA-as well as from inventories of NGOs and other government bodies. Besides contributing to the enhancement of PFNM, this project aims at encouraging the use of GIS in the state of Amazonas offering tech support for the deployment of geographic databases and sharing between agencies, optimizing the resources applied in this area through the use of free software and integration of diffuse information currently available.

Reducing energy demand: what are the practical limits?

Concern over the global energy system, whether driven by climate change, national security, or fears of shortage, is being discussed widely and in every arena but with a bias toward energy supply options. While demand reduction is often mentioned in passing, it is rarely a priority for implementation, whether through policy or through the search for innovation. This paper aims to draw attention to the opportunity for major reduction in energy demand, by presenting an analysis of how much of current global energy demand could be avoided. Previous work led to a "map" of global energy use that traces the flow of energy from primary sources (fuels or renewable sources), through fuel refinery, electricity generation, and end-use conversion devices, to passive systems and the delivery of final energy services (transport, illumination, and sustenance). The key passive systems are presented here and analyzed through simple engineering models with scalar equations using data based on current global practice. Physically credible options for change to key design parameters are identified and used to predict the energy savings possible for each system. The result demonstrates that 73% of global energy use could be saved by practically achievable design changes to passive systems. This reduction could be increased by further efficiency improvements in conversion devices. A list of the solutions required to achieve these savings is provided.

Applications of the dynamic mode decomposition

The decomposition of experimental data into dynamic modes using a data-based algorithm is applied to Schlieren snapshots of a helium jet and to time-resolved PIV-measurements of an unforced and harmonically forced jet. The algorithm relies on the reconstruction of a low-dimensional inter-snapshot map from the available flow field data. The spectral decomposition of this map results in an eigenvalue and eigenvector representation (referred to as dynamic modes) of the underlying fluid behavior contained in the processed flow fields. This dynamic mode decomposition allows the breakdown of a fluid process into dynamically revelant and coherent structures and thus aids in the characterization and quantification of physical mechanisms in fluid flow. © 2010 Springer-Verlag.

Effects of Lewis number on scalar variance transport in premixed flames

The influences of differential diffusion rates of heat and mass on the transport of the variances of Favre fluctuations of reaction progress variable and non-dimensional temperature have been studied using three-dimensional simplified chemistry based Direct Numerical Simulation (DNS) data of statistically planar turbulent premixed flames with global Lewis number ranging from Le = 0.34 to 1.2. The Lewis number effects on the statistical behaviours of the various terms of the transport equations of variances of Favre fluctuations of reaction progress variable and non-dimensional temperature have been analysed in the context of Reynolds Averaged Navier Stokes (RANS) simulations. It has been found that the turbulent fluxes of the progress variable and temperature variances exhibit counter-gradient transport for the flames with Lewis number significantly smaller than unity whereas the extent of this counter-gradient transport is found to decrease with increasing Lewis number. The Lewis number is also shown to have significant influences on the magnitudes of the chemical reaction and scalar dissipation rate contributions to the scalar variance transport. The modelling of the unclosed terms in the scalar variance equations for the non-unity Lewis number flames have been discussed in detail. The performances of the existing models for the unclosed terms are assessed based on a-priori analysis of DNS data. Based on the present analysis, new models for the unclosed terms of the active scalar variance transport equations are proposed, whenever necessary, which are shown to satisfactorily capture the behaviours of unclosed terms for all the flames considered in this study. © 2010 Springer Science+Business Media B.V.

Statistics and modelling of turbulent kinetic energy transport in different regimes of premixed combustion

The statistical behaviour of turbulent kinetic energy transport in turbulent premixed flames is analysed using data from three-dimensional Direct Numerical Simulation (DNS) of freely propagating turbulent premixed flames under decaying turbulence. For flames within the corrugated flamelets regime, it is observed that turbulent kinetic energy is generated within the flame brush. By contrast, for flames within the thin reaction zones regime it has been found that the turbulent kinetic energy decays monotonically through the flame brush. Similar trends are observed also for the dissipation rate of turbulent kinetic energy. Within the corrugated flamelets regime, it is demonstrated that the effects of the mean pressure gradient and pressure dilatation within the flame are sufficient to overcome the effects of viscous dissipation and are responsible for the observed augmentation of turbulent kinetic energy in the flame brush. In the thin reaction zones regime, the effects of the mean pressure gradient and pressure dilatation terms are relatively much weaker than those of viscous dissipation, resulting in a monotonic decay of turbulent kinetic energy across the flame brush. The modelling of the various unclosed terms of the turbulent kinetic energy transport equation has been analysed in detail. The predictions of existing models are compared with corresponding quantities extracted from DNS data. Based on this a-priori DNS assessment, either appropriate models are identified or new models are proposed where necessary. It is shown that the turbulent flux of turbulent kinetic energy exhibits counter-gradient (gradient) transport wherever the turbulent scalar flux is counter-gradient (gradient) in nature. A new model has been proposed for the turbulent flux of turbulent kinetic energy, and is found to capture the qualitative and quantitative behaviour obtained from DNS data for both the corrugated flamelets and thin reaction zones regimes without the need to adjust any of the model constants. © 2010 Springer Science+Business Media B.V.

On the relation of slow feature analysis and Laplacian eigenmaps

The past decade has seen a rise of interest in Laplacian eigenmaps (LEMs) for nonlinear dimensionality reduction. LEMs have been used in spectral clustering, in semisupervised learning, and for providing efficient state representations for reinforcement learning. Here, we show that LEMs are closely related to slow feature analysis (SFA), a biologically inspired, unsupervised learning algorithm originally designed for learning invariant visual representations. We show that SFA can be interpreted as a function approximation of LEMs, where the topological neighborhoods required for LEMs are implicitly defined by the temporal structure of the data. Based on this relation, we propose a generalization of SFA to arbitrary neighborhood relations and demonstrate its applicability for spectral clustering. Finally, we review previous work with the goal of providing a unifying view on SFA and LEMs. © 2011 Massachusetts Institute of Technology.