A geometric approach for determining inner and exterior boundaries of workspaces of planar manipulators

In this paper a method to determine the internal and external boundaries of planar workspaces, represented with an ordered set of points, is presented. The sequence of points are grouped and can be interpreted to form a sequence of curves. Three successive curves are used for determining the instantaneous center of rotation for the second one of them. The two extremal points on the curve with respect to the instantaneous center are recognized as singular points. The chronological ordering of these singular points is used to generate the two envelope curves, which are potentially intersecting. Methods have been presented in the paper for the determination of the workspace boundary from the envelope curves. Strategies to deal with the manipulators with joint limits and various degenerate situations have also been discussed. The computational steps being completely geometric, the method does not require the knowledge about the manipulator's kinematics. Hence, it can be used for the workspace of arbitrary planar manipulators. A number of illustrative examples demonstrate the efficacy of the proposed method.

Two views on interstellar dust: near-infrared scattering and polarized thermal dust emission

Interstellar clouds are not featureless, but show quite complex internal structures of filaments and clumps when observed with high enough resolution. These structures have been generated by 1) turbulent motions driven mainly by supernovae, 2) magnetic fields working on the ions and, through neutral-ion collisions, on neutral gas as well, and 3) self-gravity pulling a dense clump together to form a new star. The study of the cloud structure gives us information on the relative importance of each of these mechanisms, and helps us to gain a better understanding of the details of the star formation process. Interstellar dust is often used as a tracer for the interstellar gas which forms the bulk of the interstellar matter. Some of the methods that are used to derive the column density are summarized in this thesis. A new method, which uses the scattered light to map the column density in large fields with high spatial resolution, is introduced. This thesis also takes a look at the grain alignment with respect to the magnetic fields. The aligned grains give rise to the polarization of starlight and dust emission, thus revealing the magnetic field. The alignment mechanisms have been debated for the last half century. The strongest candidate at present is the radiative torques mechanism. In the first four papers included in this thesis, the scattered light method of column density estimation is formulated, tested in simulations, and finally used to obtain a column density map from observations. They demonstrate that the scattered light method is a very useful and reliable tool in column density estimation, and is able to provide higher resolution than the near-infrared color excess method. These two methods are complementary. The derived column density maps are also used to gain information on the dust emissivity within the observed cloud. The two final papers present simulations of polarized thermal dust emission assuming that the alignment happens by the radiative torques mechanism. We show that the radiative torques can explain the observed decline of the polarization degree towards dense cores. Furthermore, the results indicate that the dense cores themselves might not contribute significantly to the polarized signal, and hence one needs to be careful when interpreting the observations and deriving the magnetic field.

Handling sectional views in volume-based approach to automatically construct 3D solid from 2D views

This paper presents an algorithm for solid model reconstruction from 2D sectional views based on volume-based approach. None of the existing work in automatic reconstruction from 2D orthographic views have addressed sectional views in detail. It is believed that the volume-based approach is better suited to handle different types of sectional views. The volume-based approach constructs the 3D solid by a boolean combination of elementary solids. The elementary solids are formed by sweep operation on loops identified in the input views. The only adjustment to be made for the presence of sectional views is in the identification of loops that would form the elemental solids. In the algorithm, the conventions of engineering drawing for sectional views, are used to identify the loops correctly. The algorithm is simple and intuitive in nature. Results have been obtained for full sections, offset sections and half sections. Future work will address other types of sectional views such as removed and revolved sections and broken-out sections. (C) 2004 Elsevier Ltd. All rights reserved.

Building Information Modelling – Experts´ Views on Standardisation and Industry Deployment

The goal of the single building information model has existed for at least thirty years and various standards have been published leading up to the ten-year development of the Industry Foundation Classes. These have been initiatives from researchers, software developers and standards committees. Now large property owners are becoming aware of the benefits of moving IT tools from specific applications towards more comprehensive solutions. This study addresses the state of Building Information Models and the conditions necessary for them to become more widely used. It is a qualitative study based on information from a number of international experts and has asked a series of questions about the feasibility of BIMs, the conditions necessary for their success, and the role of standards with particular reference to the IFCs. Some key statements were distilled from the diverse answers received and indicate that BIM solutions appear too complex for many and may need to be applied in limited areas initially. Standards are generally supported but not applied rigorously and a range of these are relevant to BIM. Benefits will depend upon the building procurement methods used and there should be special roles within the project team to manage information. Case studies are starting to appear and these could be used for publicity. The IFCs are rather oversold and their complexities should be hidden within simple-to-use software. Inevitably major questions remain and property owners may be the key to answering some of these. A framework for presenting standards, backed up by case studies of successful projects, is the solution proposed to provide better information on where particular BIM standards and solutions should be applied in building projects.

Resolution of conflicting views on thermodynamics of glass transition: A unified model

Classical description of thermodynamic properties during glass transition has been questioned by the entropy-loss model. The uncompensated loss of entropy at the glass transition temperature and zero residual entropy is at the heart of the controversy. Both the models are critically reviewed. A unified model is presented which incorporates features of both entropy loss and residual entropy. It implies two different types of contributions to the entropy of the supercooled liquid, one of which vanishes at the transition and the other which contributes to residual entropy. Entropy gain during spontaneous relaxation of glass, and the nature of heat capacity `hysteresis' during cooling and heating through the glass transition range support the proposed model. Experiments are outlined for differentiating between the models.

Current views on microscopic thermodynamics of liquid alloys

An attempt has been made to review current information on the microscopic thermodynamics of liquid alloys. For complex alloys, and for alloys of simple metals with strong "compound-forming" tendencies, the fluctuation approach developed by Bhatia and his co-workers provides a useful link between the fluctuation in concentration and number density of atoms in the mixture on the one hand, and macroscopic thermodynamic properties on the other. Some selected examples of the application of structural data of liquid alloys to estimating macroscopic thermodynamic properties such as the Gibbs free energy of mixing, coupled with the fluctuation approach are given. The relevant thermodynamic quantities such as vapor pressure and entropy are also discussed, to facilitate the understanding of the present status of the fundamental and powerful links between macroscopic and microscopic (atomic scale) structure of liquid alloys (Mg--Sn, Li--Pb, Hg--K). 63 ref.--AA

Constructing a wire-frame from views on arbitrary view planes for objects with conic sections inclined to all view planes

A new and efficient approach to construct a 3D wire-frame of an object from its orthographic projections is described. The input projections can be two or more and can include regular and complete auxiliary views. Each view may contain linear, circular and other conic sections. The output is a 3D wire-frame that is consistent with the input views. The approach can handle auxiliary views containing curved edges. This generality derives from a new technique to construct 3D vertices from the input 2D vertices (as opposed to matching coordinates that is prevalent in current art). 3D vertices are constructed by projecting the 2D vertices in a pair of views on the common line of the two views. The construction of 3D edges also does not require the addition of silhouette and tangential vertices and subsequently splitting edges in the views. The concepts of complete edges and n-tuples are introduced to obviate this need. Entities corresponding to the 3D edge in each view are first identified and the 3D edges are then constructed from the information available with the matching 2D edges. This allows the algorithm to handle conic sections that are not parallel to any of the viewing directions. The localization of effort in constructing 3D edges is the source of efficiency of the construction algorithm as it does not process all potential 3D edges. Working of the algorithm on typical drawings is illustrated. (C) 2011 Elsevier Ltd. All rights reserved.

An Outward-Wave-Favouring Finite Element-Based Strategy for Exterior Acoustical Problems

This work presents a finite element-based strategy for exterior acoustical problems based on an assumed pressure form that favours outgoing waves. The resulting governing equation, weak formulation, and finite element formulation are developed both for coupled and uncoupled problems. The developed elements are very similar to conventional elements in that they are based on the standard Galerkin variational formulation and use standard Lagrange interpolation functions and standard Gaussian quadrature. In addition and in contrast to wave envelope formulations and their extensions, the developed elements can be used in the immediate vicinity of the radiator/scatterer. The method is similar to the perfectly matched layer (PML) method in the sense that each layer of elements added around the radiator absorbs acoustical waves so that no boundary condition needs to be applied at the outermost boundary where the domain is truncated. By comparing against strategies such as the PML and wave-envelope methods, we show that the relative accuracy, both in the near and far-field results, is considerably higher.

Case for multiple views of function in design based on a common definition

Functions are important in designing. However, several issues hinder progress with the understanding and usage of functions: lack of a clear and overarching definition of function, lack of overall justifications for the inevitability of the multiple views of function, and scarcity of systematic attempts to relate these views with one another. To help resolve these, the objectives of this research are to propose a common definition of function that underlies the multiple views in literature and to identify and validate the views of function that are logically justified to be present in designing. Function is defined as a change intended by designers between two scenarios: before and after the introduction of the design. A framework is proposed that comprises the above definition of function and an empirically validated model of designing, extended generate, evaluate, modify, and select of state-change, and an action, part, phenomenon, input, organ, and effect model of causality (Known as GEMS of SAPPhIRE), comprising the views of activity, outcome, requirement-solution-information, and system-environment. The framework is used to identify the logically possible views of function in the context of designing and is validated by comparing these with the views of function in the literature. Describing the different views of function using the proposed framework should enable comparisons and determine relationships among the various views, leading to better understanding and usage of functions in designing.

Competing views on cancer

Despite intense research efforts that have provided enormous insight, cancer continues to be a poorly understood disease. There has been much debate over whether the cancerous state can be said to originate in a single cell or whether it is a reflection of aberrant behaviour on the part of a `society of cells'. This article presents, in the form of a debate conducted among the authors, three views of how the problem might be addressed. We do not claim that the views exhaust all possibilities. These views are (a) the tissue organization field theory (TUFT) that is based on a breakdown of tissue organization involving many cells from different embryological layers, (b) the cancer stem cell (CSC) hypothesis that focuses on genetic and epigenetic changes that take place within single cells, and (c) the proposition that rewiring of the cell's protein interaction networks mediated by intrinsically disordered proteins (IDPs) drives the tumorigenic process. The views are based on different philosophical approaches. In detail, they differ on some points and agree on others. It is left to the reader to decide whether one approach to understanding cancer appears more promising than the other.

Postsynthetic Exterior Decoration of an Organic Cage by Copper(I)-Catalysed A(3)-Coupling and Detection of Nitroaromatics

A new synthetic protocol based on one-pot, copper(I)-catalysed multicomponent reaction of formaldehyde, secondary amine and terminal alkyne has been employed to postsynthetically modify a self-assembled nanoscopic organic cage. By employing this synthetic strategy, three new cages appended with phenyl-, xylyl-and naphthyl-acetylene moieties have been synthesised. The resulting modified cages were characterised by using a range of spectroscopic techniques. The synthesised cages were fluorescent and thus one of them was tested to explore the potential use of such compounds as chemosensors for the detection of nitroaromatics. Experimental findings suggest a high selective quenching of initial fluorescence intensity in the presence of nitroaromatic compounds. Furthermore, it has been observed that among the various nitroaromatics tested, nitrophenolic compounds have better quenching ability.

La política exterior de Raúl Alfonsín (1983- 1989) : un balance aproximativo

Este artículo tiene como objetivo realizar un balance de la política exterior de Raúl Alfonsín (1983-1989). Dicho análisis se sustentará en una contextualización histórica de su acción externa, en los fundamentos y creencias que sostuvieron su acción internacional y en sus objetivos principales. La reconstrucción en este punto de la investigación se basa especialmente en fuentes bibliográficas, dado que forma parte de los aspectos teóricos de un análisis más amplio, que incluye un análisis de casos de dicho período.