Design and construction of a portable force-reflecting manual controller for teleoperation systems

A man-machine system called teleoperator system has been developed to work in hazardous environments such as nuclear reactor plants. Force reflection is a type of force feedback in which forces experienced by the remote manipulator are fed back to the manual controller. In a force-reflecting teleoperation system, the operator uses the manual controller to direct the remote manipulator and receives visual information from a video image and/or graphical animation on the computer screen. This thesis presents the design of a portable Force-Reflecting Manual Controller (FRMC) for the teleoperation of tasks such as hazardous material handling, waste cleanup, and space-related operations. The work consists of the design and construction of a prototype 1-Degree-of-Freedom (DOF) FRMC, the development of the Graphical User Interface (GUI), and system integration. Two control strategies - PID and fuzzy logic controllers are developed and experimentally tested. The system response of each is analyzed and evaluated. In addition, the concept of a telesensation system is introduced, and a variety of design alternatives of a 3-DOF FRMC are proposed for future development.

Design and construction of a two dimensional duct equipped with a wave generator and a variable coastal slope and an ocean wave energy conversion system (OWC)

The aims of this thesis were evaluation the type of wave channel, wave current, and effect of some parameters on them and identification and comparison between types of wave maker in laboratory situations. In this study, designing and making of two dimension channels (flume) and wave maker for experiment son the marine buoy, marine building and energy conversion systems were also investigated. In current research, the physical relation between pump and pumpage and the designing of current making in flume were evaluated. The related calculation for steel building, channels beside glasses and also equations of wave maker plate movement, power of motor and absorb wave(co astal slope) were calculated. In continue of this study, the servo motor was designed and applied for moving of wave maker’s plate. One Ball Screw Leaner was used for having better movement mechanisms of equipment and convert of the around movement to linear movement. The Programmable Logic Controller (PLC) was also used for control of wave maker system. The studies were explained type of ocean energies and energy conversion systems. In another part of this research, the systems of energy resistance in special way of Oscillating Water Column (OWC) were explained and one sample model was designed and applied in hydrolic channel at the Sheikh Bahaii building in Azad University, Science and Research Branch. The dimensions of designed flume was considered at 16 1.98 0. 57 m which had ability to provide regular waves as well as irregular waves with little changing on the control system. The ability of making waves was evaluated in our designed channel and the results were showed that all of the calculation in designed flume was correct. The mean of error between our results and theory calculation was conducted 7%, which was showed the well result in this situation. With evaluating of designed OWC model and considering of changes in the some part of system, one bigger sample of this model can be used for designing the energy conversion system model. The obtained results showed that the best form for chamber in exit position of system, were zero degree (0) in angle for moving below part, forty and five (45) degree in front wall of system and the moving forward of front wall keep in two times of height of wave.

Morphologic changes and removal of debris on apical dentin surfaces after Nd : YAG laser and diode laser irradiation

Objective: To verify the effects of laser energy on intracanal dentin surfaces, by analyzing the morphologic changes and removal of debris in the apical third of 30 extracted human teeth, prepared and irradiated with the Nd:YAG laser and diode laser. Background Data: Lasers have been widely used in endodontics. The morphologic changes in dentin walls caused by Nd: YAG and diode laser irradiation could improve apical seals and cleanliness. Materials and Methods: The protocol used for Nd: YAG laser irradiation was 1.5 W, 100 mJ, and 15 Hz, in pulsed mode, and for diode laser was 2.5 W in continuous mode. Each specimen was irradiated four times at a speed of 2 mm/sec with a 20-sec interval between applications. Five calibrated examiners scored the morphologic changes and debris removal on a 4-point scale. Results: In analyzing the scores, there were no statistically significant differences between the two types of laser for either parameter, according to Kruskal-Wallis testing at p = 0.05. The SEM images showed fusion and resolidification of the dentin surface, with partial removal of debris on the specimens irradiated with the Nd: YAG laser and the diode laser, compared with controls. Conclusion: Both lasers promote morphologic changes and debris removal. These alterations of the dentin surface appeared to be more evident in the Nd: YAG laser group, but the diode laser group showed more uniform changes.

Design and construction of tunnels in zones subjected to high convergences

The economic development of a region depends on the speed that people and goods can travel. The reduction of people and goods travel time can be achieved by planning smooth road layouts, which are obtained by crossing natural obstacles such as hills, by tunneling at great depths, and allowing the reduction of the road alignment length. The stress state in rock masses at such depths, either because of the overburden or due to the tectonic conditions of the rock mass induces high convergences of the tunnel walls. These high convergence values are incompatible with the supports structural performance installed in the excavation stabilization. In this article it is intended to evaluate and analyze some of the solutions already implemented in several similar geological and geotechnical situations, in order to establish a methodological principle for the design of the tunnels included in a highway section under construction in the region influenced by the Himalayas, in the state of Himachal Pradesh (India) and referenced by "four laning of Kiratpur to Ner Chowk section".

Types and construction of power transformers

Transformers may be classified according to dielectric insulation material as follows: • Oil-filled transformers • Dry type transformers

Variant Rett Syndrome in a Girl with a Pericentric X-Chromosome Inversion Leading to Epigenetic Changes and Overexpression of the MECP2 Gene

Rett syndrome is a neurodevelopmental disorder caused by mutations in the MECP2 gene. We investigated the genetic basis of disease in a female patient with a Rett-like clinical. Karyotype analysis revealed a pericentric inversion in the X chromosome -46,X,inv(X)(p22.1q28), with breakpoints in the cytobands where the MECP2 and CDKL5 genes are located. FISH analysis revealed that the MECP2 gene is not dislocated by the inversion. However, and in spite of a balanced pattern of X inactivation, this patient displayed hypomethylation and an overexpression of the MECP2 gene at the mRNA level in the lymphocytes (mean fold change: 2.55±0.38) in comparison to a group of control individuals; the expression of the CDKL5 gene was similar to that of controls (mean fold change: 0.98±0.10). No gains or losses were detected in the breakpoint regions encompassing known or suspected transcription regulatory elements. We propose that the de-regulation of MECP2 expression in this patient may be due to alterations in long-range genomic interactions caused by the inversion and hypothesize that this type of epigenetic de-regulation of the MECP2 may be present in other RTT-like patients.

Composition and construction of embedded software families

Feature modeling, embebbed software, software product lines, tool support

Design and construction of precision heat fluxmeters

InAlAs/InGaAs/InP based high electron mobility transistor devices have been structurally and electrically characterized, using transmission electron microscopy and Raman spectroscopy and measuring Hall mobilities. The InGaAs lattice matched channels, with an In molar fraction of 53%, grown at temperatures lower than 530¿°C exhibit alloy decomposition driving an anisotropic InGaAs surface roughness oriented along [1math0]. Conversely, lattice mismatched channels with an In molar fraction of 75% do not present this lateral decomposition but a strain induced roughness, with higher strength as the channel growth temperature increases beyond 490¿°C. In both cases the presence of the roughness implies low and anisotropic Hall mobilities of the two dimensional electron gas.

Design and construction of precision heat fluxmeters

The possibility of local elastic instabilities is considered in a first¿order structural phase transition, typically a thermoelastic martensitic transformation, with associated interfacial and volumic strain energy. They appear, for instance, as the result of shape change accommodation by simultaneous growth of different crystallographic variants. The treatment is phenomenological and deals with growth in both thermoelastic equilibrium and in nonequilibrium conditions produced by the elastic instability. Scaling of the transformed fraction curves against temperature is predicted only in the case of purely thermoelastic growth. The role of the transformation latent heat on the relaxation kinetics is also considered, and it is shown that it tends to increase the characteristic relaxation times as adiabatic conditions are approached, by keeping the system closer to a constant temperature. The analysis also reveals that the energy dissipated in the relaxation process has a double origin: release of elastic energy Wi and entropy production Si. The latter is shown to depend on both temperature rate and thermal conduction in the system.

Structural changes and degradation of Red Latosols under different management systems for 20 years

Soils are the foundation of terrestrial ecosystems and their role in food production is fundamental, although physical degradation has been observed in recent years, caused by different cultural practices that modify structures and consequently the functioning of soils. The objective of this study was to evaluate possible structural changes and degradation in an Oxisol under different managements for 20 years: no-tillage cultivation with and without crop rotation, perennial crop and conventional tillage, plus a forested area (reference). Initially, the crop profile was described and subsequently, 10 samples per management system and forest soil were collected to quantify soil organic matter, flocculation degree, bulk density, and macroporosity. The results indicated structural changes down to a soil depth of 50 cm, with predominance of structural units ∆μ (intermediate compaction level) under perennial crop and no-tillage crop rotation, and of structural units ∆ (compacted) under conventional tillage and no-tillage. The soil was increasingly degraded in the increasing order: forest => no-tillage crop rotation => perennial crop => no-tillage without crop rotation => conventional tillage. In all managements, the values of organic matter and macroporosity were always below and bulk density always above those of the reference area (forest) and, under no-tillage crop rotation and perennial crop, the flocculation degree was proportionally equal to that of the reference area.

Nuevas perspectivas de la orientación profesional para responder a los cambios y necesidades de la sociedad de hoy = New Perspectives in Career Counseling which Respond to the Changes and Needs of Society Today

In this paper a brief outline of the origin and development of vocational guidance and career development during the 20thcentury is presented We elaborate a summary of the changes society has suffered during the last decades, and which affect career counselling either directly or indirectly, and which imply a need for modifications in the current approach to career counselling. Subsequently, we propose new perspectives that will be needed to face these changes, and which have been suggested by different authors. Also some competencies needed by career counselors while acting at different levels of intervention are suggested

The Design and Construction of Facilities for Handling Cattle

The article focuses on the following: Cattle Perception, How to prevent Balking, Solid Fences, Flight Zone, Curved Race more Efficient, Curved Race and Crowd Pen Dimensions, Loading Ramps, Working Corral for a Large Ranch, Squeeze Chutes and Headgates, Calf Tables, Artificial Insemination Chute, New Restraint Ideas, Dipping Vats, Bruise and Injury Prevention, Washable Facilities.