Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations

This paper presents a study of the nature of the degrees-of-freedom of spatial manipulators based on the concept of partition of degrees-of-freedom. In particular, the partitioning of degrees-of-freedom is studied in five lower-mobility spatial parallel manipulators possessing different combinations of degrees-of-freedom. An extension of the existing theory is introduced so as to analyse the nature of the gained degree(s)-of-freedom at a gain-type singularity. The gain of one- and two-degrees-of-freedom is analysed in several well-studied, as well as newly developed manipulators. The formulations also present a basis for the analysis of the velocity kinematics of manipulators of any architecture. (C) 2013 Elsevier Ltd. All rights reserved.

Chromium isotope variations (delta Cr-53/52) in mantle-derived sources and their weathering products: Implications for environmental studies and the evolution of delta Cr-53/52 in the Earth's mantle over geologic time

Here we report chromium isotope compositions, expressed as delta Cr-53/ 52 in per mil (&) relative to NIST 979, measured in selected Cr-rich minerals and rocks formed by the primary magmatic as well as the secondary metamorphic and weathering processes. The main objectives of this study were: (i) to further constrain the isotope composition of the Earth's mantle Cr inventory and its possible variation during geological history, based on the analysis of globally distributed and stratigraphically constrained mantle-derived chromites; and (ii) to investigate the magnitude and systematics of Cr isotope fractionation during oxidative weathering and secondary alteration (i. e., hydration, serpentinization) of the magmatic Cr sources. Specifically, we analyzed delta Cr-53/ 52 in a set of globally distributed mantle-derived chromites (FeMgCr2O4, n = 30) collected from various locations in Europe, Asia, Africa and South America, and our results confirm that a chromite-hosted Earth's mantle Cr inventory is uniform at - 0.079 +/- 0.129& (2SD), which we named here as a ` canonical' mantle d 53/ 52 Cr signature. Furthermore our dataset of stratigraphically constrained chromites, whose crystallization ages cover most of the Earth's geological history, indicate that the bulk Cr isotope composition of the chromite-hosted mantle inventory has remained uniform, within about +/- 0.100&, since at least the Early Archean times (similar to 3500 million years ago, Ma). To investigate the systematics of Cr isotope fractionation associated with alteration processes we analyzed a number of secondary Cr-rich minerals and variably altered ultramafic rocks (i. e., serpentinized harzburgites, lherzolites) that revealed large positive delta Cr-53/ 52 anomalies that are systematically shifted to higher values with an increasing degree of alteration and serpentinization. The degree of aqueous alteration and serpentinization was quantified by the abundances of fluid-mobile (Rb, K) elements, and by the Loss On Ignition (LOI) parameter, which determines the amount of structurally bound water (OH/ H2O) present in secondary hydrated minerals like serpentine. Overall, we observed that altered ultramafic rocks that yielded the highest LOI values, and the lowest amounts of fluid mobile elements, also yielded the heaviest delta Cr-53/ 52 signatures. Therefore, we conclude that secondary alteration (i.e., hydration, serpentinization) of ultramafic rocks in near-surface oxidative environments tend to shift the bulk Cr isotope composition of the weathered products to isotopically heavier values, pointing to a dynamic redox cycling of Cr in the Earth's crustal and near-surface environments. Hence, if validated by future

Grassmannian fusion frames and its use in block sparse recovery

Tight fusion frames which form optimal packings in Grassmannian manifolds are of interest in signal processing and communication applications. In this paper, we study optimal packings and fusion frames having a specific structure for use in block sparse recovery problems. The paper starts with a sufficient condition for a set of subspaces to be an optimal packing. Further, a method of using optimal Grassmannian frames to construct tight fusion frames which form optimal packings is given. Then, we derive a lower bound on the block coherence of dictionaries used in block sparse recovery. From this result, we conclude that the Grassmannian fusion frames considered in this paper are optimal from the block coherence point of view. (C) 2013 Elsevier B.V. All rights reserved.

Contribution of forest fire ash and plant litter decay on stream dissolved composition in a sub-humid tropical watershed (Mule Hole, Southern India)

The current understanding of wildfire effects on water chemistry is limited by the quantification of the elemental dissolution rates from ash and element release rate from the plant litter, as well as quantification of the specific ash contribution to stream water chemistry. The main objective of the study was to provide such knowledge through combination of experimental modelling, field data and end-member mixing analysis (EMMA) of wildfire impact on a watershed scale. The study concerns watershed effects of fire in the Indian subcontinent, a region that is typically not well represented in the fire science literature. In plant litter ash, major elements are either hosted in readily-soluble phases (K, Mg) such as salts, carbonates and oxides or in less-soluble carrier-phases (Si, Ca) such as amorphous silica, quartz and calcite. Accordingly, elemental release rates, inferred from ash leaching experiments in batch reactor, indicated that the element release into solution followed the order K > Mg > Na > Si > Ca. Experiments on plant litter leaching in mixed-flow reactor indicated two dissolution regimes: rapid, over the week and slower over the month. The mean dissolution rates at steady-state (R-ss) indicated that the release of major elements from plant litter followed the order Ca > Si > Cl > Mg > K > Na. R-ss for Si and Ca for tree leaves and herbaceous species are similar to those reported for boreal and European tree species and are higher than that from the dissolution of soil clay minerals. This identifies tropical plant litters as important source of Si and Ca for tropical surface waters. In the wildfire-impacted year 2004, the EMMA indicated that the streamflow composition (Ca, K, Mg, Na, Si, Cl) was controlled by four main sources: rainwater, throughfall, ash leaching and soil solution. The influence of the ash end-member was maximal early in the rainy season (the two first storm events) and decreased later in the rainy season, when the stream was dominated by the throughfall end-member. The contribution of plant litter decay to the streamwater composition for a year not impacted by wildfire is significant with estimated solute fluxes originating from this decay greatly exceed, for most major elements, the annual elemental dissolved fluxes at the Mule Hole watershed outlet. This highlighted the importance of solute retention and vegetation back uptake processes within the soil profile. Overall, the fire increased the mobility and export of major elements from the soils to the stream. It also shifted the vegetation-related contribution to the elemental fluxes at the watershed outlet from long-term (seasonal) to short-term (daily to monthly). (C) 2014 Elsevier B.V. All rights reserved.

Self-organized public key management in MANETs with enhanced security and without certificate-chains

In the self-organized public key management approaches, public key verification is achieved through verification routes constituted by the transitive trust relationships among the network principals. Most of the existing approaches do not distinguish among different available verification routes. Moreover, to ensure stronger security, it is important to choose an appropriate metric to evaluate the strength of a route. Besides, all of the existing self-organized approaches use certificate-chains for achieving authentication, which are highly resource consuming. In this paper, we present a self-organized certificate-less on-demand public key management (CLPKM) protocol, which aims at providing the strongest verification routes for authentication purposes. It restricts the compromise probability for a verification route by restricting its length. Besides, we evaluate the strength of a verification route using its end-to-end trust value. The other important aspect of the protocol is that it uses a MAC function instead of RSA certificates to perform public key verifications. By doing this, the protocol saves considerable computation power, bandwidth and storage space. We have used an extended strand space model to analyze the correctness of the protocol. The analytical, simulation, and the testbed implementation results confirm the effectiveness of the proposed protocol. (c) 2014 Elsevier B.V. All rights reserved.

Phenyl carbohydrazone conjugated 2-oxoindoline as a new scaffold that augments the DNA and BSA binding affinity and anti-proliferative activity of a 1,10-phenanthroline based copper(II) complex

A new type of copper(II) complex, CuL(phen)(2)](NO3) (CuIP), where L ((E)-N'-(2-oxoindolin-3-ylidene) benzohydrazide) is a N donor ligand and phen is the N, N-donor heterocyclic 1,10-phenanthroline, has been synthesized. The phenyl carbohydrazone conjugated isatin-based ligand L and CuIP were characterized by elemental analysis, infrared, UV-Vis, H-1 and C-13 NMR and ESI-mass spectral data, as well as single-crystal X-ray diffraction. The interaction of calf thymus DNA (CT DNA) with L and CuIP has been investigated by absorption, fluorescence and viscosity titration methods. The complex CuIP displays better binding affinity than the ligand L. The observed DNA binding constant (K-b = 4.15(+/- 0.18) x 10(5) M-1) and binding site size (s = 0.19), viscosity data together with molecular docking studies of CuIP suggest groove binding and/or a partial intercalative mode of binding to CT DNA. In addition, CuIP shows good binding propensity to the bovine serum albumin (BSA) protein, giving a K-BSA value of 1.25(+/- 0.24) x 10(6) M-1. In addition, the docking studies on DNA and human serum albumin (HSA) CuIP interactions are consistent with the consequence of binding experiments. The in vitro anti-proliferative study establishes the anticancer potency of the CuIP against the human cervical (HeLa) and breast (MCF7) cancer cells; noncancer breast epithelial (MCF10a) cells have also been investigated. CuIP shows better cytotoxicity and sensitivity towards cancer cells over noncancer ones than L under identical conditions, with the appearance of apoptotic bodies. (C) 2014 Elsevier B.V. All rights reserved.

A phylogeny of the only ground-dwelling radiation of Cyrtodactylus (Squamata, Gekkonidae): diversification of Geckoella across peninsular India and Sri Lanka

The subgenus Geckoella, the only ground-dwelling radiation within Cyrtodactylus, closely overlaps in distribution with brookii group Hemidactylus in peninsular India and Sri Lanka. Both groups have Oligocene origins, the latter with over thrice as many described species. The striking difference in species richness led us to believe that Geckoella diversity is underestimated, and we sampled for Geckoella across peninsular India. A multi-locus phylogeny reveals Geckoella diversity is hugely underestimated, with at least seven undescribed species, doubling previously known richness. Strikingly, the new species correspond to cryptic lineages within described Indian species (complexes); a number of these endemic lineages from the hills of peninsular India outside the Western Ghats, highlighting the undocumented diversity of the Indian dry zone. The Geckoella phylogeny demonstrates deep splits between the Indian species and Sri Lankan G. triedrus, and between Indian dry and wet zone clades, dating back to the late Oligocene. Geckoella and brookii group Hemidactylus show contrasting diversification patterns. Geckoella shows signals of niche conservatism and appears to have retained its ancestral forest habitat. The late Miocene burst in speciation in Geckoella may be linked to the expansion of rain forests during the mid-Miocene climatic optimum and subsequent fragmentation with increasing late Miocene aridification. (C) 2014 Elsevier Inc. All rights reserved.

Synthesis of a new tungsten-free gamma-gamma ` cobalt-based superalloy by tuning alloying additions

The paper presents the synthesis of a new class of gamma-gamma' cobalt-based superalloy that is free of tungsten as an alloying addition. It has much lower density and higher specific strength than the existing cobalt-based superalloys. The current superalloys have a base composition of Co-10Al and are further tuned by the addition of a binary combination of molybdenum and niobium, with the optimum composition of Co-10Al-5Mo-2Nb. The solvus temperature of the alloy (866 degrees C) can be further enhanced above 950 C by the addition of Ni to give the form Co-xNi-10Al-5Mo-2Nb, where x can be from 0 to 30 at.%. After heat treatment, these alloys exhibit a duplex microstructure with coherent cuboidal L1(2)-ordered precipitates (gamma') throughout the face-centred cubic matrix (gamma), yielding a microstructure that is very similar to nickel-based superalloys as well as recently developed Co-Al-W-based alloys. We show that the stability of the gamma' phase improves significantly with the nickel addition, which can be attributed to the increase in solvus temperature. A very high specific 0.2% proof stress of 94.3 MPa g(-1) cm(-3) at room temperature and 63.8 MPa g(-1) cm(-3) at 870 degrees C were obtained for alloy Co-30Ni-10Al-5Mo-2Nb. The remarkably high specific strength of these alloys makes this class of alloy a promising material for use at high temperature, including gas turbine applications. (C) 2014 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

CH-RES-TOCSY: Enantiomers spectral resolution and measurement of heteronuclear residual dipolar couplings

A new 2D NMR technique cited as CH-RES-TOCSY, for complete unraveling the spectra of enantiomers and for the measurement of structurally important C-HRDC sis reported. The spectral overlap and complexity of peaks were reduced by the blend of selective excitation and homo-decoupling. Differential values of C-H RDCs of enantiomers (R and S) are exploited to separate the enantiomeric peaks. The complete unraveling of the spectra of both the enantiomers is achieved by incorporating a TOCSY mixing blockprior to signal acquisition. The additional application of the method is demonstrated for the assignment of symmetric isomers. (C) 2015 Elsevier B.V. All rights reserved.

Improvements to the Froissart bound from AdS/CFT

In this paper we consider the issue of the Froissart bound on the high energy behaviour of total cross sections. This bound, originally derived using principles of analyticity of scattering amplitudes, is seen to be satisfied by all the available experimental data on total hadronic cross sections. At strong coupling, gauge/gravity duality has been used to provide some insights into this behaviour. In this work, we find the subleading terms to the so-derived Froissart bound from AdS/CFT. We find that a (ln s/s0) term is obtained, with a negative coefficient. We see that the fits to the currently available data confirm improvement in the fits due to the inclusion of such a term, with the appropriate sign. (C) 2015 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY license.

GRMHD formulation of highly super-Chandrasekhar magnetized white dwarfs: stable configurations of non-spherical white dwarfs

The topic of magnetized super-Chandrasekhar white dwarfs is in the limelight, particularly in the last few years, since our proposal of their existence. By full-scale general relativistic magnetohydrodynamic (GRMHD) numerical analysis, we confirm in this work the existence of stable, highly magnetized, significantly super-Chandrasekhar white dwarfs with mass more than 3 solar mass. While a poloidal field geometry renders the white dwarfs oblate, a toroidal field makes them prolate retaining an overall quasi-spherical shape, as speculated in our earlier work. These white dwarfs are expected to serve as the progenitors of over-luminous type Ia supernovae.

Investigations on doping induced changes in structural, electronic structure and magnetic behavior of spintronic Cr-ZnS nanoparticles

Dilute magnetic semiconducting Zn1-xCrxS (x = 0.00, 0.01, 0.03, 0.05, 0.07) nanoparticles were synthesized by the co-precipitation technique using thioglycerol as the capping agent. Powder X-ray diffraction studies showed that Zn1-xCrxS nanoparticles exhibit zinc blende structure with no secondary phase, indicating that Cr ions are substituted at the Zn sites. Photoluminescence and Raman studies show the incorporation of Cr in ZnS nanoparticles. X-ray absorption studies depict that the valence of Zn remains unchanged and maintained in the divalent state, upon doping with Cr. The M-H curves at room temperature indicate the presence of weak ferromagnetism at room temperature due to structural defects. The increase in ferromagnetism with increasing Cr content up to 3%, demonstrates the possibility of tailoring the weak ferromagnetism in ZnS by appropriate Cr doping. (C) 2015 Elsevier Ltd. All rights reserved.

Tailoring the interface in graphene/thermoset polymer composites: A critical review

With the emergence of scientific interest in graphene oxide (GO) in recent times, researchers have endeavored to incorporate GO in thermoset polymeric matrix to develop composites with extraordinary set of properties. The current state of research in graphene/thermoset polymer composites is highlighted here with a focus on the role of interface in dictating the overall properties of the composites. Different strategies like covalent and non-covalent functionalization of GO have been discussed with respect to improvement in mechanical, electrical, thermal and rheological properties. In addition, future prospects have been outlined. By assessing the current state of research in graphene/thermoset composites, it is obvious that graphene derivatives are promising materials in enhancing the structural properties of the nanocomposites at extremely low levels of filler loading. This opens new avenues in designing lightweight composites for myriad applications and by tailoring the interfacial adhesion with the polymer, ordered structure can be achieved at macroscopic processing scales. (C) 2015 Elsevier Ltd. All rights reserved.

Study of wrist pulse signals using time domain spatial features

Blood travels throughout the body and thus its flow is modulated by changes in body condition. As a consequence, the wrist pulse signal contains important information about the status of the human body. In this work we have employed signal processing techniques to extract important information from these signals. Radial artery pulse pressure signals are acquired at wrist position noninvasively for several subjects for two cases of interest, viz. before and after exercise, and before and after lunch. Further analysis is performed by fitting a bi-modal Gaussian model to the data and extracting spatial features from the fit. The spatial features show statistically significant (p < 0.001) changes between the groups for both the cases, which indicates that they are effective in distinguishing the changes taking place due to exercise or food intake. Recursive cluster elimination based support vector machine classifier is used to classify between the groups. A high classification accuracy of 99.71% is achieved for the exercise case and 99.94% is achieved for the lunch case. This paper demonstrates the utility of certain spatial features in studying wrist pulse signals obtained under various experimental conditions. The ability of the spatial features in distinguishing changing body conditions can be potentially used for various healthcare applications. (C) 2015 Elsevier Ltd. All rights reserved.

Prediction of electronically nonadiabatic decomposition mechanisms of isolated gas phase nitrogen-rich energetic salt: Guanidium-triazolate

Electronically nonadiabatic decomposition pathways of guanidium triazolate are explored theoretically. Nonadiabatically coupled potential energy surfaces are explored at the complete active space self-consistent field (CASSCF) level of theory. For better estimation of energies complete active space second order perturbation theories (CASPT2 and CASMP2) are also employed. Density functional theory (DFT) with B3LYP functional and MP2 level of theory are used to explore subsequent ground state decomposition pathways. In comparison with all possible stable decomposition products (such as, N-2, NH3, HNC, HCN, NH2CN and CH3NC), only NH3 (with NH2CN) and N-2 are predicted to be energetically most accessible initial decomposition products. Furthermore, different conical intersections between the S-1 and S-0 surfaces, which are computed at the CASSCF(14,10)/6-31G(d) level of theory, are found to play an essential role in the excited state deactivation process of guanidium triazolate. This is the first report on the electronically nonadiabatic decomposition mechanisms of isolated guanidium triazolate salt. (C) 2015 Elsevier B.V. All rights reserved.