A modular planar robotic manipulandum with end-point torque control.

Robotic manipulanda are extensively used in investigation of the motor control of human arm movements. They permit the application of translational forces to the arm based on its state and can be used to probe issues ranging from mechanisms of neural control to biomechanics. However, most current designs are optimized for studying either motor learning or stiffness. Even fewer include end-point torque control which is important for the simulation of objects and the study of tool use. Here we describe a modular, general purpose, two-dimensional planar manipulandum (vBOT) primarily optimized for dynamic learning paradigms. It employs a carbon fibre arm arranged as a parallelogram which is driven by motors via timing pulleys. The design minimizes the intrinsic dynamics of the manipulandum without active compensation. A novel variant of the design (WristBOT) can apply torques at the handle using an add-on cable drive mechanism. In a second variant (StiffBOT) a more rigid arm can be substituted and zero backlash belts can be used, making the StiffBOT more suitable for the study of stiffness. The three variants can be used with custom built display rigs, mounting, and air tables. We investigated the performance of the vBOT and its variants in terms of effective end-point mass, viscosity and stiffness. Finally we present an object manipulation task using the WristBOT. This demonstrates that subjects can perceive the orientation of the principal axis of an object based on haptic feedback arising from its rotational dynamics.

Instrument for the measurement of the fore and aft tilt of otterboards

A portable self-contained instrument has been designed and developed for the measurement of the Fore and Aft tilt of otter boards within the range —22° to + 22° with an accuracy of ± 1°. An underwater transducer fitted on the otter board converts its tilt into corresponding electrical resistance which is measured in an ohmmeter on board, both being connected by electric cable.

Underwater warp tension meter

A self-contained electronic solid-state instrument capable of measuring the tension between the different parts of a trawl net in operation, has been designed and developed for the measurement in the range 0 to 300 kg with an accuracy of ± 2 kg. The instrument is useful for measuring the resistance to motion of various accessories of a trawl net. It consists of an inductive type underwater tension transducer and an electronic indicating meter kept on board the vessel, both the units being connected by electric cable.

An experimental model of relay deployment planning tool for a wireless sensor network system to monitor civil engineering structures

It is essential to monitor deteriorated civil engineering structures cautiously to detect symptoms of their serious disruptions. A wireless sensor network can be an effective system for monitoring civil engineering structures. It is fast to deploy sensors especially in difficult-to-access areas, and it is extendable without any cable extensions. Since our target is to monitor deteriorations of civil engineering structures such as cracks at tunnel linings, most of the locations of sensors are known, and sensors are not required to move dynamically. Therefore, we focus on developing a deployment plan of a static network in order to reduce the value of a cost function such as initial installation cost and summation of communication distances of the network. The key issue of the deployment is the location of relays that forward sensing data from sensors to a data collection device called a gateway. In this paper, we propose a relay deployment-planning tool that can be used to design a wireless sensor network for monitoring civil engineering structures. For the planning tool, we formalize the model and implement a local search based algorithm to find a quasi-optimal solution. Our solution guarantees two routings from a sensor to a gateway, which can provide higher reliability of the network. We also show the application of our experimental tool to the actual environment in the London Underground.

Development of electro-trawl system in marine environment

High voltage pulsed current produced on board a trawler is fed to electrodes distributed along the foot rope of a trawl net through two core TRS cable which builds up a homogeneous electrical field around the net mouth. By comparative fishing tests with the electrified and non-electrified 32 m long wing trawl net, the increase in total catch of shrimps and fishes was found to be 19.8 and 36%, respectively.

Efficient statistical electromagnetic analysis in reverberant environments

This paper presents a statistical approach to the electromagnetic analysis of a system that lies within a reverberant cavity that has random or uncertain properties. The need to solve Maxwell's equations within the cavity is avoided by employing a relation known as the diffuse field reciprocity principle, which leads directly to the ensemble mean squared response of the system; all that is required is the impedance matrix of the system associated with radiation into infinite space. The general theoretical approach is presented, and the analysis is then applied to a five-cable bundle in a reverberation room © 2013 EMC Europe Foundation.

Localization and tracking of phonating finless porpoises using towed stereo acoustic data-loggers

Cetaceans produce sound signals frequently. Usually, acoustic localization of cetaceans was made by cable hydrophone arrays and multichannel recording systems. In this study, a simple and relatively inexpensive towed acoustic system consisting of two miniature stereo acoustic data-loggers is described for localization and tracking of finless porpoises in a mobile survey. Among 204 porpoises detected acoustically, 34 individuals (similar to 17%) were localized, and 4 of the 34 localized individuals were tracked. The accuracy of the localization is considered to be fairly high, as the upper bounds of relative distance errors were less than 41% within 173 m. With the location information, source levels of finless porpoise clicks were estimated to range from 180 to 209 dB re 1 mu Pa pp at 1 m with an average of 197 dB (N=34), which is over 20 dB higher than that estimated previously from animals in enclosed waters. For the four tracked porpoises, two-dimensional swimming trajectories relative to the moving survey boat, absolute swimming speed, and absolute heading direction are deduced by assuming the animal movements are straight and at constant speed in the segment between two consecutive locations.

In situ annealing treatment and In-doping of GaN epilayers grown by MOVPE

The effects of in situ annealing treatment in the initial growth stage and In-doping during growth of the GaN on the material properties were investigated. GaN was grown by LP-MOVPE. In situ annealing reduced the full-width at half-maximum (FWHM) of X-ray rocking curves and reduced etch pit density of GaN films. It improved the optical properties of the epilayer. Undoped and In-doped GaN films of initial growth stage were investigated. It was found that morphology and optical properties were improved in In-doped samples. (C) 2000 Elsevier Science B.V. All rights reserved.

THEORETICAL AND EXPERIMENTAL STUDY OF POLARIZATION CHARACTERISTICS OF POLARIZATION MAINTAINING FIBER BASED ON WAVELENGTH-SWEEPING MODULATION

We analyze theoretically the polarization characteristics of polarization maintaining fiber and study the basic measurement principles of beat length and polarization extinction ratio of this kind of optical fiber. According, to the dependence of the phase difference between two orthogonally polarized modes (denoted Os HE(11)(x) and HE(11)(y)) transmitted in the polarization maintaining fiber on the light wavelength, we propose the wavelength-sweeping modulation method to measure the beat length and the model birefringence. Based on this technique, the hew length and polarization extinction ratio of the PANDA polarization maintaining fibers (PMFs) (provided by Yangtze Optical Fiber and Cable Company, Wuhan, China) were investigated in detail. Experimental results show good consistent with the theoretical ones. We find that this method shows high measurement precision with the advantages of clear measurement principle and easy to operate. 2010 Wiley Periodicals, Inc. Microwave Opt Technol Lett 52: 1466-1469, 2010; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/mop.25244

A NEW WAKE OSCILLATOR MODEL FOR PREDICTING VORTEX INDUCED VIBRATION OF A CIRCULAR CYLINDER

This article proposes a new wake oscillator model for vortex induced vibrations of an elastically supported rigid circular cylinder in a uniform current. The near wake dynamics related with the fluctuating nature of vortex shedding is modeled based on the classical van der Pol equation, combined with the equation for the oscillatory motion of the body. An appropriate approach is developed to estimate the empirical parameters in the wake oscillator model. The present predicted results are compared to the experimental data and previous wake oscillator Model results. Good agreement with experimental results is found.

Controlling parameter for wave types of long flexible riser undergoing vortex-induced vibration

Submerged floating tunnel (SFT) is a popular concept of crossing waterways. The failure of the cable may occur due to vortex-induced-vibration (VIV), and the stability of the cable is crucial to the safety of the entire tunnel. Investigation results in recent years show that the vortex-induced vibration of the flexible cables with large aspect ratio reveals some new phenomena, for example, the vortex-induced wave, multi-mode competition, wide band random vibration, which have brought new challenges to the study of vortex-induced vibration of long flexible cables. In this paper, the dimensionless parameter controlling the wave types of dynamic response of slender cables undergoing vortex-induced vibration is investigated by means of dimensional analysis and finite element numerical simulations. Our results indicate that there are three types of response for a slender cable, i.e. standing wave vibration, traveling wave vibration and intermediate state. Based on dimensional analysis the controlling parameter is found to be related to the system damping including fluid damping and structural damping, order number of the locked-in modes and the aspect ratio of cable. Furthermore through numerical simulations and parameter regression, the expression and the critical value of controlling parameter is presented. At last the physical meaning of the parameter is analyzed and discussed.

电子辅照耐高温（电缆用）高分子材料改性的研究

本文以高密度聚乙烯（HDPE）为基料研制出电子辐照耐高温阻燃电线电缆绝缘材料，并对HDPE的辐射交联机制进行了讨论，辐射交联不仅发生在无定形区，结晶区对交联有贡献．对抗氧剂、敏化剂、炭黑、阻燃剂等对材料交联性质的影响做了一些试验，总结出一些规律，尤其对敏化剂在HDPE交联中的作用做了合理的阐述．阻燃剂对材料耐温等级提高很大，而且辐射交联后氧指数有所提高， 研究了HDPE与乙烯一醋酸共聚物（EVA)共混辐照后的一些性 质,EVA对HDPE的改性的有利与不利之处，还进一步探讨了用三元乙丙橡胶(EPDM),硅橡胶、氟材料来提高体系耐温等级和其它性能的办法． 耐高温皿燃线缆材料具有非常广泛的用途，它的耐温等级为135℃,氧指数可达30以上．该成果具有非常广泛的用途，填补了国内空白，为辐射加工产业化做出一定贡献．

Pressure Effects on the Structural, Electronic, and Optical Properties of Si-n@SWCNTs

Well-ordered single, double/four parallel, three/four-strands helical chains, and five-strand helical chain with a single atom chain at the center of Si nanowires (NWs) inside single-walled carbon nanotubes (Si-n@SWCNTs) are obtained by means of molecular dynamics. On the basis of these optimized structures, the structural evolution of Si-n@SWCNTs subjected to axial stress at low temperature is also investigated. Interestingly, the double parallel chains depart at the center and transform into two perpendicular parts, the helical shell transformed into chain, and the strand number of Si NWs increases during the stress load. Through analyzis of pair correlation function (PCF), the density of states (DOS), and the z-axis polarized absorption spectra of Si-n@SWCNTs, we find that the behavior of Si-n@SWCNTs under stress strongly depends on SWCNTs' symmetry, diameter, as well as the shape of Nws, which provide valuable information for potential application in high pressure cases such as seabed cable.

Synthesis and characterization of polyethylene chains grafted onto the sidewalls of single-walled carbon nanotubes via copolymerization

Polyethylene (PE) chains grafted onto the sidewalls of SWCNTs (SWCNT-g-PE) were successfully synthesized via ethylene copolymerization with functionalized single-walled carbon nanotubes (f-SWCNTs) catalyzed by rac-(en)(THInd)(2)ZrCl2/ MAO. Here f-SWCNTs, in which alpha-alkene groups were chemically linked on the sidewalls of SWCNTs, were synthesized by Prato reaction. The composition and microstructure of SWCNT-g-PE were characterized by means of H-1 NMR, Fourier transform infrared spectroscopy (FTIR), Raman spectroscopy, thermogravimetric analyses (TGA), field-emission scanning electron microscope (FESEM), and transmission electron microscope (TEM). Nanosized cable-like structure was formed in the SWCNT-g-PE, in which the PE formed a tubular shell and several SWCNTs bundles existed as core. The formation of the above morphology in the SWCNT-g-PE resulted from successfully grafting of PE chains onto the surface of SWCNTs via copolymerization. The grown PE chains grafted onto the sidewall of the f-SWCNTs promoted the exfoliation of the mass nanotubes. Comparing with pure PE, the physical mixture of PE/f-SWCNTs and in situ PE/SWCNTs mixture, thermal stability, and mechanical properties of SWCNT-g-PE were higher because of the chemical bonding between the f-SWCNTs and PE chains.

A moored underwater energy conservation system for profiling measurement

There is a need to obtain the hydrologic data including ocean current, wave, temperature and so on in the South China Sea. A new profiling instrument which does not suffer from the damage due to nature forces or incidents caused by passing ships, is under development to acquire data from this area. This device is based on a taut single point mid-water mooring system. It incorporates a small, instrumented vertically profiling float attached via an electromechanical cable to a winch integral with the main subsurface flotation. On a pre-set schedule, the instrument float with sensors is winched up to the surface if there is no strip passing by, which is defined by an on-board miniature sonar. And it can be immediately winched down to a certain depth if the sonar sensor finds something is coming. Since, because Of logistics, the area can only be visited once for a long time and a minimum of 10 times per day profiles are desired, energy demands are severe. To respond to these concerns, the system has been designed to conserve a substantial portion of the potential energy lost during the ascent phase of each profile and subsequently use this energy to pull the instrument down. Compared with the previous single-point layered measuring mode, it is advanced and economical. At last the paper introduces the test in the South China Sea.