SCANNING-TUNNELING-MICROSCOPY (STM) AND LATERAL FORCE MICROSCOPY (LFM) INVESTIGATION OF THE STRUCTURE AND CHARACTER OF CONDUCTIVE POLYPYRROLE FILM

Polypyrrole doped with p-toluenesulfonate was electropolymerized onto highly oriented pyrolytic graphite (HOPG), glassy carbon (GC) and Pt electrode surfaces under the same experimental conditions. The resulting films were studied by scanning tunneling m

THE DETERMINATION OF STANDARD ELECTROMOTIVE FORCE OF CELL Cu vertical bar CuSO4 vertical bar Hg2SO4-Hg AT DIFFERENT TEMPERATURES

The emfs of Cu|CuSO_4|Hg_2SO_4-Hg were determined at 5 temperature points from 278.15K to 313.15K. Based on the Pitzer' s Equation a polynomial approximation for the determination of standard emf, E_m, was proposed. The values of E_m obtained by author's method agree with values of E_m obtained by the extended Debye-Huckel equation within experimental errors. Compared with the extrapolation result of extended Debye-Huckel equation, the uncertainty by the selecting of parameter of ion size was avoided.By the...

Is inorganic nutrient enrichment a driving force for the formation of red tides? A case study of the dinoflagellate Scrippsiella trochoidea in an embayment

Red tides (high biomass phytoplankton blooms) have frequently occurred in Hong Kong waters, but most red tides occurred in waters which are not very eutrophic. For example, Port Shelter, a semi-enclosed bay in the northeast of Hong Kong, is one of hot spots for red tides. Concentrations of ambient inorganic nutrients (e.g. N, P), are not high enough to form the high biomass of chlorophyll a (chl a) in a red tide when chl a is converted to its particulate organic nutrient (N) (which should equal the inorganic nutrient, N). When a red tide of the dinoflagellate Scrippsiella trochoidea occurred in the bay, we found that the red tide patch along the shore had a high cell density of 15,000 cells ml(-1), and high chl a (56 mu g l(-1)), and pH reached 8.6 at the surface (8.2 at the bottom), indicating active photosynthesis in situ. Ambient inorganic nutrients (NO3, PO4, SiO4, and NH4) were all low in the waters and deep waters surrounding the red tide patch, suggesting that the nutrients were not high enough to support the high chl a >50 mu g l(-1) in the red tide. Nutrient addition experiments showed that the addition of all of the inorganic nutrients to a non-red-tide water sample containing low concentrations of Scrippsiella trochoidea did not produce cell density of Scrippsiella trochoidea as high as in the red tide patch, suggesting that nutrients were not an initializing factor for this red tide. During the incubation of the red tide water sample without any nutrient addition, the phytoplankton biomass decreased gradually over 9 days. However, with a N addition, the phytoplankton biomass increased steadily until day 7, which suggested that nitrogen addition was able to sustain the high biomass of the red tide for a week with and without nutrients. In contrast, the red tide in the bay disappeared on the sampling day when the wind direction changed. These results indicated that initiation, maintenance and disappearance of the dinoflagellate Scrippsiella trochoidea red tide in the bay were not directly driven by changes in nutrients. Therefore, how nutrients are linked to the formation of red tides in coastal waters need to be further examined, particularly in relation to dissolved organic nutrients. (C) 2008 Elsevier B.V. All rights reserved.

Sensitisation identification of stainless steel to intergranular stress corrosion cracking by atomic force microscopy

A new technique was developed for characterisation of stainless steel to intergramilar stress corrosion cracking by atomic force microscopy. The technique proved to be effective in sensitisation identification of AISI 304 stainless steel and might be promising in sensitisation identification of other stainless steels. (c) 2007 Elsevier B.V. All rights reserved.

Review of Artificial Muscle Based on Contractile Polymers

An artificial muscle with strength and speed equal to that of a human muscle may soon be possible. Polymer gels exhibit abrubt volume changes in response to variations in their external conditions -- shrinking or swelling up to 1000 times their original volume. Through the conversion of chemical or electrical energy into mechanical work, a number of devices have already been constructed which produce forces up to 100N/cm2 and contraction rates on the order of a second. Through the promise of an artificial muscle is real, many fundamental physical and engineering questions remain before the extent or limit of these devices is known.

Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers

A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanical energy. A nonlinear sliding mode control system is proposed to track desired joint trajectories of a single link controlled by two antagonist muscles. Both the model and controller were implemented and produced acceptable tracking performance at 2Hz.

The Effect of Transmission Design on Force-Controlled Manipulator Performance

Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties such as contact compliance, actuator-to-joint compliance, torque ripple, and highly nonlinear dry friction in the transmission mechanisms of a manipulator. A set of requisites for high performance then guides the development of mechanical-design and servo strategies for improved performance. A single-degree-of-freedom transmission testbed was constructed that confirms the predicted effect of Coulomb friction on robustness; design and construction of a cable-driven, four-degree-of- freedom, "whole-arm" manipulator illustrates the recommended design strategies.

The Synthesis of Stable Force-Closure Grasps

This thesis addresses the problem of synthesizing grasps that are force-closure and stable. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. A grasp on an object is force-closure if and only if we can exert, through the set of contacts, arbitrary forces and moments on the object. So force-closure implies equilibrium exists because zero forces and moment is spanned. In the reverse direction, we prove that a non-marginal equilibrium grasp is also a force-closure grasp, if it has at least two point contacts with friction in 2D, or two soft-finger contacts or three hard-finger contacts in 3D. Next, we prove that all force-closure grasps can be made stable, by using either active or passive springs at the contacts. The thesis develops a simple relation between the stability and stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp depends also on whether the points of contact stick, or slide without friction on straight or curved surfaces of the object. The thesis presents fast and simple algorithms for directly constructing stable fore-closure grasps based on the shape of the grasped object. The formal framework of force-closure and stable grasps provides a partial explanation to why we stably grasp objects to easily, and to why our fingers are better soft than hard.

Compliance and Force Control for Computer Controlled Manipulators

Compliant motion occurs when the manipulator position is constrained by the task geometry. Compliant motion may be produced either by a passive mechanical compliance built in to the manipulator, or by an active compliance implemented in the control servo loop. The second method, called force control, is the subject of this report. In particular, this report presents a theory of force control based on formal models of the manipulator, and the task geometry. The ideal effector is used to model the manipulator, and the task geometry is modeled by the ideal surface, which is the locus of all positions accessible to the ideal effector. Models are also defined for the goal trajectory, position control, and force control.

'Psyching-up' enhances force production during the bench press exercise

Tod, D., Iredale, F., McGuigan, M., Strange, D., Gill, N. (2005). 'Psyching-up' enhances force production during the bench press exercise. Tod, 19 (3), 599-603. RAE2008

'Psyching-up' and muscular force production

Tod, D. A., Iredale, F., Gill, N. (2003). 'Psyching-up' and muscular force production. Sports Medicine, 33 (1), 47-58. RAE2008

In Common Cause: The NATO Multilateral Force and Mixed-Manning Demonstration on USS Claude V. Ricketts, 1964-1965

Priest, A. (2005). In Common Cause: The NATO Multilateral Force and Mixed-Manning Demonstration on USS Claude V. Ricketts, 1964-1965. Journal of Military History, 69 (3), 759-789. RAE2008

The Gospel Worship Service Presents Unique Challenges for Chaplains: A Primer on Leading a Gospel Service in the Air Force

This project examines the challenges military chaplains face when leading Gospel services in the United States Air Force in both domestic and deployed locations. It argues that some chaplains assigned to Gospel services do not have the ministry skills set to lead them effectively. Through quantitative and qualitative research methods involving surveys of 30 military chaplains, lay leaders and parishioners, and follow-up interviews to explore critical issues identified by leaders and congregants alike, this project develops a Gospel service manual. This instructional primer outlines the historical evolution of the Gospel service and addresses its integral elements of worship and challenges that chaplains need to understand to meet the worship needs of multicultural and ecumenical military congregations.