Torsional interactions between mooring line components

Six strand ropes generate torque under tension. This can lead to transfer of twist to other mooring line components, either permanently, or dynamically. The effects of this imposed twist can seriously affect strength and fatigue endurance. In order to predict the torsional interactions between components it is necessary to quantify the tension/torsion behavior of all the different categories of mooring line component, not just the six strand rope. This paper discusses the problems of torsional interaction and presents results of measurements of tension/torsion behavior of six strand rope, stud link chain and a PET fiber rope.

Effects of variation in the palm stearin: palm olein ratio on the crystallisation of a low-trans shortening

Changes in the theological properties during crystallisation and in the crystal size and morphology of blends containing rapeseed oil with varying percentages of palm stearin (POs) and palm olein (POf) have been studied. The crystals formed from all three blends were studied by confocal laser scanning microscopy, light microscopy and environmental scanning electron microscopy, which revealed the development of clusters of 3-5 individual elementary "spherulites" in the early stages of crystallisation. The saturated triacylglycerol content of the solid crystals separated at the onset of crystallisation was much greater than that in the total fat. Fat blends with a higher content of palm stearin had a more rapid nucleation rate when observed by light microscopy, and this caused an earlier change in the rheological properties of the fat during crystallisation. Using a low torque amplitude (0.005 Pa, which was within the linear viscoelastic region of all samples studied) and a frequency of 1 Hz, the viscoelastic properties of melted fat during cooling were studied. All samples, prior to crystallisation, showed weak viscoelastic liquid behaviour (G '', loss modulus >G', storage modulus). After crystallisation a more "solid like" behaviour was observed (G' similar to or greater than G ''). The blend having the highest concentration of POs was found to have the earliest onset of crystallisation (27% w/w POs; 12 mins, 22% w/w POs; 13.5 mins, 17% w/w POs, 15 mins, respectively). However, there were no significant differences in the time to the point when G' became greater than G' among the three blends. (c) 2006 Elsevier Ltd. All rights reserved.

Right hemisphere language functions and schizophrenia: the forgotten hemisphere?

This review highlights the importance of right hemisphere language functions for successful social communication and advances the hypothesis that the core deficit in psychosis is a failure of segregation of right from left hemisphere functions. Lesion studies of stroke patients and dichotic listening and functional imaging studies of healthy people have shown that some language functions are mediated by the right hemisphere rather than the left. These functions include discourse planning/comprehension, understanding humour, sarcasm, metaphors and indirect requests, and the generation/comprehension of emotional prosody. Behavioural evidence indicates that patients with typical schizophrenic illnesses perform poorly on tests of these functions, and aspects of these functions are disturbed in schizo-affective and affective psychoses. The higher order language functions mediated by the right hemisphere are essential to an accurate understanding of someone's communicative intent, and the deficits displayed by patients with schizophrenia may make a significant contribution to their social interaction deficits. We outline a bi-hemispheric theory of the neural basis of language that emphasizes the role of the sapiens-specific cerebral torque in determining the four-chambered nature of the human brain in relation to the origins of language and the symptoms of schizophrenia. Future studies of abnormal lateralization of left hemisphere language functions need to take account of the consequences of a failure of lateralization of language functions to the right as well as the left hemisphere.

H∞ robust control design for unsupported paraplegic standing: experimental evaluation

This paper is concerned with the design of robust feedback H~-control systems for the control of the upright posture of paraplegic persons standing. While the subject stands in a special apparatus, stabilising torque at the ankle joint is generated by electrical stimulation of the paralyzed calf muscles. Since the muscles acting as actuators in this setup show a significant degree of nonlinearity, a robust H~-control design is used. The design approach is implemented in experiments with a paraplegic subject. The results demonstrate good performance and closed loop stability over the whole range of operation.

Quasi-decoupled fuzzy logic controller

The authors describe the design of a fuzzy logic controller for the control of a planar two-link manipulator. The plant is quasi-decoupled with respect to gravity. Complete decoupling is not achieved due to the nonoptimal nature of the expert rules. The performance of the fuzzy controller is compared to that of the critically damped computed torque controller. Results are presented complete with robustness tests.

Transputer control of a Puma 560 robot via the virtual bus

The robot control problem is discussed with regard to controller implementation on a multitransputer array. Some high-performance aspects required of such controllers are described, with particular reference to robot force control. The implications for the architecture required for controllers based on computed torque are discussed and an example is described. The idea of treating a transputer array as a virtual bus is put forward for the implementation of fast real-time controllers. An example is given of controlling a Puma 560 industrial robot. Some of the practical considerations for using transputers for such control are described.

Joint servoing for robust manipulator force control

An experimental and theoretical comparison is made of force control performance with different types of innerloop joint servoing techniques. The problem of disturbance rejection and sensitivity to plant dynamics variations (robustness) is addressed. Position, velocity, strain gauge derived joint torque, and current servos are designed and implemented on a specially instrumented industrial robot, and the end-effector force feedback performances achieved are compared. Joint strain derived torque servoing is found to provide the best overall robust force control performance. Experimental results of the robust hard-on-hard contact achieved with the novel force controller implementation based on joint torque sensing are provided. Conclusions are drawn on the force control performance achievable on a geared robot given the joint servoing technique.

Issues in stratosphere-troposphere coupling

An overview is given of current issues concerning the coupling between the stratosphere and troposphere. The tropopause region, more generally the upper troposphere/lower stratosphere, is the region of direct contact where exchange of material takes place. Dynamical coupling through angular momentum transfer by waves occurs nonlocally, and provides a generally negative torque on the stratosphere which drives an equator-to-pole circulation (i.e., towards the Earth’s axis of rotation). This wave-driven circulation is the principal mechanism for intraseasonal and interannual variability in the extratropical stratosphere. Although such variability is generally dynamical in origin, there are important chemical and radiative feedbacks. The location of the tropopause has implications for radiative forcing of climate, through its effect on the distribution of relatively short-lived greenhouse gases (ozone and water vapour). Some outstanding puzzles in our current understanding are identified. Attention is focused on possible climate sensitivities, and how these may be tested and constrained. Results from the Canadian Middle Atmosphere Model (CMAM), a fully interactive radiative-chemical-dynamical general circulation model, are used to illustrate some of the points.

The influence of Antarctica on the momentum budget of the southern extratropics

The antarctic plateau acts as a strong heat sink for the global climate, cooling the atmosphere and radiating energy to space. A cold dense atmospheric boundary layer is formed. Strong surface winds are formed as the boundary layer drains off the plateau. These drainage winds and the eddy fluxes necessary to maintain them are analysed in a general circulation model (GCM). The drainage flow is well represented in the GCM. The associated mean meridional circulation is analysed in isentropic coordinates. The momentum budget over Antarctica reveals a balance between the Eliassen-Palm flux convergence and the Coriolis torque exerted by the mean meridional mass flux. Both vertical and horizontal components of the Eliassen-Palm flux contribute, the vertical component being the greater.

Unsteady flow simulation of a vertical axis augmented wind turbine: a two-dimensional study

As the integration of vertical axis wind turbines in the built environment is a promising alternative to horizontal axis wind turbines, a 2D computational investigation of an augmented wind turbine is proposed and analysed. In the initial CFD analysis, three parameters are carefully investigated: mesh resolution; turbulence model; and time step size. It appears that the mesh resolution and the turbulence model affect result accuracy; while the time step size examined, for the unsteady nature of the flow, has small impact on the numerical results. In the CFD validation of the open rotor with secondary data, the numerical results are in good agreement in terms of shape. It is, however, observed a discrepancy factor of 2 between numerical and experimental data. Successively, the introduction of an omnidirectional stator around the wind turbine increases the power and torque coefficients by around 30–35% when compared to the open case; but attention needs to be given to the orientation of the stator blades for optimum performance. It is found that the power and torque coefficients of the augmented wind turbine are independent of the incident wind speed considered.

Development of a wearable assistive soft robotic device for elbow rehabilitation

The loss of motor function at the elbow joint can result as a consequence of stroke. Stroke is a clinical illness resulting in long lasting neurological deficits often affecting somatosensory and motor cortices. More than half of those that recover from a stroke survive with disability in their upper arm and need rehabilitation therapy to help in regaining functions of daily living. In this paper, we demonstrated a prototype of a low-cost, ultra-light and wearable soft robotic assistive device that could aid administration of elbow motion therapies to stroke patients. In order to assist the rotation of the elbow joint, the soft modules which consist of soft wedge-like cellular units was inflated by air to produce torque at the elbow joint. Highly compliant rotation can be naturally realised by the elastic property of soft silicone and pneumatic control of air. Based on the direct visual-actuation control, a higher control loop utilised visual processing to apply positional control, the lower control loop was implemented by an electronic circuit to achieve the desired pressure of the soft modules by Pulse Width Modulation. To examine the functionality of the proposed soft modular system, we used an anatomical model of the upper limb and performed the experiments with healthy participants.

Dual drive series actuator

Industrial robotic manipulators can be found in most factories today. Their tasks are accomplished through actively moving, placing and assembling parts. This movement is facilitated by actuators that apply a torque in response to a command signal. The presence of friction and possibly backlash have instigated the development of sophisticated compensation and control methods in order to achieve the desired performance may that be accurate motion tracking, fast movement or in fact contact with the environment. This thesis presents a dual drive actuator design that is capable of physically linearising friction and hence eliminating the need for complex compensation algorithms. A number of mathematical models are derived that allow for the simulation of the actuator dynamics. The actuator may be constructed using geared dc motors, in which case the benefits of torque magnification is retained whilst the increased non-linear friction effects are also linearised. An additional benefit of the actuator is the high quality, low latency output position signal provided by the differencing of the two drive positions. Due to this and the linearised nature of friction, the actuator is well suited for low velocity, stop-start applications, micro-manipulation and even in hard-contact tasks. There are, however, disadvantages to its design. When idle, the device uses power whilst many other, single drive actuators do not. Also the complexity of the models mean that parameterisation is difficult. Management of start-up conditions still pose a challenge.

Sensitivity of resolved and parameterized surface drag to changes in resolution and parameterization

The relative contribution of resolved and parameterized surface drag towards balancing the atmospheric angular momentum flux convergence (AMFC), and their sensitivity to horizontal resolution and parameterization, are investigated in an atmospheric model. This sensitivity can be difficult to elucidate in free-running climate models, in which the AMFC varies with changing climatologies and, as a result, the relative contributions of surface terms balancing the AMFC also vary. While the sensitivity question has previously been addressed using short-range forecasts, we demonstrate that a nudging framework is an effective method for constraining the AMFC. The Met Office Unified Model is integrated at three horizontal resolutions ranging from 130 km (N96) to 25 km (N512) while relaxing the model’s wind and temperature fields towards the ERAinterim reanalysis within the altitude regions of maximum AMFC. This method is validated against short range forecasts and good agreement is found. These experiments are then used to assess the fidelity of the exchange between parameterized and resolved orographic torques with changes in horizontal resolution. Although the parameterized orographic torque reduces substantially with increasing horizontal resolution, there is little change in resolved orographic torque over 20N to 50N. The tendencies produced by the nudging routine indicate that the additional drag at lower horizontal resolution is excessive. When parameterized orographic blocking is removed at the coarsest of these resolutions, there is a lack of compensation, and even compensation of the opposite sense, by the boundary layer and resolved torques which is particularly pronounced over 20N to 50N. This study demonstrates that there is strong sensitivity in the behaviour of the resolved and parameterized surface drag over this region.

An Alternative Section Method for Casting and Posterior Laser Welding of Metallic Frameworks for an Implant-Supported Prosthesis

Purpose: The aim of this study was to compare the accuracy of fit of three types of implant-supported frameworks cast in Ni-Cr alloy: specifically, a framework cast as one piece compared to frameworks cast separately in sections to the transverse or the diagonal axis, and later laser welded. Materials and Methods: Three sets of similar implant-supported frameworks were constructed. The first group of six 3-unit implant-supported frameworks were cast as one piece, the second group of six were sectioned in the transverse axis of the pontic region prior to casting, and the last group of six were sectioned in the diagonal axis of the pontic region prior to casting. The sectioned frameworks were positioned in the matrix (10 N(.)cm torque) and laser welded. To evaluate passive fit, readings were made with an optical microscope with both screws tightened and with only one-screw tightened. Data were submitted to ANOVA and Tukey-Kramer`s test (p < 0.05). Results: When both screws were tightened, no differences were found between the three groups (p > 0.05). In the single-screw-tightened test, with readings made opposite to the tightened side, the group cast as one piece (57.02 +/- 33.48 mu m) was significantly different (p < 0.05) from the group sectioned diagonally (18.92 +/- 4.75 mu m) but no different (p > 0.05) from the group transversally sectioned (31.42 +/- 20.68 mu m). On the tightened side, no significant differences were found between the groups (p > 0.05). Conclusions: Results of this study showed that casting diagonally sectioned frameworks lowers misfit levels of prosthetic implant-supported frameworks and also improves the levels of passivity to the same frameworks when compared to structures cast as one piece.

Correlation between vertical misfits and stresses transmitted to implants from metal frameworks

An inappropriate prosthetic fit could cause stress over the interface implant/bone. The objective of this study was to compare stresses transmitted to implants from frameworks cast using different materials and to investigate a possible correlation between vertical misfits and these stresses. Fifteen one-piece cast frameworks simulating bars for fixed prosthesis in a model with five implants were fabricated and arranged into three different groups according to the material used for casting: CP Ti (commercially pure titanium), Co-Cr (cobalt-chromium) or Ni-Cr-Ti (nickel-chromium-titanium) alloys. Each framework was installed over the metal model with all screws tightened to a 10 N cm torque and then, vertical misfits were measured using an optical microscope. The stresses transmitted to implants were measured using quantitative photoelastic analysis in values of maximum shear stress (T), when each framework was tightened to the photoelastic model to a 10 N cm standardized torque. Stress data were statistically analyzed using one-way ANOVA and Tukey`s test and correlation tests were performed using Pearson`s rank correlation (alpha = 0.05). Mean and standard deviation values of vertical misfit are presented for CP Ti (22.40 +/- 9.05 mu m), Co-Cr (66.41 +/- 35.47 mu m) and Ni-Cr-Ti (32.20 +/- 24.47 mu m). Stresses generated by Co-Cr alloy (tau = 7.70 +/- 2.16 kPa) were significantly higher than those generated by CP Ti (tau = 5.86 +/- 1.55 kPa, p = 0.018) and Ni-Cr-Ti alloy (tau =5.74 +/- 3.05 kPa, p = 0.011), which were similar (p = 0.982). Correlations between vertical misfits and stresses around the implants were not significant as for any evaluated materials. (C) 2011 Elsevier Ltd. All rights reserved.