Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle

Robotic surgical tools used in minimally invasive surgeries (MIS) require miniaturized and reliable actuators for precise positioning and control of the end-effector. Miniature pneumatic artificial muscles (MPAMs) are a good choice due to their inert nature, high force to weight ratio, and fast actuation. In this paper, we present the development of miniaturized braided pneumatic muscles with an outer diameter of similar to 1.2 mm, a high contraction ratio of about 18%, and capable of providing a pull force in excess of 4 N at a supply pressure of 0.8 MPa. We present the details of the developed experimental setup, experimental data on contraction and force as a function of applied pressure, and characterization of the MPAM. We also present a simple kinematics and experimental data based model of the braided pneumatic muscle and show that the model predicts contraction in length to within 20% of the measured value. Finally, a robust controller for the MPAMs is developed and validated with experiments and it is shown that the MPAMs have a time constant of similar to 10 ms thereby making them suitable for actuating endoscopic and robotic surgical tools.

Design of a manual press for the production of compacted stabilized soil blocks

In this paper, we discuss the design of a manually operated soil compaction machine that is being used to manufacture stabilized soil blocks (SSB). A case study of manufacturing more than three million blocks in a housing project using manually operated machines is illustrated. The paper is focussed on the design, development, and evaluation of a manually operated soil compaction machine for the production of SSB. It also details the machine design philosophy, compaction characteristics of soils, employment generation potential of small-scale stabilized soil block productions systems, and embodied energy. Static compaction of partially saturated soils was performed to generate force-displacement curves in a confined compaction process were generated. Based on the soil compaction data engineering design aspects of a toggle press are illustrated. The results of time and motion study on block production operations using manual machines are discussed. Critical path network diagrams were used for small-scale SSB production systems. Such production systems generate employment at a very low capital cost.

Plug-Flow Dense Phase Pneumatic Conveying

先介绍了气力输送的实验设备.评述了水平栓流气力输送的压力降计算方法,用3种不同的方法计算了压力降并与实验数据进行比较.此外评述了用特征线方法进行水平管的数值模拟,倾斜管的压力降计算和长距离的栓流气力输送.最后展望了该领域的发展方向.

Comparison between weight loss of bends in a pneumatic conveyor and erosion rate obtained in a centrifugal erosion tester for the same materials

In order to find a link between results obtained from a laboratory erosion tester and tests carried out on a pneumatic conveyor, a comparison has been made between weight loss from bends on an industrial-scale pneumatic conveyor and erosion rates obtained in a small centrifugal erosion tester, for the same materials. Identical test conditions have been applied to both experiments so that comparable test results have been obtained. The erosion rate of mild steel commonly used as the wall material of conveyor pipes and pipe bends was determined individually on both test rigs. A relationship between weight loss from the bends and erosion rate determined from the tester has been developed. A discussion based on the results and their applicability to the prediction of wear in pneumatic conveyors concludes the paper. © 2004 Elsevier B.V. All rights reserved.

PICES Press, Vol. 15, No. 1, January 2007

PICES science – 2006 (pdf, 0.1 Mb) 2006 Wooster Award (pdf, 0.1 Mb) Thank you note from the Past-Chairman of PICES (pdf, 0.1 Mb) A comparison of regional mechanisms for fish production: Ecosystem perspectives (pdf, 0.3 Mb) 2006 CREAMS/PICES international workshop and summer school (pdf, 0.2 Mb) PICES Calendar (pdf, 0.2 Mb) 2006 Harmful Algal Bloom Section annual workshop (pdf, 0.1 Mb) 2006 PICES Workshop on “Modeling iron biogeochemistry and ocean ecosystems” (pdf, 0.1 Mb) Strolling through the NEMURO ecosystem model (pdf, 0.1 Mb) Climate and marine birds and mammals in the North Pacific (pdf, 0.2 Mb) Photo highlights of the PICES Fifteenth Annual Meeting (pdf, 3.5 Mb) Recent trends in waters of the subarctic NE Pacific: Cooler and fresher in summer of 2006 (pdf, 0.2 Mb) The state of the western North Pacific in the first half of 2006 (pdf, 0.3 Mb) Latest and upcoming PICES publications (pdf, 0.3 Mb) A seven-year effort of the PICES CCCC MODEL Task Team culminates in a dedicated issue of Ecological Modelling (pdf, 0.1 Mb) Japan joins PICES Marine Metadata Federation (pdf, 0.3 Mb) Argo: A 2006 status report (pdf, 0.3 Mb) New Chairmen in PICES (pdf, 0.2 Mb) PICES Interns (pdf, 0.2 Mb)

PICES Press, Vol. 14, No. 2, July 2006

The 2006 inter-sessional Science Board and Governing Council meeting: A note from the Chairman (pdf, 0.1 Mb) Future Integrative Science Program – Progress report (pdf, 0.2 Mb) Big-picture synthesis requires understanding the small and "in-between" stuff - A summary of the CCCC Synthesis Symposium (pdf, 0.4 Mb) PICES Calendar (pdf, 0.4 Mb) Integration of ecological indicators for the North Pacific with emphasis on the Bering Sea (pdf, 0.2 Mb) Time series of the Northeast Pacific: A symposium to mark the 50th anniversary of Line-P (pdf, 0.1 Mb) PICES hosts an ESSAS workshop in St. Petersberg, Russia (pdf, 0.2 Mb) Professor Mikhail N. Koshlyakov (pdf, 0.5 Mb) The state of the western North Pacific in the second half of 2005 (pdf, 0.8 Mb) Recent trends in waters of the subarctic NE Pacific (pdf, 0.2 Mb) Unusual invertebrates and fish observed in the Gulf of Alaska, 2004-2005 (pdf, 0.1 Mb) The Bering Sea: Current status and recent events (pdf, 0.2 Mb) The Year of the Euphausiid (pdf, 0.01 Mb) Michio J. Kishi awarded 2005 Uda Prize by the Japan Society of Fisheries Oceanography (pdf, 0.03 Mb)

PICES Press, Vol. 14, No. 1, January 2006

The state of PICES science - 2005 (pdf, 0.2 Mb) 2005 Wooster Award (pdf, 0.4 Mb) Korea and U.S. federate metadata collection (pdf, 0.3 Mb) PICES Interns (pdf, 0.3 Mb) Studies on long-term variation of ocean ecosystem / climate interactions based on the Odate collection (pdf, 0.2 Mb) Hokkaido University Fisheries & Oceanographic Database CD-ROM (pdf, 0.2 Mb) Workshop on sardine and anchovy fluctuations (pdf, 0.1 Mb) Photo highlights of PICES XIV (pdf, 0.4 Mb) Workshop on SEEDS-II (pdf, 0.2 Mb) NPAFC-PICES joint symposium "The status of Pacific salmon and their role in North Pacific marine ecosystems" (pdf, 0.2 Mb) PICES Calendar (pdf, 0.2 Mb) New Chairman of the PICES Fishery Science Committee (pdf, 0.1 Mb) The state of the western North Pacific in the first half of 2005 (pdf, 0.4 Mb) Latest and upcoming PICES publications (pdf, 0.4 Mb) Recent trends in waters of the subarctic NE Pacific (pdf, 0.2 Mb) The Bering Sea: Current status and recent events (pdf, 0.1 Mb) PICES and GLOBEC to sponsor workshop on sub-arctic seas (pdf, 0.1 Mb) Professor Mikhail N. Koshlyakov - 75 (pdf, 0.1 Mb) Obituary - Dr. Al Tyler (pdf, 0.1 Mb)

PICES Press, Vol. 13, No. 2, July 2005

PICES in transition: The 3rd inter-sessional Science Board and Governing Council meeting (pdf 0.3 MB) New and upcoming PICES publications (pdf 0.3 MB) PICES hosts GLOBEC Symposium on “Climate Variability and Sub-Arctic Marine Ecosystems” in Victoria (pdf 0.4 MB) First CREAMS/PICES Workshop on East Asian Seas Time-series (pdf 0.4 MB) PICES workshop discusses Oceanic Ecodynamics COmparison in the Subarctic Pacific (OECOS) - a project proposal (pdf 0.3 MB) The state of the western North Pacific in the second half of 2004 (pdf 0.4 MB) The Bering Sea: Current status and recent events (pdf 0.3 MB) Recent trends in waters of the subarctic NE Pacific (pdf 0.3 MB) CFAME workshop on “Developing a working plan for CCCC synthesis” (pdf 0.5 MB) What is winter? (pdf 0.5 MB) The first specimens of Humboldt squid in British Columbia (pdf 0.4 MB) Obituary - Dr. Daniel M. Ware (pdf 0.3 MB) PICES Calendar (pdf 0.3 MB)

PICES Press, Vol. 13, No. 1, January 2005

The state of PICES science - 2004 (pdf 0.7 MB) 2004 Wooster Award (pdf 0.2 MB) Micronekton – What are they and why are they important? (pdf 0.5 MB) Upscaling for a better understanding of climate links to ecosystems (pdf 0.1 MB) PICES Interns (pdf 0.1 MB) Report of the APN workshop on “Climate interactions and marine ecosystems” (pdf 0.6 MB) Photo highlights of PICES XIII (pdf 0.3 MB) Recent trends in waters of the subarctic NE Pacific – summer 2004 (pdf 0.1 MB) The state of the western North Pacific in the first half of 2004 (pdf 0.3 MB) The Bering Sea: Current status and recent events (pdf 0.1 MB) Study Group on Fisheries Ecosystem Responses to Recent Regime Shifts completes its mandate for the provision of scientific advice (pdf 0.1 MB) PICES Calendar (pdf 0.1 MB) The new PICES Working Group on Ecosystem-based management (pdf 0.05 MB) CO2 data integration activity for the North Pacific (pdf 0.2 MB) Carbon cycle changes in the North Pacific (pdf 0.8 MB) New and upcoming PICES publications (pdf 0.8 MB)

PICES Press, Vol. 12, No. 2, July 2004

The future of PICES [pdf, 1.7 MB] Paris by day - Symposium on "Quantative ecosystem indicators in fisheries management" [pdf, 0.2 MB] The Bering Sea: Current status and recent events [pdf, 0.4 MB] The state of the western North Pacific in the second half of 2003 [pdf, 0.7 MB] The state of the eastern North Pacific entering spring 2004 [pdf, 0.4 MB] PICES-IFEP Workshop on "In-situ iron enrichment experiments in the eastern and western subarctic Pacific" [pdf, 1.4 MB] Canadian SOLAS/PICES-IFEP session on "Response of the upper ocean to meso-scale iron enrichment" [pdf, 0.3 MB] Fisheries and ecosystem responses to recent regime shifts [pdf, 0.8 MB] PICES Interns [pdf, 0.8 MB] Did a regime shift occur in 1998 around Japan?- Highlights from a symposium addressing this question [pdf, 0.8 MB] The Global Ocean Carbon Observing System - Connecting national programs and regional networks [pdf, 1.7 MB] The North Pacific Ecosystem Metadatabase [pdf, 1.2 MB] International GLOBEC Symposium on "Climate variability and Sub-Arctic marine ecosystems" [pdf, 0.2 MB] PICES Calendar [pdf, 0.2 MB] PICES/GLOBEC Symposium on "Climate variability and ecosystem impacts on the North pacific: A basin-scale synthesis" [pdf, 0.2 MB]

PICES Press, Vol. 12, No. 1, January 2004

The state of PICES science - 2003 (pdf 281 KB) 2003 Wooster Award (pdf 764 KB) The state of the eastern North Pacific through summer 2003 (pdf 448 KB) The Bering Sea: Current status and recent events (pdf 951 KB) The state of the western North Pacific in the first half of 2003 (pdf 684 KB) The status of oceanic zooplankton in the eastern North Pacific (pdf 390 KB) The precautionary approach to the PDO (pdf 976 KB) Photo highlights of PICES XII (pdf 2.79 MB) William G. Pearcy: Renaissance oceanographer (pdf 2.86 MB) KORDI/PICES/CoML Workshop on "Variability and status of the Yellow Sea and East China Sea ecosystems (pdf 785 KB) PICES/IOC Workshop on "Harmful algal blooms - Harmonization of data" (pdf 330 KB) From physics to predators: Monitoring North Pacific ecosystem dynamics (pdf 270 KB) Toward a coast-wide network of Northeast Pacific coastal-ocean monitoring programs - a brief workshop report (pdf 640) PICES publications (pdf 103 KB) PICES calendar (pdf 45 KB)

PICES Press, Vol. 11, No. 2, July 2003

Cover [pdf, 1.2 Mb] PICES Science Board and Governing Council hold their first joint meeting [pp. 1-3] [pdf, 0.2 Mb] 3rd International Zooplankton Production Symposium [pp. 4-7] [pdf, 0.6 Mb] The state of the eastern North Pacific entering spring 2003 [pp. 8-9] [pdf, 0.4 Mb] The state of the western North Pacific in 2002 [pp. 10-13] [pdf, 0.6 Mb] The Bering Sea: Current status and recent events [pp. 14-15] [pdf. 0.7 Mb] Patricia Livingston [pp. 16-19] [pdf. 0.5 Mb] Recent changes in the abundance of northern anchovy (Engraulis mordax) off the Pacific Northwest, tracking a regime shift? [pp. 20-21] [pdf. 0.6 Mb] Developing new scientific programs in PICES [pp. 22-26] [pdf. 0.2 Mb] Report of the Yokohama 2003 MODEL Task Team Workshop to develop a marine ecosystem model of the North Pacific Ocean including pelagic fishes [pp. 27-29] [pdf. 0.5 Mb] 3rd PICES Workshop on the Okhotsk Sea and adjacent Areas [pp.30-31] [pdf. 0.4 Mb] Recent oceanographic and marine environmental studies at FERHRI [pp.32-34] [pdf. 0.4 Mb] Symposium Announcement [p. 35] [pdf. 0.3 Mb] PICES announcements [p. 36] [pdf. 0.3 Mb]

PICES Press, Vol. 11, No. 1, January 2003

Editorial and Contents The state of PICES science - 2002 Second annual Wooster Award to Yutaka Nagata Qingdao Open Science Meeting: A major landmark for GLOBEC GLOBEC OSM Session Highhlights PICES/GLOBEC Data Management Workshop PICES and GLOBEC modelling Some personal impressions of the GLOBEC OSM Photo highlights of PICES XI and GLOBEC OSM PICES Climate Change and Carrying Capacity (CCCC) Integration Workshop PICES/CLIVAR Workshop on Climate Variability in the Pacific and its impact on the marine ecosystem IGBP/SCOR Open Science Meeting on Ocean Biogeochemistry and Ecosystem Analysis Subarctic Ecosystem Response to Iron Enrichment Study (SERIES): eastern subarctic Pacific in July 2002 Introducing the GLOBEC International Project Office / GLOBEC Calendar 2003 Introducing the PICES Secretariat PICES Calendar

PICES Press, Vol. 10, No. 2, July 2002

International symposium on North Pacific transitional areas [pp. 1-4] [pdf, 0.8 Mb] PICES Volunteer Observing Ship (VOS) Workshop [pp. 5-7] [pdf, 0.3 Mb] Joint meeting on Causes of marine mortality of salmon [pp. 8-9] [pdf, 0.3 Mb] The state of the western North Pacific in the second half of 2001 [pp. 10-11] [pdf, 0.5 Mb] State of the eastern North Pacific in spring 2002 [pp. 12-13] [pdf. 0.4 Mb] The status of the Bering Sea in the second half of 2001 [pp. 14-15] [pdf. 0.3 Mb] PICES Workshop on “Perturbation analysis” on subarctic Pacific gyre ecosystem models [pp. 16-17] [pdf. 0.4 Mb] Status and future plans for SOLAS-Japan [pp. 18-20] [pdf. 0.5 Mb] China-Korea Joint Ocean Research Center: A bridge across the Yellow Sea to connect Chinese and Korean oceanographic institutes and scientists [pp. 21-22] [pdf. 0.3 Mb] Persistent changes in the California Current ecosystem [pp. 23-24] [pdf. 0.2 Mb] The Hokusei Maru: 53 years of research in the Pacific [pp. 25-28] [pdf. 0.5 Mb] First meeting of the CLIVAR Pacific Panel [pp. 29-30] [pdf. 0.3 Mb] Call for contributions to the North Pacific Ecosystem Status Report [p. 31] [pdf. 0.2 Mb] PICES announcements [p. 32] [pdf. 0.2 Mb]