Heavy tools manipulation by low powered direct-drive five-bar parallel robot

This paper presents a simple and available system for manipulation of heavy tools by low powered manipulator for industrial applications. In the heavy manufacturing industries, sometimes, heavy tools are employed for different types of work. But the application of robots with heavy tools is not possible due to the limited torque limits of actuators. Suspended tool systems (STS) have been proposed to manipulate heavy tools by low powered robot-arm for this purpose. A low powered five-bar direct-drive parallel manipulator is designed and constructed to manipulate heavy tools suspended from a spring balancer. The validity, usefulness, and effectiveness of the suspended tool system are shown by experimental results.

Human sympathetic nerve biology : parallel influences of stress and epigenetics in essential hypertension and panic disorder

Patients with panic disorder provide a clinical model of stress. On a "good day," free from a panic attack, they show persistent stress-related changes in sympathetic nerve biology, including abnormal sympathetic nerve single-fiber firing ("salvos" of multiple firing within a cardiac cycle) and release of epinephrine as a cotransmitter. The coreleased epinephrine perhaps originates from in situ synthesis by phenylethanolamine N-methyltransferase (PNMT). In searching for biological evidence that essential hypertension is caused by mental stress—a disputed proposition—we note parallels with panic disorder, which provides an explicit clinical model of stress: (1) There is clinical comorbidity; panic disorder prevalence is increased threefold in essential hypertension. (2) For both, epinephrine cotransmission is present in sympathetic nerves. (3) In panic disorder and essential hypertension, but not in health, single-fiber sympathetic nerve firing salvos occur. (4) Tissue nerve growth factor is increased in both conditions (nerve growth factor is a stress reactant). (5) There is induction of PNMT in sympathetic nerves. Essential hypertension exhibits a further manifestation of mental stress: there is activation of noradrenergic brain stem neurons projecting to the hypothalamus and amygdala. These pathophysiological findings strongly support the view that chronic mental stress is important in the pathogenesis of essential hypertension. A hypothesis now under test is whether in both disorders, under prevailing conditions of ongoing stress, PNMT induced in sympathetic nerves acts as a DNA methylase, causing the norepinephrine transporter (NET) gene silencing that is present in both conditions. PNMT can have an intranuclear distribution, binding to DNA. We have demonstrated that the reduced neuronal noradrenaline reuptake present in both disorders does have an epigenetic mechanism, with demonstrable reduction in the abundance of the transporter protein, the NET gene silencing being associated with DNA binding by the methylation-related inhibitory transcription factor MeCP2.

Load balancing based concurrent execution of NAS parallel benchmarks with BYTE sequential benchmarks on a non-dedicated cluster

Dedicated clusters are becoming commonly used for high performance parallel processing. Computers of a non-dedicated cluster are often idle or lightly loaded. These under utilised computers can be employed to execute parallel applications. Thus, they have to be shared by parallel and sequential applications, which could lead to the improvement of their execution performance. There is a lack of experimental study showing the behaviour and performance of executing parallel and sequential applications concurrently on a non-dedicated cluster. We present the result of an experimental study into load balancing of a mixture of parallel and sequential applications on a non-dedicated cluster.

A study of the concurrent execution of parallel and sequential applications on a non-dedicated cluster

Computers of a non-dedicated cluster are often idle (users attend meetings, have lunch or coffee breaks) or lightly loaded (users carry out simple computations to support problem solving activities). These underutilised computers can be employed to execute parallel applications. Thus, these computers can be shared by parallel and sequential applications, which could lead to the improvement of their execution performance. However, there is a lack of experimental study showing the applications’ performance and the system utilization of executing parallel and sequential applications concurrently and concurrent execution of multiple parallel applications on a non-dedicated cluster. Here we present the result of an experimental study into load balancing based scheduling of mixtures of NAS Parallel Benchmarks and BYTE sequential applications on a very low cost non-dedicated cluster. This study showed that the proposed sharing provided performance boost as compared to the execution of the parallel load in isolation on a reduced number of computers and better cluster utilization. The results of this research were used not only to validate other researchers’ result generated by simulation but also to support our research mission of widening the use of non-dedicated clusters. Our promising results obtained could promote further research studies to convince universities, business and industry, which require a large amount of computing resources, to run parallel applications on their already owned non-dedicated clusters.

A parallel download protocol for internet-based distributed systems

Parallel transfer of large amounts of data is attractive as (i) the data can be received in less time and (ii) is more resilient to connection failures. This is often used in e-Science under the field of data sharing. Data from one research project should be easily assessable to others regardless of the size of the data thus parallelism is used to help share the data quickly. However, there are many tasks to be carried out to make it possible: replica discovery and load detection just to name two. A common problem with most solutions is they overlook some tasks such as load detection. PHTTP is an innovate protocol which handles the tasks behind parallel transfer while presenting itself as a normal sequential transfer.

An intelligent energy management model for a parallel hybrid vehicle under combined loads

To exploit the benefits offered by parallel HEVs, an intelligent energy management model is developed and evaluated in this paper. Despite most existing works, the developed model incorporates combined wind/drag, slope, rolling, and accessories loads to minimise the fuel consumption under varying driving conditions. A slope prediction unit is also employed. The engine and the electric motor can output power simultaneously under a heavy-load or a slopped road condition. Two simulation were conducted namely slopped-windy-prediction and slopped-windy-prediction-hybrid. The results indicate that the vehicle speed and acceleration is smoother where the hybrid component was included. The average fuel consumption for the first and second simulations were 7.94 and 7.46 liter/100 km, respectively.

Examination of the role of intestinal Fatty acid-binding protein in drug absorption using a parallel artificial membrane permeability assay

Transcellular diffusion across the absorptive epithelial cells (enterocytes) of the small intestine is the main route of absorption for most orally administered drugs. The process by which lipophilic compounds transverse the aqueous environment of the cytoplasm, however, remains poorly defined. In the present study, we have identified a structurally diverse group of lipophilic drugs that display low micromolar binding affinities for a cytosolic lipid-binding protein—intestinal fatty acid-binding protein (I-FABP). Binding to I-FABP significantly enhanced the transport of lipophilic drug molecules across a model membrane, and the degree of transport enhancement was related to both drug lipophilicity and I-FABP binding affinity. These data suggest that intracellular lipid-binding proteins such as I-FABP may enhance the membrane transport of lipophilic xenobiotics and facilitate drug access to the enterocyte cytoplasm and cytoplasmic organelles.

Management of SPMD based parallel processing on clusters of workstations

Current attempts to manage parallel applications on Clusters of Workstations (COWs) have either generally followed the parallel execution environment approach or been extensions to existing network operating systems, both of which do not provide complete or satisfactory solutions. The efficient and transparent management of parallelism within the COW environment requires enhanced methods of process instantiation, mapping of parallel process to workstations, maintenance of process relationships, process communication facilities, and process coordination mechanisms. The aim of this research is to synthesise, design, develop and experimentally study a system capable of efficiently and transparently managing SPMD parallelism on a COW. This system should both improve the performance of SPMD based parallel programs and relieve the programmer from the involvement into parallelism management in order to allow them to concentrate on application programming. It is also the aim of this research to show that such a system, to achieve these objectives, is best achieved by adding new special services and exploiting the existing services of a client/server and microkernel based distributed operating system. To achieve these goals the research methods of the experimental computer science should be employed. In order to specify the scope of this project, this work investigated the issues related to parallel processing on COWs and surveyed a number of relevant systems including PVM, NOW and MOSIX. It was shown that although the MOSIX system provide a number of good services related to parallelism management, none of the system forms a complete solution. The problems identified with these systems include: instantiation services that are not suited to parallel processing; duplication of services between the parallelism management environment and the operating system; and poor levels of transparency. A high performance and transparent system capable of managing the execution of SPMD parallel applications was synthesised and the specific services of process instantiation, process mapping and process interaction detailed. The process instantiation service designed here provides the capability to instantiate parallel processes using either creation or duplication methods and also supports multiple and group based instantiation which is specifically design for SPMD parallel processing. The process mapping service provides the combination of process allocation and dynamic load balancing to ensure the load of a COW remains balanced not only at the time a parallel program is initialised but also during the execution of the program. The process interaction service guarantees to maintain transparently process relationships, communications and coordination services between parallel processes regardless of their location within the COW. The combination of these services provides an original architecture and organisation of a system that is capable of fully managing the execution of SPMD parallel applications on a COW. A logical design of a parallelism management system was developed derived from the synthesised system and was shown that it should ideally be based on a distributed operating system employing the client server model. The client/server based distributed operating system provides the level of transparency, modularity and flexibility necessary for a complete parallelism management system. The services identified in the synthesised system have been mapped to a set of server processes including: Process Instantiation Server providing advanced multiple and group based process creation and duplication; Process Mapping Server combining load collection, process allocation and dynamic load balancing services; and Process Interaction Server providing transparent interprocess communication and coordination. A Process Migration Server was also identified as vital to support both the instantiation and mapping servers. The RHODOS client/server and microkernel based distributed operating system was selected to carry out research into the detailed design and to be used for the implementation this parallelism management system. RHODOS was enhanced to provide the required servers and resulted in the development of the REX Manager, Global Scheduler and Process Migration Manager to provide the services of process instantiation, mapping and migration, respectively. The process interaction services were already provided within RHODOS and only required some extensions to the existing Process Manager and IPC Managers. Through a variety of experiments it was shown that when this system was used to support the execution of SPMD parallel applications the overall execution times were improved, especially when multiple and group based instantiation services are employed. The RHODOS PMS was also shown to greatly reduce the programming burden experienced by users when writing SPMD parallel applications by providing a small set of powerful primitives specially designed to support parallel processing. The system was also shown to be applicable and has been used in a variety of other research areas such as Distributed Shared Memory, Parallelising Compilers and assisting the port of PVM to the RHODOS system. The RHODOS Parallelism Management System (PMS) provides a unique and creative solution to the problem of transparently and efficiently controlling the execution of SPMD parallel applications on COWs. Combining advanced services such as multiple and group based process creation and duplication; combined process allocation and dynamic load balancing; and complete COW wide transparency produces a totally new system that addresses many of the problems not addressed in other systems.

Performance execution of multiple NAS parallel programs on a cluster

Currently, coordinated scheduling of multiple parallel applications across computers has been considered as the critical factor to achieve high execution performance. We claim in this report that the performance and costs of the execution of parallel applications could be improved if not only dedicated clusters but also non-dedicated clusters were used and several parallel applications were executed concurreontly. To support this claim we carried out experimental study into the performance of multiple NAS parallel programs executing concurrently on a non-dedicated cluster.

Scheduling of a parallel computation-bound application and sequential applications executing concurrently on a cluster - a case study.

Studies have shown that most of the computers in a non-dedicated cluster are often idle or lightly loaded. The underutilized computers in a non-dedicated cluster can be employed to execute parallel applications. The aim of this study is to learn how concurrent execution of a computation-bound and sequential applications influence their execution performance and cluster utilization. The result of the study has demonstrated that a computation-bound parallel application benefits from load balancing, and at the same time sequential applications suffer only an insignificant slowdown of execution. Overall, the utilization of a non-dedicated cluster is improved.