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.

The impact of under-estimated length of jobs on EASY-backfill scheduling

The issue of under-estimated length of jobs (parallel applications) on backfill-based scheduling is ignored in the current literature because users want to avoid their jobs to be killed when the requested time expires. Therefore, users prefer to over-estimate the length of their jobs. This paper shows the impact of underestimated length of jobs on their execution performance in an EASY-backfill scheduling-based system. We have developed a batch job scheduler for Linux clusters that implements an enhanced EASY- backfilling algorithm in such a way that a job with an under-estimated execution time would not be killed unless it would delay other jobs. We have carried out performance evaluation by scheduling static workloads of well known MPI parallel applications on a real cluster. Our results show that most of the jobs do not have to be aborted even though their job lengths are under-estimated whereas the slowdown of jobs and the throughput of the system are only slightly degraded.

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.

Intervention designed to reduce the use of summary execution in acute psychiatric inpatient settings

Context: Although it may seem preposterous to consider the need to reduce the use of summary executions in acute psychiatric inpatient settings because practitioners simply would not consider using such inhumane treatment, it is sobering that many mental health professionals do not hesitate to use seclusion.

Objectives: We draw attention to the assumption that underlies the thinking of many mental health professionals that seclusion is acceptable simply because it is available.

Key messages: The letter of the law (seclusion is legal) is frequently given precedence over the spirit of the law (seclusion should used as a method of last resort, if at all). The availability of seclusion as an intervention makes its use inevitable. Although sufficient checks and balances exist in society to prevent psychiatric staff from adding summary executions to their ‘‘treatment’’ paradigms, legislators need to set the bar much higher. Outside intervention, in the form of legislation, is needed because the mental health professions seem incapable of discontinuing the use seclusion despite evidence of the trauma it causes to both patients and staff and despite the lack of evidence that it achieves any desirable outcomes.

Conclusion: The use of seclusion is unacceptable and should be as impossible and unthinkable as summarily executing our patients. By the use of what would seem, at first glance, an absurd analogy between seclusion and summary execution we highlight the need for a shift in policy and legislation regarding the use of traumatising interventions.

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.

Platform for reliable computing on clusters using group communications

Shared clusters represent an excellent platform for the execution of parallel applications given their low price/performance ratio and the presence of cluster infrastructure in many organisations. The focus of recent research efforts are on parallelism management, transport and efficient access to resources, and making clusters easy to use. In this thesis, we examine reliable parallel computing on clusters. The aim of this research is to demonstrate the feasibility of developing an operating system facility providing transport fault tolerance using existing, enhanced and newly built operating system services for supporting parallel applications. In particular, we use existing process duplication and process migration services, and synthesise a group communications facility for use in a transparent checkpointing facility. This research is carried out using the methods of experimental computer science. To provide a foundation for the synthesis of the group communications and checkpointing facilities, we survey and review related work in both fields. For group communications, we examine the V Distributed System, the x-kernel and Psync, the ISIS Toolkit, and Horus. We identify a need for services that consider the placement of processes on computers in the cluster. For Checkpointing, we examine Manetho, KeyKOS, libckpt, and Diskless Checkpointing. We observe the use of remote computer memories for storing checkpoints, and the use of copy-on-write mechanisms to reduce the time to create a checkpoint of a process. We propose a group communications facility providing two sets of services: user-oriented services and system-oriented services. User-oriented services provide transparency and target application. System-oriented services supplement the user-oriented services for supporting other operating systems services and do not provide transparency. Additional flexibility is achieved by providing delivery and ordering semantics independently. An operating system facility providing transparent checkpointing is synthesised using coordinated checkpointing. To ensure a consistent set of checkpoints are generated by the facility, instead of blindly blocking the processes of a parallel application, only non-deterministic events are blocked. This allows the processes of the parallel application to continue execution during the checkpoint operation. Checkpoints are created by adapting process duplication mechanisms, and checkpoint data is transferred to remote computer memories and disk for storage using the mechanisms of process migration. The services of the group communications facility are used to coordinate the checkpoint operation, and to transport checkpoint data to remote computer memories and disk. Both the group communications facility and the checkpointing facility have been implemented in the GENESIS cluster operating system and provide proof-of-concept. GENESIS uses a microkernel and client-server based operating system architecture, and is demonstrated to provide an appropriate environment for the development of these facilities. We design a number of experiments to test the performance of both the group communications facility and checkpointing facility, and to provide proof-of-performance. We present our approach to testing, the challenges raised in testing the facilities, and how we overcome them. For group communications, we examine the performance of a number of delivery semantics. Good speed-ups are observed and system-oriented group communication services are shown to provide significant performance advantages over user-oriented semantics in the presence of packet loss. For checkpointing, we examine the scalability of the facility given different levels of resource usage and a variable number of computers. Low overheads are observed for checkpointing a parallel application. It is made clear by this research that the microkernel and client-server based cluster operating system provide an ideal environment for the development of a high performance group communications facility and a transparent checkpointing facility for generating a platform for reliable parallel computing on clusters.

Linear-motor based five-axis parallel machine for effective material processing

The aim of the work was to reduce the cost and improve the performance of five-axis machines. The main performance criteria were motion cycle-time and positioning accuracy/precision. A novel machine that utilizes the concept of parallel-kinematics and linear motor technology is proposed, designed, built and controlled for this sake.

Parallel readings

The story of the nineteenth-century Western encounter with Buddhism demonstrates more about these first Western interpreters and their socio-historical context then about Buddhism. In parallel, this thesis also demonstrates, from the perspective of Buddhism, how the mind works to bring an object, like Buddhism, into consciousness.