A fingerprint method for variability and robustness analysis of stochastically controlled cellular actuator arrays

2011 ◽  
Vol 30 (5) ◽  
pp. 536-555 ◽  
Author(s):  
David L MacNair ◽  
Jun Ueda
Keyword(s):  
Robustness Analysis ◽  
Common Input ◽  
Control Value ◽  
Actuator Arrays ◽  
Validation Experiment ◽  
Displacement Force ◽  
Force Range ◽  
Range Force ◽  
Number Of Cells ◽  
Input Probability

In this paper we present a ‘fingerprint method’ for modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from small actuator cells with structural elasticity. These cells are controlled using a bistable stochastic process wherein all cells are given a common input probability (control) value which they use to determine whether to actuate or relax. Arranging the cells in different networks gives different actuator array properties, which must be found before the actuator arrays can be applied to manipulators. The fingerprint method is used to describe and automatically generate every possible stochastic actuator array topology for a given number of cells, and to calculate actuator array properties such as: travel, required actuator strength/displacement, force range, force variance, and robustness for any array topology. The properties of several illustrative examples are shown and a discussion covers the importance of the properties, and trends between actuator array layouts and their properties. Finally, results from a validation experiment using a stochastically controlled solenoid array are presented.

Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications

2021 ◽  
Author(s):  
Veysel Erel ◽  
Alexandra R. Lindsay ◽  
Inderjeet Singh ◽  
Muthu B. J. Wijesundara
Keyword(s):  
Human Performance ◽  
Linear Displacement ◽  
Repetitive Motion ◽  
Actuator Arrays ◽  
Corrugated Diaphragm ◽  
Robotic Joints ◽  
Displacement Force ◽  
End Effectors ◽  
The Military ◽  
Application Specific

Abstract Soft robotics is projected to have a significant impact on healthcare, industry, and the military to deliver assistance in rehabilitation, daily living activities, repetitive motion tasks, and human performance augmentation. Many attempts have been made for application-specific robotic joints, robots, and exoskeletons using various actuator types, materials, and designs. The progress of creating soft robotic systems can be accelerated if a set of actuators with defined characteristics were developed, similar to conventional robotic actuators, which can be assembled to create desired systems including exoskeletons and end effectors. This work presents such an attempt by designing a modular corrugated diaphragm actuator that can apply linear displacement, force, and bending motion. This modular actuator approach allows for creating various robotic joints by arranging them into different configurations. Numerical simulation, fabrication, and testing were carried out to evaluate the displacement, force, and bending characteristics of the corrugated diaphragm actuator as a single unit and in multi-unit arrays to understand their applicability for different scenarios. Actuator arrays that are configured in a serial and parallel manner were investigated. The results will be presented in terms of using this modular actuator concept to create single and multi-DOF joints, which will demonstrate the versatility of this modular actuator approach.

How to Evaluate Remote Tower Metrics in Connection With Weather Observations

2018 ◽  
Vol 8 (2) ◽  
pp. 100-111 ◽  
Author(s):  
Maik Friedrich ◽  
Christoph Möhlenbrink
Keyword(s):  
Traffic Control ◽  
Air Traffic Control ◽  
Influential Factors ◽  
Air Traffic ◽  
Weather Event ◽  
Evaluation Of Performance ◽  
Weather Events ◽  
Weather Observations ◽  
Validation Experiment ◽  
Remote Controller

Abstract. Owing to the different approaches for remote tower operation, a standardized set of indicators is needed to evaluate the technical implementations at a task performance level. One of the most influential factors for air traffic control is weather. This article describes the influence of weather metrics on remote tower operations and how to validate them against each other. Weather metrics are essential to the evaluation of different remote controller working positions. Therefore, weather metrics were identified as part of a validation at the Erfurt-Weimar Airport. Air traffic control officers observed weather events at the tower control working position and the remote control working position. The eight participating air traffic control officers answered time-synchronized questionnaires at both workplaces. The questionnaires addressed operationally relevant weather events in the aerodrome. The validation experiment targeted the air traffic control officer’s ability to categorize and judge the same weather event at different workplaces. The results show the potential of standardized indicators for the evaluation of performance and the importance of weather metrics in relation to other evaluation metrics.

The Role of the Interaction between Fe(III) and Cell Surface in the Accumulation of 67Ga by Tumor Cells

1991 ◽  
Vol 30 (06) ◽  
pp. 290-293 ◽  
Author(s):  
P. Maleki ◽  
A. Martinezi ◽  
M. C. Crone-Escanye ◽  
J. Robert ◽  
L. J. Anghileri
Keyword(s):  
Cell Surface ◽  
Tumor Cells ◽  
Ionic Composition ◽  
Iron Complex ◽  
Iron Binding ◽  
Complex Time ◽  
Interaction Product ◽  
Thermodynamic Constant ◽  
Number Of Cells

The study of the interaction between complexed iron and tumor cells in the presence of 67Ga-citrate indicates that a phenomenon of iron-binding related to the thermodynamic constant of stability of the iron complex, and a hydrolysis (or anion penetration) of the interaction product determine the uptake of 67Ga. The effects of various parameters such as ionic composition of the medium, nature of the iron complex, time of incubation and number of cells are discussed.

In Vitro Effects of Urokinase — Prevention by Different Inhibitors

1990 ◽  
Vol 64 (03) ◽  
pp. 402-406 ◽  
Author(s):  
M D Oethinger ◽  
E Seifried
Keyword(s):  
In Vitro Study ◽  
Thrombin Time ◽  
Plasma Samples ◽  
Temperature Dependent ◽  
Chloromethyl Ketone ◽  
Control Value ◽  
Dose Time ◽  
In Vitro Effects ◽  
Full Protection

SummaryThe present in vitro study investigated dose-, time- and temperature-dependent effects of two-chain urokinase plasminogen activato(u-PA, urokinase) on normal citrated plasma. When 10 μg/ml u-PA wereadded to pooled normal plasma and incubated for 30 min at an ambient temperature (25° C), α2-antiplas-min decreased to 8% of the control value. Incubation on ice yielded a decrease to 45% of control,whereas α2-antiplasmin was fully consumed at 37° C. Fibrinogen and plasminogen fell to 46% and 39%, respectively, after a 30 min incubation at 25° C. Thrombin time prolonged to 190% of control.Various inhibitors were studied with respect to their suitability and efficacy to prevent these in vitro effects. Aprotinin exhibited a good protective effect on fibrinogen at concentrations exceeding 500 KlU/ml plasma. Its use, however, was limited due to interferences with some haemostatic assays. We could demonstrate that L-Glutamyl-L-Glycyl-L-Arginyl chloromethyl ketone (GGACK) and a specific polyclonal anti-u-PA-antibody (anti-u-PA-IgG) effectively inhibited urokinase-induced plasmin generation without interfering with haemostatic assays. The anti-u-PA-antibody afforded full protection ofα2-antiplasmin at therapeutic levels of u-PA.It is concluded that u-PA in plasma samples from patients during thrombolytic therapy may induce in vitro effects which should be prevented by the use of a suitable inhibitor such as GGACK or specific anti-u-PA-antibody.

Comparison of Specific Antibody, D-Phe-Pro-Arg-CH2Cl and Aprotinin for Prevention of In Vitro Effects of Recombinant Tissue-Type Plasminogen Activator on Haemostasis Parameters

1987 ◽  
Vol 58 (03) ◽  
pp. 921-926 ◽  
Author(s):  
E Seifried ◽  
P Tanswell
Keyword(s):  
Specific Antibody ◽  
Plasma Concentrations ◽  
Fibrinolytic Therapy ◽  
Tissue Type ◽  
Control Value ◽  
Type Plasminogen Activator ◽  
In Vitro Effects ◽  
Fibrinolytic Parameters

SummaryIn vitro, concentration-dependent effects of rt-PA on a range of coagulation and fibrinolytic assays in thawed plasma samples were investigated. In absence of a fibrinolytic inhibitor, 2 μg rt-PA/ml blood (3.4 μg/ml plasma) caused prolongation of clotting time assays and decreases of plasminogen (to 44% of the control value), fibrinogen (to 27%), α2-antiplasmin (to 5%), FV (to 67%), FVIII (to 41%) and FXIII (to 16%).Of three inhibitors tested, a specific polyclonal anti-rt-PA antibody prevented interferences in all fibrinolytic and most clotting assays. D-Phe-Pro-Arg-CH2Cl (PPACK) enabled correct assays of fibrinogen and fibrinolytic parameters but interfered with coagulometric assays dependent on endogenous thrombin generation. Aprotinin was suitable only for a restricted range of both assay types.Most in vitro effects were observed only with rt-PA plasma concentrations in excess of therapeutic values. Nevertheless it is concluded that for clinical application, collection of blood samples on either specific antibody or PPACK is essential for a correct assessment of in vivo effects of rt-PA on the haemostatic system in patients undergoing fibrinolytic therapy.

Effect of prolactin inhibition under heat exposure on water intake and excretion of urine, sodium and potassium in bulls

1980 ◽  
Vol 94 (3) ◽  
pp. 315-320 ◽  
Author(s):  
D. Schams ◽  
E. Stephan ◽  
R. D. Hooley
Keyword(s):  
Water Intake ◽  
Heat Exposure ◽  
Physiological Role ◽  
Treated Group ◽  
Serum Prolactin ◽  
Control Value ◽  
Light Regimen ◽  
Group I ◽  
Urinary Potassium ◽  
Group Ii

Abstract. Six Holstein bulls were housed in a climate-chamber under constant light regimen and after two weeks of preconditioning at 15°C, 60% relative humidity RH (day) and 12°C, 60% RH (night) were subjected to two weeks of heat exposure. This involved one week at 30°C and 60% RH (day) and 25°C and 60% RH (night) and a further week at 35°C, 60% RH (day) and 30°C, 60% RH (night). Three bulls were untreated (group I) and 3 bulls were treated (group II) just before and during heat exposure with a prolactin inhibitor to study the possible physiological role of prolactin on the regulation of water, potassium and sodium. Serum prolactin levels increased significantly (P < 0.01) in group I from the control value of 6 ng/ml to 33 and 44 ng/ml when the ambient temperature was increased (weeks 3 and 4) and then decreased to 21 and 12 ng/ml after reduction in temperature during weeks 5 and 6, respectively. For group II prolactin values decreased under the treatment with the prolactin inhibitor to 0.5 ng/ml and remained at this level throughout the experiment. GH levels were unaffected by heat treatment or by treatment with prolactin inhibitor. There were no differences between groups I and II in respiratory rate, pulse rate and rectal temperature. Water intake increased in both groups under heat exposure but decreased significantly afterwards only in group II. Differences in urinary excretion volume and blood serum osmolality were not significant. Urinary potassium and sodium excretion were unchanged in group II but increased with heat exposure in group I. During heat exposure 2 bulls of group II lost weight despite maintaining food intake.

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