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At least 91 records · Page 5

Inverse kinematic solution for near-simple robots and its application to robot calibration

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

Hayati, Samad A.↗

A simple dynamic engine model for use in a real-time aircraft simulation with thrust vectoring

A simple dynamic engine model was developed for use in thrust vectoring control law development and real-time aircraft simulation. Engine dynamics were simulated using a throttle rate limiter and low-pass filter. This paper includes a description of a method to account for axial thrust loss resulting from thrust vectoring and the development of the simple dynamic engine model and its incorporation into the F-18 high alpha research vehicle (HARV) thrust vectoring simulation. The simple dynamic engine model was evaluated at Mach 0.2, 35,000-ft altitude and at Mach 0.7, 35,000-ft altitude. The simple dynamic engine model is within 3 percent of the steady state response, and within 25 percent of the transient response of the complete nonlinear dynamic engine model.

Johnson, Steven A.↗

Thermophysical properties of simple liquid metals: A brief review of theory

In this paper, we review the current theory of the thermophysical properties of simple liquid metals. The emphasis is on thermodynamic properties, but we also briefly discuss the nonequilibrium properties of liquid metals. We begin by defining a 'simple liquid metal' as one in which the valence electrons interact only weakly with the ionic cores, so that the interaction can be treated by perturbation theory. We then write down the equilibrium Hamiltonian of a liquid metal as a sum of five terms: the bare ion-ion interaction, the electron-electron interaction, the bare electron-ion interaction, and the kinetic energies of electrons and ions. Since the electron-ion interaction can be treated by perturbation, the electronic part contributes in two ways to the Helmholtz free energy: it gives a density-dependent term which is independent of the arrangement of ions, and it acts to screen the ion-ion interaction, giving rise to effective ion-ion pair potentials which are density-dependent, in general. After sketching the form of a typical pair potential, we briefly enumerate some methods for calculating the ionic distribution function and hence the Helmholtz free energy of the liquid: monte Carlo simulations, molecular dynamics simulations, and thermodynamic perturbation theory. The final result is a general expression for the Helmholtz free energy of the liquid metal. It can be used to calculate a wide range of thermodynamic properties of simple metal liquids, which we enumerate. They include not only a range of thermodynamic coefficients of both metals and alloys, but also many aspects of the phase diagram, including freezing curves of pure elements and phase diagrams of liquid alloys (including liquidus and solidus curves). We briefly mention some key discoveries resulting from previous applications of this method, and point out that the same methods work for other materials not normally considered to be liquid metals (such as colloidal suspensions, in which the suspended microspheres behave like ions screened by the salt solution in which they are suspended). We conclude with a brief discussion of some non-equilibrium (i.e., transport) properties which can be treated by an extension of these methods. These include electrical resistivity, thermal conductivity, viscosity, atomic self-diffusion coefficients, concentration diffusion coefficients in alloys, surface tension and thermal emissivity. Finally, we briefly mention two methods by which the theory might be extended to non-simple liquid metals: these are empirical techniques (i.e., empirical two- and three-body potentials), and numerical many-body approaches. Both may be potentially applicable to extremely complex systems, such as nonstoichiometric liquid semiconductor alloys.

Stroud, David↗

Multi-dimensional MHD simple waves

In this paper we consider a formalism for multi-dimensional simple MHD waves using ideas developed by Boillat. For simple wave solutions one assumes that all the physical variables (the density rho, gas pressure p, fluid velocity V, gas entropy S, and magnetic induction B in the MHD case) depend on a single phase function phi(r,t). The simple wave solution ansatz and the MHD equations then require that the phase function has the form phi = r x n(phi) - lambda(phi)t, where = n(phi) = Delta phi / (absolute value of Delta phi) is the wave normal and lambda(phi) = omega/k = -phi t / (absolute value of Delta phi) is the normal speed of the wave front. The formalism allows for more general simple waves than that usually dealt with in which n(phi) is a constant unit vector that does not vary along the wave front. The formalism has implications for shock formation for multi-dimensional waves.

Webb, G. M.↗

Magnetic Helicity of Alfven Simple Waves

The magnetic helicity of fully nonlinear, multi-dimensional Alfven simple waves are investigated, by using relative helicity formulae and also by using an approach involving poloidal and toroidal decomposition of the magnetic field and magnetic vector potential. Different methods to calculate the magnetic vector potential are used, including the homotopy and Biot-Savart formulas. Two basic Alfven modes are identified: (a) the plane 1D Alfven simple wave given in standard texts, in which the Alfven wave propagates along the z-axis, with wave phase varphi=k_0(z-lambda t), where k_0 is the wave number and lambda is the group velocity of the wave, and (b)\ the generalized Barnes (1976) simple Alfven wave in which the wave normal {bf n} moves in a circle in the xy-plane perpendicular to the mean field, which is directed along the z-axis. The plane Alfven wave (a) is analogous to the slab Alfven mode and the generalized Barnes solution (b) is analogous to the 2D mode in Alfvenic, incompressible turbulence. The helicity characteristics of these two basic Alfven modes are distinct. The helicity characteristics of more general multi-dimensional simple Alfven waves are also investigated. Applications to nonlinear Aifvenic fluctuations and structures observed in the solar wind are discussed.

Webb, Gary M.↗

Creating Simple Windchill Admin Tools Using Info*Engine

Being a Windchill administrator often requires performing simple yet repetitive tasks on large sets of objects. These can include renaming, deleting, checking in, undoing checkout, and much more. This is especially true during a migration. Fortunately, PTC has provided a simple way to dynamically interact with Windchill using Info*Engine. This presentation will describe how to create simple Info*Engine tasks capable of saving Windchill 10.0 administrators hours of tedious work. It will also show how these tasks can be combined and displayed on a simple JSP page that acts as a "Windchill Administrator Dashboard/Toolbox". The attendee will learn some valuable tasks Info*Engine capable of performing. The attendee will gain a basic understanding of how to perform and implement Info*Engine tasks. The attendee will learn what's involved in creating a JSP page that displays Info*Engine tasks

Jones, Corey↗

A Simple Model of Global Aerosol Indirect Effects

Most estimates of the global mean indirect effect of anthropogenic aerosol on the Earth's energy balance are from simulations by global models of the aerosol lifecycle coupled with global models of clouds and the hydrologic cycle. Extremely simple models have been developed for integrated assessment models, but lack the flexibility to distinguish between primary and secondary sources of aerosol. Here a simple but more physically based model expresses the aerosol indirect effect (AIE) using analytic representations of cloud and aerosol distributions and processes. Although the simple model is able to produce estimates of AIEs that are comparable to those from some global aerosol models using the same global mean aerosol properties, the estimates by the simple model are sensitive to preindustrial cloud condensation nuclei concentration, preindustrial accumulation mode radius, width of the accumulation mode, size of primary particles, cloud thickness, primary and secondary anthropogenic emissions, the fraction of the secondary anthropogenic emissions that accumulates on the coarse mode, the fraction of the secondary mass that forms new particles, and the sensitivity of liquid water path to droplet number concentration. Estimates of present-day AIEs as low as 5 W/sq m and as high as 0.3 W/sq m are obtained for plausible sets of parameter values. Estimates are surprisingly linear in emissions. The estimates depend on parameter values in ways that are consistent with results from detailed global aerosol-climate simulation models, which adds to understanding of the dependence on AIE uncertainty on uncertainty in parameter values.

Clouds↗

Simple Test Functions in Meshless Local Petrov-Galerkin Methods

Two meshless local Petrov-Galerkin (MLPG) methods based on two different trial functions but that use a simple linear test function were developed for beam and column problems. These methods used generalized moving least squares (GMLS) and radial basis (RB) interpolation functions as trial functions. These two methods were tested on various patch test problems. Both methods passed the patch tests successfully. Then the methods were applied to various beam vibration problems and problems involving Euler and Beck's columns. Both methods yielded accurate solutions for all problems studied. The simple linear test function offers considerable savings in computing efforts as the domain integrals involved in the weak form are avoided. The two methods based on this simple linear test function method produced accurate results for frequencies and buckling loads. Of the two methods studied, the method with radial basis trial functions is very attractive as the method is simple, accurate, and robust.

Raju, Ivatury S.↗

Simple holography in general spacetimes

The simple or “outermost” wedge in AdS is the portion of the entanglement wedge that can be reconstructed with sub-exponential effort from CFT data. Here we furnish a definition in arbitrary spacetimes: given an input wedge a analogous to a CFT boundary region, the simple wedge z(a) is the largest wedge accessible by a “zigzag,” a certain sequence of antinormal lightsheets. We show that z(a) is a throat, and that it is contained in every other throat. This implies that z(a) is unique; that it is contained in the generalized entanglement wedge; and that it reduces to the AdS prescription as a special case. The zigzag explicitly constructs a preferred Cauchy slice that renders the simple wedge accessible from a; thus it adds a novel structure even in AdS. So far, no spacelike construction is known to reproduce these results, even in time-symmetric settings. This may have implications for the modeling of holographic encoding by tensor networks.

AdS-CFT Correspondence↗

Comparative α-glucosidase and α-amylase inhibition studies of rhodanine–pyrazole conjugates and their simple rhodanine analogues

Novel rhodanine–pyrazole conjugates (6a–i) and their simple rhodanine analogues (8a–e) were prepared and comparatively screened for their antidiabetic activities against enzymatic targets, α-glucosidase and α-amylase. As expected, the molecular hybrids exhibited significantly greater inhibitory activity against α-glucosidase (IC{sub 50} = 2.259 × 10{sup −6}–1.160 × 10{sup −4} mol/L), relative to their simple rhodanine counterparts (IC{sub 50} = 3.056 × 10{sup −4}–9.494 × 10{sup −4} mol/L). Amongst the screened derivatives compounds 6a and 6f displayed a 3-fold and 42-fold greater potency against α-glucosidase (IC{sub 50} = 2.854 × 10{sup −5} and 2.259 × 10{sup −6}mol/L, respectively) compared to the standard drug, acarbose. The designed molecular conjugates displayed an improved binding affinity toward α-glucosidase than α-amylase. Compound 6d was identified as the most potent inhibitor of α-amylase (IC{sub 50} = 6.377 × 10{sup −5} mol/L) with a 1.5-fold greater inhibitory activity than acarbose. Structural assessment of the molecules revealed that electron withdrawing (Cl) and electron donating (OCH{sub 3}) groups at the ortho-position played a significant role in the inhibitory activity. Molecular docking studies of the molecular conjugates and simple rhodanine analogues in the active site of α-glucosidase were performed to describe and highlight the putative binding interactions attributing to the selective inhibition. The identification of these novel rhodanine–pyrazole molecular hybrids forms part of a potential treatment in the management of diabetes.

60 APPLIED LIFE SCIENCES↗

Simple, accurate surrogate models of the elastic response of three-dimensional open truss micro-architectures with applications to multiscale topology design

Elastic meta-materials are those whose unique properties come from their micro-architecture, rather than, e.g., from their chemistry. The introduction of such architecture, which is increasingly able to be fabricated due to advances in additive manufacturing, expands the design domain and enables improved design, from the most complex multi-physics design problems to the simple compliance design problem that is our focus. Unfortunately, concurrent design of both the micro-scale and the macroscale is computationally very expensive when the former can vary spatially, particularly in three dimensions. Instead, we provide simple, accurate surrogate models of the homogenized linear elastic response of the isotruss, the octet truss, and the ORC truss based on high-fidelity continuum finite element analyses. These surrogate models are relatively accurate over the full range of relative densities, in contrast to analytical models in the literature, which we show lose accuracy as relative density increases. The surrogate models are also simple to implement, which we demonstrate by modifying Sigmund’s 99-line code to solve a three-dimensional, multiscale compliance design problem with spatially varying relative density. Here, we use this code to generate examples in both two and three dimensions that illustrate the advantage of elastic meta-materials over structures with a single length scale, i.e., those without micro-architectures.

42 ENGINEERING↗

Percutaneous Treatment of Simple Hepatic Cysts: The Long-Term Results of PAIR and Catheterization Techniques as Single-Session Procedures

PurposeThe purpose of our study is to evaluate results of percutaneous aspiration with alcohol sclerotherapy in symptomatic patients with simple hepatic cysts by employing single-session techniques either by a needle or a catheter.Materials and MethodsWe retrospectively included 39 simple hepatic cysts in 35 patients treated via percutaneous aspiration and single-session alcohol sclerotherapy between years 1993 and 2012. Indications were pain (n = 28) or ruling out cystic echinococcus (CE) disease (n = 7). 29 cysts in 26 patients were treated by needle technique (Group A) and ten cysts in nine patients were treated by single-session catheter technique (Group B). Patients were followed for 4–173 months (median: 38 months).ResultsAll patients were successfully treated. Before procedure, cyst volumes were 21–676 cc (median: 94 cc). Post-procedure cyst volumes at last follow-up were 0-40 cc (median: 1 cc). The mean decrease in cyst volume was 95.92 ± 2.86 % in all patients (95.96 ± 3.26 % in Group A and 95.80 ± 6.20 % in Group B). There was no statistically significant difference between the volume reduction rates of Group A and Group B. Only one patient, in Group B, developed a major complication, an abscess. Hospitalization period was 1 day for all patients.ConclusionsFor patients with symptomatic simple hepatic cysts smaller than 500 cc in volume by using puncture, aspiration, injection, and reaspiration (PAIR) technique with only needle, single-session alcohol sclerotherapy of 10 min is a safe and effective procedure with high success rate.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

Compact forced simple-shear sample for studying shear localization in materials

In this paper, a new specimen geometry, the compact forced-simple-shear specimen (CFSS), has been developed as a means to achieve simple shear testing of materials over a range of temperatures and strain rates. The stress and strain state in the gage section is designed to produce essentially “pure” simple shear, mode II in-plane shear, in a compact-sample geometry. The 2-D plane of shear can be directly aligned along specified directional aspects of a material's microstructure of interest; i.e., systematic shear loading parallel, at 45°, and orthogonal to anisotropic microstructural features in a material such as the pancake-shaped grains typical in many rolled structural metals, or to specified directions in fiber-reinforced composites. Finally, the shear-stress shear-strain response and the damage evolution parallel and orthogonal to the pancake grain morphology in 7039-Al are shown to vary significantly as a function of orientation to the microstructure.

36 MATERIALS SCIENCE↗

A simple convertible electrolyzer in membraneless and membrane-based modes for understanding water splitting mechanism

State-of-the-art membrane-based electrolyzers such as proton exchange membrane electrolyzer cells, are costly, susceptible to degradation, and time-consuming for electrode evaluation and triple-phase boundary electrochemical reaction studies. Here, a simple convertible electrolyzer in membraneless and membrane-based modes is proposed. For the first time, this enables comprehensive investigations of water splitting with pure water, acidic and alkaline electrolytes in one cell. With the simple electrolyzer and high-speed visualization system, the influences of flow rate, electrolytes, concentration, and Nafion membrane on the oxygen evolution reactions (OERs), hydrogen evolution reactions (HERs) and electrolyzer performance are comprehensively investigated. Visualization results reveal that water splitting only occurred at the edge between the electrode and the Nafion membrane in pure water. However, they occurred on the whole electrode surface in alkaline and acidic electrolytes, indicating easily tunable reaction sites with the convertible electrolyzer. This demonstrates the feasibility of using the simple convertible electrolyzer for understanding the water splitting mechanism. The relation between electrolyte thickness and resistances with different electrolytes is also quantified. This research provides an insight for optimizing electrochemical devices while delivering an inexpensive and fast way for electrode evaluations and electrochemical reaction studies.

25 ENERGY STORAGE↗

The influence of kinematics of deformation on polycrystalline halite dynamic recrystallization: Full-field simulation of simple shear versus pure shear

Rock salt, composed mainly of halite, flows viscoplastically over a wide range of geological conditions, strongly impacting the dynamic evolution of sedimentary basins and orogens. Understanding how dislocation creep, which involves dislocation glide, intracrystalline recovery and dynamic recrystallization, influences the microstructure and rheology of halite under various deformation kinematics and temperatures is crucial for enhancing knowledge of salt flow dynamics. Here, this study employs a full-field numerical simulation method to compare the viscoplastic deformation of polycrystalline halite under simple shear and pure shear conditions up to a natural strain of ε = 1.5 at temperatures ranging from 100 °C to 300 °C. The results are presented in terms of crystallographic preferred orientation (CPO), grain shape preferred orientation (SPO), subgrain boundary direction, grain size and strain rate distribution. The results indicate that the crystallographic anisotropy of individual halite crystals is transferred to the polycrystalline scale, resulting in strain localization, particularly in simple shear simulations. The kinematics of deformation affect the evolution and distribution of high strain-rate bands, determining the direction of intragranular substructures and the morphology of strain-induced grain boundaries, with minimal impact on grain size. The intensity of grain boundary migration increases with temperature, significantly influencing grain morphology and size, thereby obscuring strain localization, while having little effect on CPOs. At low strain (ε < 1.0), CPOs relative to both the maximum shortening direction and the grain SPO are similar regardless of the deformation kinematics. At high strain (ε > 1.0), simple shear CPOs exhibit three stronger {100} maxima with a monoclinic symmetry relative to the grain SPO compared to the six {100} maxima with an orthotropic symmetry relative to the grain SPO generated under pure shear. Therefore, microstructures and CPOs can serve as indicators of the strain path in polycrystalline halite under various conditions, aiding in determining the shear sense and elucidating the deformation kinematics of salt structures.

58 GEOSCIENCES↗

A simple method to fabricate an NIR detector by PbTe nanowires in a large scale

Highlights: • PbTe nanowires were grown by tellurization of the Pb sheets for the first time. • It was observed a band gap value for the PbTe nanostructures in the NIR region. • NIR detector was fabricated in a large scale using a simple method. • Effect of Te concentration on morphology of PbTe nanostructures was investigated. - Abstract: A simple method was used to fabricate a near-infrared (NIR) detector using PbTe nanostructures. Samples were synthesized by tellurization of lead sheets in a tube furnace. PbTe nanostructures with wires and flakes shapes were grown on the lead sheets that were placed at 300 and 330 °C, respectively, while, PbTe nanoporous were grown at 360 and 390 °C. X-ray diffraction patterns and X-ray photoelectron spectra results indicated that, the PbTe phase was formed in all samples. UV–vis diffuse reflectance spectra measurements showed a band gap for the PbTe nanostructures in the near-infrared region of the electromagnetic spectrum. Actually, the results indicated that, the band gap values of the PbTe nanowires and nanoporous were 1.54 eV and 1.61 eV, respectively. Finally, the PbTe nanostructures were used as a simple photoresponse device under a red light source. The photoresponse results revealed, PbTe nanowires are promising for photoelectrical applications in the NIR region.

36 MATERIALS SCIENCE↗

A simple and green strategy for preparing luminescent Tb{sup 3+} complex-based nanocomposite with stable luminescence in water

Graphical abstract: A water-soluble Tb{sup 3+} complex-based nanocomposite has been prepared through a simple and green method, showing good luminescence stability in aqueous environment and highly selective sensing ability for THF in water. - Highlights: • A new Tb(III) hybrid material with bright green luminescence was prepared through a very simple and green procedure. • The material exhibits good luminescence stability in aqueous solution. • The material can be applied for detecting low THF content (0.1–6.0 vol%) in aqueous solution. - Abstract: Luminescent lanthanide-based nanocomposites (LnNCs) with intense and stable luminescence in aqueous media are in high demand for sensing and biological applications. Herein we report a new water-soluble LnNCs that prepared through a very simple and green procedure, with bright green luminescence dominated by {sup 5}D{sub 4} → {sup 7}F{sub 5} transition (542 nm) of Tb{sup 3+}, showing improved luminescence behavior compared with the complex Tb(Sal){sub 3}·2H{sub 2}O (Sal = salicylic acid) and good luminescence stability in aqueous solution even for considerable time (3 weeks) ascribed to the protective effect of the clay substrate to the Tb{sup 3+} complex. Moreover, the material exhibits rapid and highly selective sensing of tetrahydrofuran (THF) and can be applied for detecting low THF content (0.1–6.0 vol%) in aqueous solution.

36 MATERIALS SCIENCE↗

Surface morphology and photoelectric properties of FTO ceramic thin films under a simple transparent cover-assisted laser annealing

Highlights: • A simple transparent cover-assisted laser annealing method was employed on FTO films. • The presence of coverslip or PET significantly affected the film surface morphology. • Coverslip- or PET-assisted laser annealing greatly increased grain size of the film. • The PET-assisted laser annealed FTO film exhibited the best photoelectric property. - Abstract: A simple transparent cover-assisted laser annealing strategy, which used a coverglass or a PET sheet as the transparent cover, was proposed to improve photoelectric properties of fluorine-doped tin oxide (FTO) thin films. Pure laser annealing was also performed for comparison. Transparent cover-assisted laser annealing was found to be more effective for producing densely distributed particles, decreasing surface roughness and increasing grain size, thus enhancing transmittance and conductivity of the film. More importantly, compared with coverglass-assisted laser annealing, PET-assisted laser annealing enabled the film surface to be covered with more uniform and denser particles and exhibit a remarkable increase in grain size. Therefore the film had the highest total transmittance of 84.32%, the highest specular transmittance of 75.88%, a slightly decreased haze of 10.01% and the lowest sheet resistance of 7.36 Ω/sq. The simple PET-assisted laser annealing method may be a promising substitution for the conventional laser annealing treatment.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗