A parametric interpolator with confined chord errors, acceleration and deceleration for NC machining

Parametric interpolation has many advantages over linear interpolation in machining curves. Real time parametric interpolation research so far has addressed achieving a uniform feed rate, confined chord errors and jerk limited trajectory planning. However, simultaneous consideration of confined chord errors that respect the acceleration and deceleration capabilities of the machine has not been attempted. In this paper, the offline detection of feed rate sensitive corners is proposed. The velocity profile in these zones is planned so that chord errors are satisfied while simultaneously accommodating the machine's acceleration and deceleration limits. Outside the zone of the feed rate sensitive corners, the feed rate is planned using the Taylor approximation. Simulation results indicate that the offline detection of feed rate sensitive corners improves parametric interpolation. For real time interpolation, the parametric curve information can be augmented with the detected feed rate sensitive corners that are stored in 2×2 matrices.     

A quantitative analysis of the effectiveness of laparascopy and endoscopy virtual reality simulators

The increasing use of virtual reality (VR) simulators in surgical training makes it imperative that definitive studies be performed to assess their training effectiveness. Indeed in this paper we report the meta-analysis of the efficacy of virtual reality simulators in (1) the transference of skills from the simulator training environment to the operating room and (2) their ability to discriminate between the experience levels of its users. The task completion time and the error score were the two study outcomes collated and analyzed in this meta-analysis. Sixteen studies were identified from a computer-based literature search (1996-2004). The meta-analysis of the random-effects model (because of the heterogeneity of the data) revealed that training on virtual reality simulators did lessen the time taken to complete a given surgical task as also clearly differentiate between the experienced and the novice trainees. Meta-analytic studies such as the one reported here would be very helpful in the planning and setting up of surgical training programs and for the establishment of reference ‘learning curves’ for a specific simulator and surgical task. If any such programs already exist they can then indicate the improvements to be made in the simulator used such as providing for more variety in their case scenarios based on the state and/or rate of learning of the trainee.     

Determination of optimal feedback terminal controllers for general boundary conditions using generating functions

Given a nonlinear system and a performance index to be minimized, we present a general approach to expressing the finite time optimal feedback control law applicable to different types of boundary conditions. Starting from the necessary conditions for optimality represented by a Hamiltonian system, we solve the Hamilton-Jacobi equation for a generating function for a specific canonical transformation. This enables us to obtain the optimal feedback control for fundamentally different sets of boundary conditions only using a series of algebraic manipulations and partial differentiations. Furthermore, the proposed approach reveals an insight that the optimal cost functions for a given dynamical system can be decomposed into a single generating function that is only a function of the dynamics plus a term representing the boundary conditions. This result is formalized as a theorem. The whole procedure provides an advantage over methods rooted in dynamic programming, which require one to solve the Hamilton-Jacobi-Bellman equation repetitively for each type of boundary condition. The cost of this favorable versatility is doubling the dimension of the partial differential equation to be solved.     

Effects of circumferential pick spacing on boom type roadheader cutting head performance

Effects of equal and unequal circumferential pick spacing on the performance of boom type roadheaders having cylindrical cutting heads are investigated. For this purpose, two experimental cutting heads with equal and unequal circumferential spacing are designed and manufactured. The cutting head with unequal circumferential spacing is specifically designed to prevent tool-holder overlap at the nose section. Manufacturing difficulties associated with equal circumferential pick spacing due to tool-holder overlap are discussed with solid modeling and practical applications. The heads are tested at Park Cayirhan Coal Mine in Turkey and their cutting performances are analysed. Although better cutting performance for equal circumferential spacing are predicted by force–balance analysis, in situ measurements of instantaneous (net) traversing speed and cutting rate, pick consumption rate and machine vibration show that no significant difference exists between the performances of the two cutting heads.     

Synthesis and characterization of poly(N‐vinyl‐2‐pyrrolidone) grafted sodium alginate hydrogel beads for the controlled release of indomethacin

Graft copolymers of sodium alginate (NaAlg) with N‐vinyl‐2‐pyrrolidone were prepared using azobisisobutyronitrile as initiator. The graft copolymers (NaAlg‐g‐PVP) were characterized with Fourier transform infrared spectroscopy, elemental analysis, and differential scanning calorimetry. Polymeric hydrogel beads of NaAlg and NaAlg‐g‐PVP were prepared by crosslinking method using glutaraldehyde (GA) as a crosslinker in the hydrochloric acid catalyst (HCl) and these beads were used to deliver anti‐inflammatory drug, indomethacin (IM). Chemical stability of the IM after encapsulation into beads was confirmed by FTIR. Preparation conditions of the NaAlg‐g‐PVP beads were optimized by considering the percentage entrapment efficiency, particle size, swelling capacity and their release data. In vitro release studies were performed in simulated gastric fluid (pH 1.2) for the initial 2 h, followed by simulated intestinal fluid (pH 7.4) for 4 h. Effects of GA concentration, exposure time to GA, drug/polymer (d/p) ratio, and concentration of HCl on the release of IM were discussed. It was observed that IM release from the beads decreased with increasing GA concentration and exposure time. IM release also decreases with increasing d/p ratio and HCl concentration. The highest IM release was obtained to be 77% for beads crosslinked with 0.027M GA. Swelling experiments were also performed to compute molecular mass between crosslinks of the beads. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Synthesis and applications of heterobifunctional poly(ethylene oxide) oligomers

Poly(ethylene oxide) (PEO) oligomers are employed extensively in pharmaceutical and biomedical arenas mainly due to their excellent physical and biological properties, including solubility in water and organic solvents, lack of toxicity, and absence of immunogenicity. PEO can be chemically modified and reacted with, or adsorbed onto, other molecules and surfaces. Sophisticated applications for PEO have increased the demand for PEO oligomers with tailored functionalities, and heterobifunctional PEOs are often needed. This review discusses the synthesis and applications of heterobifunctional PEO oligomers possessing amine, carboxylate, thiol, and maleimide functional groups.     

Plasma power can make better powders

It may be a truism to say that round powders pack better, but spheroidisation of powder particles is one of the successful commercial applications of induction plasma technology and can play a key role in substantial improvement of powder quality and fluidity…     

Parametric circles and spheres

Formulations for parametric circles and spheres in terms of rational Gaussian (RaG) curves and surfaces are introduced. With the proposed formulations, a full circle is generated by interpolating a closed RaG curve to the vertices of an equilateral triangle, and a full sphere is generated by interpolating a closed RaG surface to the vertices of an octahedron with equilateral triangular faces. Generation of circles and spheres in this manner is very intuitive and easy to remember as the weights are all 1 and the nodes are all unique and uniformly spaced.