An extended divide-and-conquer algorithm for a generalized class of multibody constraints

An extension to the divide-and-conquer algorithm (DCA) is presented in this paper to model constrained multibody systems. The constraints of interest are those applied to the system due to the inverse dynamics or control laws rather than the kinematically closed loops which have been studied in the literature. These imposed constraints are often expressed in terms of the generalized coordinates and speeds. A set of unknown generalized constraint forces must be considered in the equations of motion to enforce these algebraic constraints. In this paper dynamics of this class of multibody constrained systems is formulated using a Generalized-DCA. In this scheme, introducing dynamically equivalent forcing systems, each generalized constraint force is replaced by its dynamically equivalent spatial constraint force applied from the appropriate parent body to the associated child body at the connecting joint without violating the dynamics of the original system. The handle equations of motion are then formulated considering these dynamically equivalent spatial constraint forces. These equations in the GDCA scheme are used in the assembly and disassembly processes to solve for the states of the system, as well as the generalized constraint forces and/or Lagrange multipliers.     

PShare: Ensuring location privacy in non-trusted systems through multi-secret sharing

Location-based applications such as Facebook Places, Foursquare, or Loopt typically use location services to manage mobile object positions. However, exposing precise user positions raises user privacy concerns, especially if location service providers are not fully trusted. To enable the secure management of private user positions in non-trusted systems, we present two novel position sharing approaches based on the concept of multi-secret sharing. We improve existing geometric position sharing approaches by Dürr et al. [2] and Skvortsov et al. [3] by considering continuous position updates and by increasing the robustness against various attacks. Furthermore, we present the first position sharing approach for symbolic location models.     

Temperature and wavelength dependent transmission of optically transparent glass fibre poly (methyl methacrylate) composites

The temperature and wavelength dependent transmission was measured for glass fibre reinforced transparent composites prepared by sheet lamination and pressure curing processes. A mathematical model using fibre volume content, glass fibre diameter, refractive index of the fibre and matrix, non-wet fibre content and thickness of the composites was used to predict the transmission of the composite as a function of temperature and wavelength. The transmission calculated from the model for 20–70 °C and between 500 to 800 nm agreed well with the measured optical transmission for a thin composite containing < 10 vol % of 17 m glass fibres. A small amount of non-wet fibre (e.g. 2.0% of total fibre) was predicted to reduce the maximum transmission by up to 17% for a composite containing 7.2 vol % fibres and a thickness of 0.5 mm.     

3D Knitting for Pneumatic Soft Robotics

Soft robots adapt passively to complex environments due to their inherent compliance, allowing them to interact safely with fragile or irregular objects and traverse uneven terrain. The vast tunability and ubiquity of textiles has enabled new soft robotic capabilities, especially in the field of wearable robots, but existing textile processing techniques (e.g., cut-and-sew, thermal bonding) are limited in terms of rapid, additive, accessible, and waste-free manufacturing. While 3D knitting has the potential to address these limitations, an incomplete understanding of the impact of structure and material on knit-scale mechanical properties and macro-scale device performance has precluded the widespread adoption of knitted robots. In this work, the roles of knit structure and yarn material properties on textile mechanics spanning three regimes–unfolding, geometric rearrangement, and yarn stretching–are elucidated and shown to be tailorable across unique knit architectures and yarn materials. Based on this understanding, 3D knit soft actuators for extension, contraction, and bending are constructed. Combining these actuation primitives enables the monolithic fabrication of entire soft grippers and robots in a single-step additive manufacturing procedure suitable for a variety of applications. This approach represents a first step in seamlessly “printing” conformal, low-cost, customizable textile-based soft robots on-demand.     

Post‐buckling optimization of composite structures using Koiter's method

Thin‐walled structures, when compressed, are prone to buckling. To fully utilize the capabilities of such structures, the post‐buckling response should be considered and optimized in the design process. This work presents a novel method for gradient‐based design optimization of the post‐buckling performance of structures. The post‐buckling analysis is based on Koiter's asymptotic method. To perform gradient‐based optimization, the design sensitivities of the Koiter factors are derived, and new design optimization formulations based on the Koiter factors are presented. The proposed optimization formulations are demonstrated on a composite square plate and a curved panel where the post‐buckling stability is optimized. Copyright © 2016 John Wiley & Sons, Ltd.     

Additive Manufacturing of Hard Magnetic Passive Shims to Increase Field Homogeneity of a Halbach Magnet

Obtaining a highly homogeneous magnetic field is desired for field-controlled applications. For example, the resolution of magnetic analysis methods can be improved by generating a stronger and more homogeneous field over the region of interest (ROI). A set of 3D-printed passive shims is fabricated using additive manufacturing to improve the magnetic field homogeneity of a Halbach magnet assembly. The feedstock is a custom acrylonitrile butadiene styrene (ABS)-hard magnet composite filament filled with 60% wt. isotropic NdFeB. Additionally, a method for investigating the remanence is developed and validated. The result reveals a good agreement between the new method and existing measurement techniques for the remanence of permanent magnets. It is also shown that the additive manufacturing procedure has negligible effects on the magnetic properties. Performing a parametric study over a rectangular ROI, an optimized shim configuration is achieved. In the optimized and 3D-printed configuration, the average norm of the magnetic flux density, B_norm, is increased by 13% and, more importantly, a 43% increase in the magnetic uniformity is obtained. These results highlight the great potential of freeform manufacturing, namely, additive manufacturing, to tailor the properties of magnet structures.     

The shadow approach: An orphan detection protocol for mobile agents

Orphan detection in distributed systems is a well-researched field for which many solutions exist. These solutions exploit well defined parent-child relationships given in distributed systems. But they are not applicable in mobile agent systems, since no similar natural relationship between agents exist. Thus new protocols have to be developed. In this paper one such protocol for controlling mobile mobile agents and for orphan detection is presented. The shadow approach presented in this paper uses the idea of a placeholder (shadow) which is assigned by the agent system to each new agent. This defines an artificial relationship between agents and shadow. The shadow records the location of all dependent agents. Removing the root shadow implies that all dependent agents are declared orphan and are eventually be terminated. We introduce agent proxies that create a path from shadow to every agent. In an extension of the basic protocol we additionally allow the shadow to be mobile.The shadow approach can be used for termination of groups of agents even if the exact location of each single agent is not known.     

Polymer solutions confined in slit-like pores with attractive walls: An off-lattice Monte Carlo study of static properties and chain dynamics

Summary Using a bead spring model of flexible polymer chains, the density profiles and chain configurational properties of polymer solutions confined between parallel plates were studied. A wide range of density , chain length N, and strength of a short-range attractive wall potential was investigated. Both a temperature T in the good solvent regime (T > , being the Theta temperature where a chain in unconfined bulk three-dimensional solution would behave ideally) and a temperature in the bad solvent regime (T < ) were considered. It is shown that phase separation in a polymer-rich and polymer-poor solution in the slit competes with polymer adsorption at the walls. A qualitative connection to the wetting behavior of semi-infinite polymer solutions is drawn. The acceptance rate for monomer motions was studied for various conditions, and profiles of monomer mobility across the slit were recorded. Also, average chain relaxation times were extracted from the time dependence of mean-square displacements. Although with increasing density the chain radii (at T > ) show a crossover from two-dimensional excluded volume behavior (R_g N² with = 3/4) to ideal random walk behavior ( = 1/2), the relaxation times show effective exponents Z_eff ( N^{Z eff}) that clearly deviate from the Rouse prediction in concentrated confined solutions.     

Virtual worlds as knowledge management platform – a practice‐perspective

Virtual worlds, as electronic environments where individuals can interact in a realistic manner in form of avatars, are increasingly used by gamers, consumers and employees. Therefore, they provide opportunities for reinventing business processes. Especially, effective knowledge management (KM) requires the use of appropriate information and communication technology (ICT) as well as social interaction. Emerging virtual worlds enable new ways to support knowledge and knowing processes because these virtual environments consider social aspects that are necessary for knowledge creating and knowledge sharing processes. Thus, collaboration in virtual worlds resembles real‐life activities. In this paper, we shed light on the use of Second Life (SL) as a KM platform in a real‐life setting. To explore the potential and current usage of virtual worlds for knowledge and knowing activities, we conducted a qualitative study at IBM. We interviewed IBM employees belonging to a special workgroup called ‘Web 2.0/virtual worlds’ in order to gain experience in generating and exchanging knowledge by virtually collaborating and interacting. Our results show that virtual worlds – if they are able to overcome problems like platform stability, user interface or security issues – bear the potential to serve as a KM platform. They facilitate global and simultaneous interaction, create a common context for collaboration, combine different tools for communication and enhance knowledge and knowing processes.     

Mediating Media Studies – Stimulating critical awareness in a virtual environment

Second Life has become increasingly popular with educators and educational institutions, because of the educational possibilities it seems to offer. While there has been a lot of hype and academic publications about educational design or the theoretical framing of teaching in virtual environments, there have been few publications focussing on actual teaching and learning experiences of lecturers and students in Higher Education institutions. This article uses practical examples from an introductory course on Media studies taught at the Hong Kong Polytechnic University to demonstrate that even simple tasks in Second Life can be used to great effect if properly contextualised into the course being taught. High levels of technical skills, or extraordinary educational designs are less important to employing Second Life successfully in a Higher Education environment, than a proper evaluation of student learning outcomes, and teaching goals.