A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Intelligent Service Robotics - Walking robots are considered as a promising solution for locomotion across irregular or rough terrain. While wheeled or tracked robots require flat surface like...     

A formal framework for scenario development in support of environmental decision-making

Scenarios are possible future states of the world that represent alternative plausible conditions under different assumptions. Often, scenarios are developed in a context relevant to stakeholders involved in their applications since the evaluation of scenario outcomes and implications can enhance decision-making activities. This paper reviews the state-of-the-art of scenario development and proposes a formal approach to scenario development in environmental decision-making. The discussion of current issues in scenario studies includes advantages and obstacles in utilizing a formal scenario development framework, and the different forms of uncertainty inherent in scenario development, as well as how they should be treated. An appendix for common scenario terminology has been attached for clarity. Major recommendations for future research in this area include proper consideration of uncertainty in scenario studies in particular in relation to stakeholder relevant information, construction of scenarios that are more diverse in nature, and sharing of information and resources among the scenario development research community.     

Effect of two different rubbers as secondary binders on the friction and wear characteristics of non-asbestos organic (NAO) brake friction materials

Binder provides structural integrity by holding all ingredients in the composition of a brake friction material. The modified binders have played a major role in improving the frictional performance and thermal resistance of the friction material. The present research work evaluates the influence of secondary binders (Nitrile Butadiene rubber (NBR) and Styrene Butadiene rubber (SBR)) on the tribological performance of the friction material using a full-scale inertia brake dynamometer as per JASO C406 standard. Three brake pads were developed by varying the type and composition of secondary rubber binder (5%NBR, 5%SBR and 2.5%NBR + 2.5%SBR) with rest of the ingredients kept unaltered. It was found that the quantity of SBR rubber powder present as secondary binder improved dry and wet recovery. Friction coefficient (μ) exhibited better stability during the fade with the inclusion of both the rubber powders. The friction material with the inclusion of both the NBR and SBR rubber powders exhibited overall better performance than compared to the inclusion of only one secondary binder rubber in the composition. The worn-out surface of the developed friction materials and the counter discs were characterised using FESEM.     

Expanded Polystyrene Foam Formed from Polystyrene Beads Coated with a Nanocrystalline SiO2 Film and the Analysis of Its Moisture Adsorption and Resistance to Mechanical Stress

Conventional expanded polystyrene can absorb moisture, which significantly degrades its properties. In the present study, it was demonstrated that SiO₂ can be deposited on polystyrene beads before pre-expansion and molding steps. Under the applied test conditions, expanded polystyrene with nanocrystalline SiO₂ additives had approximately 10% lower moisture adsorption and an 8.4% better resistance to deformation. Expanded polystyrene analysis suggested that the observed improvements were caused by the hydrophobic nature of nanocrystalline SiO₂ and, even more importantly, because SiO₂ acted as an amalgamation catalyst and significantly increased adhesion between the expanded polystyrene beads during the expanded polystyrene molding process.     

The properties of samarium doped ceria oxide thin films grown by e-beam deposition technique

One of the main challenges in today's solid oxide fuel cell (SOFC) technology is the reduction of their operating temperature. New types of oxygen ion conducting materials are currently under investigation to overcome the problems which SOFC faces at high temperatures. Samarium doped ceria oxide (SDC) was the material of investigation in this work. Optical quartz (SiO₂) and Fe–Ni–Cr alloy (Alloy 600) were the two types of chosen substrates onto which SDC thin films were deposited by e-beam evaporation technique. The bias voltage was applied to the substrate during film growth. It had an influence on film formation, its microstructure and density because of the ionized particles presence in the SDC vapor stream. Changes in crystallite size and surface morphology were determined from X-ray diffraction data and scanning electron microscopy images. Influence of bias voltage on porosity of formed SDC thin films on optical quartz were calculated from transmittance spectra data by using Swanepoel method. The porosity decreases up to 12% by decreasing bias voltage from 0 to ?150 V.     

Comparison of antiplatelet effects of aspirin, ticlopidine, or their combination after stent implantation

OBJECTIVE: To explore the basis of the gender-based differences in endocrine and surgical findings in patients with prolactinoma (prolactin cell adenoma) as well as in their clinical outcome. MATERIAL AND METHODS: In young or reproductive-age female patients, older women (beyond 40 years of age), and male patients, we systematically studied the following factors: operative and endocrine features (tumor size, invasiveness, preoperative serum prolactin level, and biochemical outcome), specific biologic variables (mitotic index, MIB-1 labeling index, and p27 immunoreactivity), and hormone receptor status (estrogen and progesterone receptor proteins as well as dopamine D2 receptor messenger RNA). RESULTS: Of the various factors assessed, the preoperative prolactin level and MIB-1 labeling index were lower in young female patients in comparison with older female and particularly male patients. Hormone levels were also positively associated with mitotic activity as well as the MIB-1 labeling index. Although invasion was infrequent in microadenomas of young female patients, no statistically significant differences in tumor size or invasiveness were noted among the three patient groups. Absence of differences in invasiveness may, in part, be explained by artifacts of case selection. CONCLUSION: The basis for the observed differences in proliferative activities in tumors of the three study groups is not readily apparent but may reflect differences in the endocrine milieu or the effect of sex steroid hormone receptors, tumoral vascularity, or specific growth factors.     

Role of T‐regulatory cells in the response to hepatitis B vaccine in hemodialysis patients

Human disease elicits a complex array of biological processes that results in long‐term protective immunological memory to infectious agents. Chronic kidney disease is known to impair induction of sustained immunological memory to hepatitis B vaccine (HBVax) antigens. We asked the question: Does end‐stage renal disease promote changes in subtypes of regulatory T (Treg) cells that correlate with diminished amnestic response to HBVax antigen compared to healthy controls? The study design and setting was a prospective observational cohort at a veterans affairs medical center. End‐stage renal disease patients on hemodialysis (HD) were compared with individuals with self‐reported normal kidney function. All subjects received HBVax. Peripheral blood was sampled for assessment for Treg cells pre and post vaccination. CD4+ FOXP3 Treg numbers were similar between HD and healthy subjects during a 14‐day time period post vaccination. HD subjcts had lower anti‐HBSag antibody than CON (control) subjects (330 ± 108.7 vs. 663.1 ± 129.7 IU/mL; P = 0.063). Hemodialysis subjects with resting Tregs higher than the median value in our cohort demonstrated a significantly lower change in HBsAB at 30 days post booster vaccination (P = 0.030). No such relationship was found for the activated Treg subset among HD subjects, or either subset among CON subsets. In our limited comparison study of 11 HD and 8 CON subjects, Treg subsets did not differ between the two groups; but differences in the suppressive Treg numbers in the HD group could explain the altered antibody response to HBVax and is worthy of further study.     

E-beam lithography of computer generated holograms using a fully vectorial 3D beam propagation method

A fully vectorial 3D beam propagation method (BPM) has been applied to obtain a required pattern of computer generated hologram (CGH) with a variable profile of four phase levels. The computer reconstruction of the CGH image having one and two focal spots was performed by application of the fully vectorial 3D BPM method. After transferring the CGH by EBL technique an adequate phase profile was obtained. Inter-level parameter method was developed to obtain the estimated an electron beam dose required for the even topographical patterning. Using this method, an EBL exposure dose determined to achieve the required relief amplitude of 1.29 μm was 43 μC/cm². The manufactured holograms showed that the overall proposed production process, from the 3D BPM computer simulation to e-beam lithography, can be used to obtain good quality product with reasonable time and computational resources.