A Series-elastic Robot for Back-pain Rehabilitation

This paper addresses the robot-assisted rehabilitation of back pain, an epidemic health problem affecting a large portion of the population. The design is composed of two springs in series connected to an end-effector via a pair of antagonistic cables. The spring and cable arrangement forms an elastic coupling from the actuator to the output shaft. An input-output torque model of the series-elastic mechanism is established and studied numerically. The study also illustrates the variation of the mechanism’s effective stiffness by changing the springs’ position. In addition, we built a prototype of the robotic mechanism and design experiments with a robotic manipulator to experimentally investigate its dynamic characteristics. The experimental results confirm the predicted elasticity between the input motion and the output torque at the end-effector. We also observe an agreement between the data generated by the torque model and data collected from the experiments. An experiment with a full-scale robot and a human subject is carried out to investigate the human-robot interaction and the mechanism behavior.

     

Kinetic modelling and microbial community assessment of anaerobic biphasic fixed film bioreactor treating distillery spent wash

Anaerobic digestion, microbial community structure and kinetics were studied in a biphasic continuously fed, upflow anaerobic fixed film reactor treating high strength distillery wastewater. Treatment efficiency of the bioreactor was investigated at different hydraulic retention times (HRT) and organic loading rates (OLR 5-20 kg COD m⁻³ d⁻¹). Applying the modified Stover-Kincannon model to the reactor, the maximum removal rate constant (U_max) and saturation value constant (K_B) were found to be 2 kg m⁻³ d⁻¹ and 1.69 kg m⁻³ d⁻¹ respectively. Bacterial community structures of acidogenic and methanogenic reactors were assessed using culture-independent analyses. Sequencing of 16S rRNA genes exhibited a total of 123 distinct operational taxonomic units (OTUs) comprising 49 from acidogenic reactor and 74 (28 of eubacteria and 46 of archaea) from methanogenic reactor. The findings reveal the role of Lactobacillus sp. (Firmicutes) as dominant acid producing organisms in acidogenic reactor and Methanoculleus sp. (Euryarchaeotes) as foremost methanogens in methanogenic reactor.     

Studies on solvent extraction of La(III) using [A336][NO3–] and modeling by statistical analysis and neural network

Solvent extraction of La(III) from acidic nitrate medium has been studied with [A336][NO₃^–] in kerosene. The factors affecting the extraction of La(III) like equilibration time, nitrate ion, extractant and La(III) concentrations, aqueous acidity, O/A ratio variation, nature of diluent, and temperature have been investigated. McCabe-Thiele diagram has been plotted to find out the actual number of theoretical stages needed for complete extraction of lanthanum. The solvent has been successfully regenerated for further use after stripping of the metal. IR studies of [A336][NO₃^–] and La(III) loaded [A336][NO₃^–] have been carried out. Modeling of extraction data has been done using Multiple linear regression analysis and Artificial Neural Network, and the performances have been compared. Error in each case was evaluated in terms of R² and Root mean squared error (RMSE). Maximum extraction of La(III) was 82% when 0.6 M [A336][NO₃^–] was used for extraction. About 98% of the metal has been recovered using 0.2 M HNO₃ as stripping agent. Extractive separation of La(III) and Sm(III) was maximum (β = 65.2) using 0.1 M [A336][NO₃^–]. IR studies revealed formation of lanthanum complex in the extraction process. Artificial Neural Network proved to be better over Multiple linear regression in data prediction.     

Characterization of Fenugreek (<Emphasis Type="Italic">Trigonella foenum-graecum</Emphasis>) Seed Lipids

The composition and content of lipids, fatty acids, triacylglycerols, tocopherols and sterols in nine fenugreek genotypes were analyzed. Lipid content in fenugreek seeds ranged from 5.8 to 15.2%. Major fatty acids were: linoleic acid (45.1–47.5%), α-linolenic (18.3–22.8%), oleic (12.4–17.0%), palmitic (9.8–11.2%) and stearic (3.8–4.2%) acids. The ratios of n-6 to n-3 fatty acids were between 2.1 and 2.7. Similar fatty acid distribution was observed in all analyzed samples with some deviations. α-Tocopherol was the predominant component found in the fenugreek lipid antioxidants, and it constituted over 84% of the total amounts of tocopherols. It amounts ranged from 620 to 910 mg/kg lipids. β-Sitosterol was the major sterol in all samples, varying from 14,203 to 18,833 mg/kg of lipids. Campesterol and cycloartenol were other major sterols, and these compounds including β-sitosterol constituted 56–72% of all sterols. Fenugreek seed lipids consisted predominantly triunsaturated (56.9–66.5%) and diunsaturated (32.2–41.6%) triacylglycerides. Among these components trilinolein (LLL; 12.9–20.5%) dominated followed by PLL (14.0–20.4%), LnLnO (7.8–17.7%), PLO (5.7–11.6%), OLL (6.9–10.6%), LLLn (3.2–9.6%), and LnLnL (3.5–7.6%). Results of the study show that fenugreek seed lipids may be a source of a nutraceutical ingredient for food applications.     

A Heuristic Approach to the Railroad Track Maintenance Scheduling Problem

Abstract: Every year, billions of dollars are spent on rail track maintenance to keep the serviceability of the railroad network. These maintenance projects (of different types) must be performed by suitable maintenance teams within a planning horizon. This article presents a time‐space network model to solve the track maintenance scheduling problem (TMSP). The objective is to minimize the total travel costs of the maintenance teams as well as the impact of maintenance projects on railroad operation, which are formulated by three types of side constraints: mutually exclusive, time window, and precedence constraints. An iterative heuristic solution approach is proposed to solve the large‐scale TMSP model with a large number of side constraints. The proposed model and solution approach are applied to a large‐scale real‐world problem. Compared to the current industry practice the model outcome eliminated all hard side‐constraint violations and reduced the total objective value (travel costs and soft side‐constraint violation penalties) by 66.8%.     

Controlling Plastic Flow across Grain Boundaries in a Continuum Model

A framework for modeling controlled plastic flow through grain boundaries using a continuum plasticity theory, phenomenological mesoscopic field dislocation mechanics (PMFDM), is presented in this article. The developed tool is used to analyze the effect of different classes of constraints to plastic flow through grain boundaries, as it relates to dislocation microstructure development and mechanical response of a bicrystal. It is found that in the case of low misorientation angle between adjacent grains, impenetrable grain boundaries cause significant work hardening as compared to penetrable grain boundaries due to the accumulation of excess dislocations along them. However, a penetrable grain boundary with a high misorientation angle effectively behaves as an impenetrable boundary, with respect to the stress-strain response.     

Microstructure and electrical characterisations of K-modified PLZT

Potassium-modified PLZT [Pb_0.92(La_{1 – z}K_z)_0.08(Zr_0.60Ti_0.40)_{0.98 + 0.04z}O₃ (z = 0.0, 0.1, 0.3, 0.5, 0.7)] ceramics were synthesised using sol-gel technique. Preliminary structural and microstructural parameters were determined using XRD, SEM and TEM techniques. Detailed studies of dielectric properties at 10 kHz in a wide temperature range suggest that the compounds have diffuse phase transition of second order. Studies of spontaneous polarisation, pyroelectric and piezoelectric properties yielded data for devices.