A new representation of systems with frictional unilateral constraints and its Baumgarte-like relaxation

This paper proposes a new representation of multibody mechanical systems involving three-dimensional frictional unilateral constraints. The new representation is of the form of a differential algebraic inclusion (DAI) employing a normal cone with a non-Euclidean, singular norm metric. It can be seen as a generalization of a differential algebraic equation (DAE) using Lagrange multipliers, which has been used to represent mechanical systems with equality constraints. The paper also presents an approach to approximate the aforementioned DAI by another form of DAI, which can be equivalently converted into an ordinary differential equation (ODE). The approach can be seen as a generalization of the Baumgarte stabilization, which was originally developed for DAEs. The new DAI representation and its ODE approximation are illustrated with some simple examples.     

Efficient learning of multiple context-free languages with multidimensional substitutability from positive data

Recently Clark and Eyraud (2007) [10] have shown that substitutable context-free languages, which capture an aspect of natural language phenomena, are efficiently identifiable in the limit from positive data. Generalizing their work, this paper presents a polynomial-time learning algorithm for new subclasses of multiple context-free languages with variants of substitutability.     

A pilot survey of 39 Victorian WWTP effluents using a high speed luminescent umu test in conjunction with a novel GC-MS-database technique for automatic identification of micropollutants

In 2007, samples of treated effluent were collected at point of discharge to the environment from 39 wastewater treatment plants (WWTPs) located across Victoria, Australia grouped by treatment type. Sample genotoxicity was assessed with a high-throughput luminescent umu test method using Salmonella typhimurium TL210 strain, with and without addition of a commercially available metabolic activation system. Samples were also screened using a gas chromatographic-mass spectrometric mass-structure database recognition method. A genotoxic response was observed in half of the samples tested without metabolic activation system (相似文献   

Adaptive Control For Robotic Manipulators Executing Multilateral Constrained Task

This paper presents a model‐based adaptive control in task coordinates for robotic manipulators executing multilateral constrained tasks The controller works based on the concept of orthogonality between force and motion in the subspaces derived from the constraints. The control gains are independently adjustable in each subspace. The friction force, depending on the contact force, is compensated adaptively. Asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov‐Like Lemma. Experimental results obtained using a 3 D.O.F. robot are given.     

Out‐of‐Plane Strain Induced in a Moiré Superstructure of Monolayer MoS2 and MoSe2 on Au(111)

Making contact of transition metal dichalcogenides (TMDCs) with a metal surface is essential for fabricating and designing electronic devices and catalytic systems. It also generates strain in the TMDCs that plays significant role in both electronic and phonon structures. Therefore, detailed understanding of mechanism of the strain generation is important to fully comprehend the modulation effect for the electronic and phonon properties. Here, MoS₂ and MoSe₂ monolayers are grown on Au surface by chemical vapor deposition and it is demonstrated that the contact with a crystalline Au(111) surface gives rise to only out‐of‐plane strain in both MoS₂ and MoSe₂ layers, whereas no strain generation is observed on polycrystalline Au or SiO₂/Si surfaces. Scanning tunneling microscopy analysis provides information regarding consequent specific adsorption sites between lower S (Se) atoms in the S? Mo? S (Se? Mo? Se) structure and Au atoms via unique moiré superstructure formation for MoS₂ and MoSe₂ layers on Au(111). This observation indicates that the specific adsorption sites give rise to out‐of‐plane strain in the TMDC layers. Furthermore, it also leads to effective modulation of the electronic structure of the MoS₂ or MoSe₂ layer.     

Estimation of element-based zero-stress state for arterial FSI computations

In patient-specific arterial fluid–structure interaction (FSI) computations the image-based arterial geometry comes from a configuration that is not stress-free. We present a method for estimation of element-based zero-stress (ZS) state. The method has three main components. (1) An iterative method, which starts with an initial guess for the ZS state, is used for computing the element-based ZS state such that when a given pressure load is applied, the image-based target shape is matched. (2) A method for straight-tube geometries with single and multiple layers is used for computing the element-based ZS state so that we match the given diameter and longitudinal stretch in the target configuration and the “opening angle.” (3) An element-based mapping between the arterial and straight-tube configurations is used for mapping from the arterial configuration to the straight-tube configuration, and for mapping the estimated ZS state of the straight tube back to the arterial configuration, to be used as the initial guess for the iterative method that matches the image-based target shape. We present a set of test computations to show how the method works.     

Impact of compression,physical aging,and freezing rate on the crystallization characteristics of an amorphous sugar matrix

Amorphous matrices made up of sugar molecules, are frequently used in food and pharmaceutical industries. A drawback to their use is that they are susceptible to collapse, as a result of water uptake and an increase in temperature and subsequently crystallize. Herein, the crystallization characteristics of amorphous sugar (sucrose and α-lactose) preparations were analyzed, with the purpose of obtaining knowledge that could lead to the prediction of how long the amorphous state is retained under various conditions. The impact of compression, physical aging and freezing rate on the induction period (t_ind) for crystallization were examined. Freeze-dried sugar samples were compressed at 74 or 443 MPa (5 min) and then rehumidified at specified RHs. Some freeze-dried sucrose samples were physically aged, and alternatively freeze-drying was conducted under different conditions. The isothermal crystallization of the prepared samples at different temperatures (T), the glass transition and the crystallization temperature (T_cry) were measured, using differential scanning calorimetry. The compression markedly decreased the t_ind, while significantly lowered the hygroscopicity. Physical aging and slower-freezing also shortened the t_ind. The t_ind was found to be correlated exclusively with (T_cry–T), regardless of rehumidification, compression, sugar type, physical aging and freezing rate in the freeze-drying process.     

Self-swarming robots that exploit hydrodynamical interaction

Although numerous swarm robotic systems have already been developed, they have exhibited limited adaptability. This was partly because the previous researchers designed the control schemes on the basis of informational interaction, without considering the physical effects of the environment. To tackle this problem, we employ an unconventional approach: we design a control scheme for swarm robots based on their physical interaction in a hydrodynamic field, inspired by biological swarming. Through simulations using a smoothed particle hydrodynamics method, we show that the proposed control scheme allows agents to form an ordered swarm in response to their environment.     

Die quenching limit of AA2024 aluminum alloy billet on servo press

Die quenching of AA2024 aluminum alloy billets was carried out on a servo press with ram-motion control of WC-20 mass%Co dies directly after solution heat treatment (SHT). To clarify the dependence on billet size for die quenching, two billets with a height of h₀ = 8 mm or 16 mm and with the same diameter of 16 mm were prepared. The cylindrical billets were heated in an electric furnace at 823 K and transferred to the press. Then the billets were uniaxially compressed with a reduction in height (Δh/h₀) of 2% or 5%, and further held between the dies. The sandwiching duration by dies (t_d.q.) was varied from 0 to 8 s. Based a measured temperature change, hardness and TG–DTA analysis, it is found that die quenching is successfully carried out without precipitation hardening only in the case of the billet with a height of 8 mm and t_d.q. > 6 s. The reduction in height is limited less than 5% by intergranular fracture on side surface of billet during the die quenching process.