IN VIVO CHARACTERIZATION OF ATTACHMENT SAFETY BETWEEN CARDIAC PACING LEAD AND CANINE HEART MUSCLE

In vivo experiments of screwing the electrode of canine hearts and assigning external excitation on the lead-myocardium interface was carried out to evaluate the lead/myocardium adherence safety.The electrode is specially designed to host a measurement unit of strain gauges. We obtained the lead/heart interactions data from 12 dogs under natural heart beating and beating with external excitations.The data recorded from the acute phase and the chronic phase of pulling out pacing leads were compared with each other.The electrode/heart interaction is caused by the heart beat and influenced by the lung breath.This process induced tolerable damage to the lead or myocardium.The interaction decreases as the frequency of external excitations increases.The lead is more likely to be detached from myocardium under higher excitation frequency.At the same implanting sites,safer pacing lead/myocardium attachment can be realized in the chronic tests than in the acute tests.     

Quasi-Static Torsion Characterization of Micro-diameter Copper Wires

A method to measure very small torques that subject micro-diameter copper wires to plasticity is developed for quasi-static torsion experiment. Following the concept in the work by Fleck et al. (Acta Metall. Mater. 42:2, 1994), we employed a glass fiber filament as the torque cell. To calculate the small torques applied on the micro-diameter copper wires, an additional rotation sensor is required to measure the rotation of the glass fiber torque cell. The rotation sensor system is attached between the glass fiber and the copper wire specimen. It uses a laser extensometer to gauge the distance between a helical and a horizontal reflection tapes on a foam cylinder, which is calibrated with the angle of rotation. A new set of torsional experimental data for the copper wires with four different diameters, from 16–180 μm, are presented. All copper wires exhibit a typical elastic-plastic response. The torsional properties of these copper wires were not found to be significantly different. The uncertainties of the measurement and analysis are discussed.     

Hydrodynamic interaction of particles

The hydrodynamic interaction of solid particles in a viscous incompressible fluid is considered. An analytical solution of the problem of interaction of two or more particles is obtained. The forces and torques exerted on the particles and also the linear and angular particle velocities are calculated. A comparison with the results obtained earlier is given. Saransk. Translated from Izvestiya Rossiiskoi Akademii Nauk, Mekhanika Zhidkosti i Gaza, No. 2, pp. 112–119, March–April, 1998. The work was supported by a grant from the Norweigan Research Council.     

Measurement of Orthopedic Cortical Bone Screw Insertion Performance in Cadaver Bone and Model Materials

In this study, a method was developed for distinguishing insertion and driving performance between different self-tapping bone screw designs. To measure screw starting load, torque and displacements, a test apparatus was developed utilizing a modified drill press with the capability to measure in-line torque, axial compression load, and axial displacement. Specimens were inserted into cadaver bone to measure a baseline response and a bone analog was developed to mimic the bicortical application of screws in the cadaver model. Recorded data could be used to measure a distinguishable screw starting load and the torque for the insertion of bone screws. The results were similar between the cadaver bone and the bone analog. The average insertion load ranged from 5.4 to 64.5 N in cadaver tests and 9.0–41.0 N in the construct tests. Average first cortex insertion torques ranged from 0.53 to 0.66 N-m in the cadaver tests and 0.29–0.32 N-m in the construct test. Average second cortex insertion torques ranged from 0.70 to 1.03 N-m in the cadaver tests and 0.60–0.63 N-m in the construct tests. This method successfully illuminated differences between several different self-tapping screw designs and was also successfully employed to determine the impact of design and manufacturing methods on screw performance. An interesting finding in this study is that axial starting load is very sensitive to screw tip design whereas insertion torque is not.     

Noise influenced elastic cantilever dynamics with nonlinear tip interaction forces

In this work, the authors study the influence of noise on the dynamics of base-excited elastic cantilever structures at the macroscale and microscale by using experimental, numerical, and analytical means. The macroscale system is a base excited cantilever structure whose tip experiences nonlinear interaction forces. These interaction forces are constructed to be similar in form to tip interaction forces in tapping mode atomic force microscopy (AFM). The macroscale system is used to study nonlinear phenomena and apply the associated findings to the chosen AFM application. In the macroscale experiments, the tip of the cantilever structure experiences long-range attractive and short-range repulsive forces. There is a small magnet attached to the tip, and this magnet is attracted by another one mounted to a high-resolution translatory stage. The magnet fixed to the stage is covered by a compliant material that is periodically impacted by the cantilever’s tip. Building on their earlier work, wherein the authors showed that period-doubling bifurcations associated with near-grazing impacts occur during off-resonance base excitations of macroscale and microscale cantilevers, in the present work, the authors focus on studying the influence of Gaussian white noise when it is included as an addition to a deterministic base excitation input. The repulsive forces are modeled as Derjaguin–Muller–Toporov (DMT) contact forces in both the macroscale and microscale systems, and the attractive forces are modeled as van der Waals attractive forces in the microscale system and magnetic attractive forces in the macroscale system. A reduced-order model, based on a single mode approximation is used to numerically study the response for a combined deterministic and random base excitation. It is experimentally and numerically found that the addition of white Gaussian noise to a harmonic base excitation facilitates contact between the tip and the sample, when there was previously no contact with only the harmonic input, and results in a response that is nominally close to a period-doubled orbit. The qualitative change observed with the addition of noise is associated with near-grazing impacts between the tip and the sample. The numerical and experimental results further motivate the formulation of a general analytical framework, in which the Fokker–Planck equation is derived for the cantilever-impactor system. After making a set of approximations, the moment evolution equations are derived from the Fokker–Planck equation and numerically solved. The resulting findings support the experimental results and demonstrate that noise can be added to the input to facilitate contact between the cantilever’s tip and the surface, when there was previously no contact with only a harmonic input. The effects of Gaussian white noise are numerically studied for a tapping mode AFM application, and it is shown that contact between the tip and the sample can be realized by adding noise of an appropriate level to a harmonic excitation.     

Helical Fiber Pull-out in Biological Materials

Many biological materials, such as wood and bone, possess helicoid microstructures at microscale, which can serve as reinforcing elements to transfer stress between crack surfaces and improve the fracture toughness of their composites. Failure processes, such as fiber/matrix interface debonding and sliding associated with pull-out of helical fibers, are responsible mainly for the high energy dissipation needed for the fracture toughness enhancement. Here we present systemic analyses of the pull-out behavior of a helical fiber from an elastic matrix via the finite element method(FEM) simulation, with implications regarding the underlying toughening mechanism of helicoid microstructures. We find that, through their uniform curvature and torsion, helical fibers can provide high pull-out force and large interface areas, resulting in high energy dissipation that accounts, to a large extent, for the high toughness of biological materials. The helicity of fiber shape in terms of the helical angle has significant effects on the force-displacement relationships as well as the corresponding energy dissipation during fiber pull-out.     

DETERMINATION OF QUADRICEPS FORCES IN SQUAT AND ITS APPLICATION IN CONTACT PRESSURE ANALYSIS OF KNEE JOINT

While the quadriceps muscles of human body are quite important to the daily activities of knee joints,the determination of quadriceps forces poses significant challenges since it cannot be measured in ...     

Static and dynamic responses of a microcantilever with a T-shaped tip mass to an electrostatic actuation

In this study, nonlinear static and dynamic responses of a microcantilever with a T-shaped tip mass excited by electrostatic actuations are investigated. The electrostatic force is generated by applying an electric voltage between the horizontal part of T-shaped tip mass and an opposite electrode plate. The cantilever microbeam is modeled as an Euler–Bernoulli beam. The T-shaped tip mass is assumed to be a rigid body and the nonlinear effect of electrostatic force is considered. An equation of motion and its associated boundary conditions are derived by the aid of combining the Hamilton principle and Newton's method.An exact solution is obtained for static deflection and mode shape of vibration around the static position. The differential equation of nonlinear vibration around the static position is discretized using the Galerkin method. The system mode shapes are used as its related comparison functions. The discretized equations are solved by the perturbation theory in the neighborhood of primary and subharmonic resonances.In addition, effects of mass inertia, mass moment of inertia as well as rotation of the T-shaped mass, which were ignored in previous works, are considered in the analysis. It is shown that by increasing the length of the horizontal part of the T-shaped mass, the amount of static deflection increases,natural frequency decreases and nonlinear shift of the resonance frequency increases. It is concluded that attaching an electrode plate with a T-shaped configuration to the end of the cantilever microbeam results in a configuration with larger pull-in voltage and smaller nonlinear shift of the reso-nance frequency compared to the configuration in which the electrode plate is directly attached to it.     

Particle interaction in a flow with a parabolic velocity profile

The hydrodynamic interaction of two rigid spherical particles in a viscous incompressible fluid with the velocity at infinity represented by a second-degree polynomial in the coordinates is considered. An analytical solution of the problem is suggested. The forces and torques exerted on the particles and also the linear and angular particle velocities are calculated. The results are compared with previous theoretical and experimental data. Saransk. Translated from Izvestiya Rossiiskoi Akademii Nauk, Mekhanika Zhidkosti i Gaza, No. 1, pp. 84–91, January–February, 2000. The work received financial support from the Russian Foundation for Basic Research (project No. 98-01-03295).     

Holding characteristics of fasteners in bone

A satisfactory method was developed for evaluating the holding characteristics of fasteners in bone. Using this method in over 100 tests, the ultimate pull-out forces and shear stresses were determined for two sizes of sheet-metal type of screws with various interference fits, for a commercial orthopedic self-tapping screw, and for two sizes of machine screws in tapped bone, each at five sections of equine metacarpus. The ultimate pull-out force was maximum at the midlength of the bone, and minimum at the distal end. In general, the failure mechanisms were bone-thread shear for low pull-out forces, bone splitting at intermediate pull-out forces, and bone fragmentation at high pull-out forces. The failure mechanisms of the bone indicate that orthopedic fasteners should possibly not be designed for maximum holding force.     

Interaction of an anti-plane singularity with interfacial anti-cracks in cylindrically anisotropic composites

Anti-plane problem for a singularity interacting with interfacial anti-cracks (rigid lines) under uniform shear stress at infinity in cylindrically anisotropic composites is investigated by utilizing a complex potential technique in this paper. After obtaining the general solution for this problem, the closed solution for the interface containing one anti-crack is presented analytically. In addition, the complex potentials for a screw dislocation dipole inside matrix are obtained by the superimposing method. Expressions of stress singularities around the anti-crack tips, image forces and torques acting on the dislocation or the center of dipole are given explicitly. The results indicate that the anisotropy properties of materials may weaken the stress singularity near the anti-crack tip for the singularity being a concentrated force but enhance the one for the singularity being a screw dislocation and change the equilibrium position of screw dislocation. The presented solutions are valid for anisotropic, orthotropic or isotropic composites and can be reduced to some new or previously known results.     

Construction of three-dimensional flow structure out of two-dimensional steady flow field velocity measurements

 Two-dimensional particle image velocimetry (PIV) is used to obtain a set of parallel vector maps in spanwise direction over the delta wing configuration ELAC. The out-of-plane velocity component is then constructed by application of continuity equation. This yields the whole three-dimensional separated flow field over the leeward side of the model. The spatial resolution of the measurements enables a detailed examination of the three-dimensional flow structure. The growth and the helical structure of primary vortex as well as smaller flow structures caused by secondary separation can be observed. Accuracy of the constructed velocity component is estimated with help of a numerically obtained three-dimensional dataset of the flow field around this configuration. The reconstruction procedure was applied to this data set taking the experimental uncertainty and the grid spacing of the PIV measurements into consideration. A comparison of reconstructed out-of-plane component and data of the numerical solution of Navier–Stokes equations results in a promising low error. A statistical analysis of different procedures allows interpretation of reconstruction capabilities. Received: 15 April 1998 / Accepted: 15 September 1998     

Effect of the deformation in the inertia forces on the inverse dynamics of planar flexible mechanical systems

The inverse dynamics problem for articulated structural systems such as robotic manipulators is the problem of the determination of the joint actuator forces and motor torques such that the system components follow specified motion trajectories. In many of the previous investigations, the open loop control law was established using an inverse dynamics procedure in which the centrifugal and Coriolis inertia forces are linearized such that these forces in the flexible model are the same as those in the rigid body model. In some other investigations, the effect of the nonlinear centrifugal and Coriolis forces is neglected in the analysis and control system design of articulated structural systems. It is the objective of this investigation to study the effect of the linearization of the centrifugal and Coriolis forces on the nonlinear dynamics of constrained flexible mechanical systems. The virtual work of the inertia forces is used to define the complete nonlinear centrifugal and Coriolis force model. This nonlinear model that depends on the rate of the finite rotation and the elastic deformation of the deformable bodies is used to obtain the solution of the inverse dynamics problem, thus defining the joint torques that produce the desired motion trajectories. The effect of the linearization of the mass matrix as well as the centrifugal and Coriolis forces on the obtained feedforward control law is examined numerically. The results presented in this investigation are obtained using a slider crank mechanism with a flexible connecting rod.     

Numerical investigation of turbulent flow,heat transfer and entropy generation in a helical coiled tube with larger curvature ratio

Three-dimensional turbulent forced convective heat transfer and flow characteristics, and the non-dimensional entropy generation number in a helical coiled tube subjected to uniform wall temperature are simulated using the k–ε standard turbulence model. A finite volume method is employed to solve the governing equations. The effects of Reynolds number, curvature ratio, and coil pitch on the average friction factor and Nusselt number are discussed. The results presented in this paper cover a Reynolds number range of 2 × 10⁴ to 6 × 10⁴, a pitch range of 0.1–0.2 and a curvature ratio range of 0.1–0.3. The results show that the coil pitch, curvature ratio and Reynolds number have different effects on the average friction factor and Nusselt number at different cross-sections. In addition, the flow and heat transfer characteristics in a helical coiled tube with a larger curvature ratio for turbulent flow are different from that of smaller curvature ratio for laminar and turbulent flow in certain ways. Some new features that are not obtained in previous researches are revealed. Moreover, the effects of Reynolds number, curvature ratio, and coil pitch on the non-dimensional entropy generation number of turbulent forced convection in a helical coiled tube are also discussed.     

Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work

Inverse dynamics of a general model of a spherical star-triangle (SST) parallel manipulator (Enferadi and Akbarzadeh Tootoonchi, Robotica 27:663–676, 2009) is the subject of this paper. This manipulator is of type 3-RRP, has good accuracy and relatively a large workspace which is free of singularities (Enferadi and Akbarzadeh Tootoonchi, Robotica, Revised paper, 2009). First, inverse kinematics utilizing the angle axis representation is solved. Next, velocity and acceleration analysis as well as link Jacobian matrices are obtained in invariant form. Finally, a systematic approach based on the principle of virtual work and the concept of link Jacobian matrices is presented. This method allows elimination of constraint forces and moments at the passive joints from motion equations. It is shown that the dynamics of the manipulator can be reduced to solving a system of three linear equations with three unknowns. Moreover, a computational algorithm for solving the inverse dynamics is developed. Two examples with different trajectories for the moving spherical platform are presented and motor torques are obtained. Results are verified using a commercial dynamics modeling package.     

Minimal dynamic characterization of tree-like multibody systems

The dynamic model of tree-like multibody systems is linear with respect to the parameters of mass distribution for instance when barycentric parameters are used. Thus, assuming that the parameters related to the kinematics are perfectly known, these quantities can be estimated through linear regression techniques. The necessary data are obtained by measuring the joint forces and/or torques and the resulting motion given in terms of positions, velocities and accelerations. An alternative method uses measurements of the reaction forces and torques applied to the bedplate.The linearity of the dynamic and reaction models with respect to the barycentric quantities does not however imply that the latter constitute the minimum set of parameters characterizing the mass distribution of the system. In other words, some barycentric parameters may disappear from the models or may be redundant in the sense that they appear only via linear combinations. In the first case they are not identifiable, while in the second case the linear regression technique leads to estimated values which are correct for the combinations but can be erroneous for the individual parameters.The various options taken to derive the dynamic and reaction models by use of the ROBOTRAN programme are briefly reviewed. Then the rules leading to the minimal parametrization are presented and illustrated by means of a practical example related to a robot calibration problem.     

Numerical experiments on the transient motions of a flapping foil

The flow field generated by a foil during transient motions is investigated by means of numerical experiments. The numerical simulations have some advantages with respect to laboratory experiments. Indeed, having access to the velocity and pressure fields both in space and in time, it is possible to 'measure' quantities like vorticity, forces and torques which are quite difficult to obtain in laboratory. Moreover, data can be easily gained for different foil kinematics. The obtained results show that the time history of the propulsive force strongly depends on the details of the kinematics of the foil. Moreover, the numerical simulations have allowed to understand the main mechanisms employed by fish to propel themselves during fast starts and to identify the values of the parameters providing optimal propulsive performances.     

Control torque components of center-of-mass motions in hammer throwing

Summary Modified Newton's law and Euler's equation of motion giving the internal or control forces and torques in the thrower's joints are derived. It is considered that all the forces and torques, acting on any part of the thrower's body producing motion, are due to linear and angular velocity changes and to the external forces such as gravity and friction with the ground. Unfortunately, any estimation of the thrower's joints' internal or control forces and torques from this mechanical model is complicated by the asymmetric nature of the resultant equations of motion.A simplified bi-mass model is worked out as an application of this approach. Using experimental data for the center of mass paths of the hammer and the thrower the body main control driving torques at the various points in the movement pattern are evaluated, and the thrower's balance is further studied.

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Drehmomentenregelung der Massenmittelpunktsbewegung beim Hammerwurf

Übersicht Zur Bestimmung der inneren Kräfte und Momente in den Gelenken eines Hammerwerfers werden die Bewegungsgleichungen aufgestellt. Es wird angenommen, daß alle Kräfte und Momente in den Körperteilen des Sportlers, die die Bewegung erzeugen, von Geschwindigkeits- und Winkelgeschwindigkeitsänderungen sowie äußeren Kräften wie Schwerkraft und Reibkontakt mit dem Untergrund herrühren. Allerdings ist die Bestimmung der Gelenkbeanspruchungen mit diesem mechanischen Modell kompliziert. Deshalb wird vereinfachend ein Zwei-Massen-Modell behandelt. Mit Hilfe experimenteller Daten über die Bewegung des Hammers und des Körperschwerpunktes wird das wesentliche, den Antrieb regelnde innere Moment für verschiedene Zeitpunkte des Bewegungsablaufs bestimmt.

     

小型静电陀螺仪电极面积及电极装配误差研究

介绍了小型静电陀螺仪的电极支承结构和电极面积误差引起的干扰力矩的计算公式,并根据影响电极面积的各种因素推导出了电极面积的误差范围。根据装配误差产生干扰力矩的情况确定了最终的装配精度,为电极的设计提供了重要的参考依据。     

Mixed Convection in a Vertical Porous Channel

A numerical study of mixed convection in a vertical channel filled with a porous medium including the effect of inertial forces is studied by taking into account the effect of viscous and Darcy dissipations. The flow is modeled using the Brinkman–Forchheimer-extended Darcy equations. The two boundaries are considered as isothermal–isothermal, isoflux–isothermal and isothermal–isoflux for the left and right walls of the channel and kept either at equal or at different temperatures. The governing equations are solved numerically by finite difference method with Southwell–Over–Relaxation technique for extended Darcy model and analytically using perturbation series method for Darcian model. The velocity and temperature fields are obtained for various porous parameter, inertia effect, product of Brinkman number and Grashof number and the ratio of Grashof number and Reynolds number for equal and different wall temperatures. Nusselt number at the walls is also determined for three types of thermal boundary conditions. The viscous dissipation enhances the flow reversal in the case of downward flow while it counters the flow in the case of upward flow. The Darcy and inertial drag terms suppress the flow. It is found that analytical and numerical solutions agree very well for the Darcian model. An erratum to this article is available at .