A fluidic-muscle driven force-controlled parallel platform for physical simulation of virtual spatial force-displacement laws

Described in this paper is a six-legged Stewart-Gough parallel platform driven by a relatively new type of fluidic muscles. The advantage of the platform is that it is virtually free of stick-slip effects. Thus, the device is well-suited for fine-tuned force control and for physical simulation of virtual force-displacement laws. The legs of the platform are of type RRPS and are equipped with a coaxial coil spring and a fluidic muscle providing push and pull forces. Each leg is equipped with a force sensor, a pressure sensor, and a magnetostrictive position encoder. The control for the platform consists of six control loops for the six operated actuators with model-based force control comprising individual gas models as well as the rubber nonlinearities for each leg. The control law also includes the gas flow in the proportional directional control valve in 3/3-way function. The present paper describes the basic architecture of the platform, the dynamic models, as well as testbed results for the existing fluidic-muscle parallel platform DynaHex. It is shown that the presented control scheme leads to a stable force control of the platform for quasi-static motion. As an application, the device will be employed in fields of biomechanics, as well as in general environments requiring physical simulation.     

聚变堆熔盐冷却偏滤器靶板结构设计与分析

为提高偏滤器的抗中子辐照能力，兼顾高热承载能力和聚变堆经济性的需要，提出了基于熔盐冷却(MSC)的偏滤器靶板结构设计。它采用FLiNaK作为冷却剂，钨镧合金为热沉材料，钨为第一壁材料。通过数值计算评估了靶板的热负荷承载能力，并完成了偏滤器冷却剂回路设计，优化了偏滤器各模块之间的流量分配。此MSC偏滤器靶板设计可以有效去除10~15MW•m^-2热负荷，为适应未来聚变堆偏滤器靶板发展的需要提供了一种设计解决方案。     

Preconditioning and globalizing conjugate gradients in dual space for quadratically penalized nonlinear-least squares problems

When solving nonlinear least-squares problems, it is often useful to regularize the problem using a quadratic term, a practice which is especially common in applications arising in inverse calculations. A solution method derived from a trust-region Gauss-Newton algorithm is analyzed for such applications, where, contrary to the standard algorithm, the least-squares subproblem solved at each iteration of the method is rewritten as a quadratic minimization subject to linear equality constraints. This allows the exploitation of duality properties of the associated linearized problems. This paper considers a recent conjugate-gradient-like method which performs the quadratic minimization in the dual space and produces, in exact arithmetic, the same iterates as those produced by a standard conjugate-gradients method in the primal space. This dual algorithm is computationally interesting whenever the dimension of the dual space is significantly smaller than that of the primal space, yielding gains in terms of both memory usage and computational cost. The relation between this dual space solver and PSAS (Physical-space Statistical Analysis System), another well-known dual space technique used in data assimilation problems, is explained. The use of an effective preconditioning technique is proposed and refined convergence bounds derived, which results in a practical solution method. Finally, stopping rules adequate for a trust-region solver are proposed in the dual space, providing iterates that are equivalent to those obtained with a Steihaug-Toint truncated conjugate-gradient method in the primal space.     

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??We consider probabilistic meanings for some numerical characteristics of single birth processes. Some probabilities of events, such as extinction probability, returning probability, are represented in terms of these numerical characteristics. Two examples are also presented to illustrate the value of the results.     

An analytical method for the determination of stress and strain concentrations in textile-reinforced GF/PP composites with elliptical cutout and a finite outer boundary and its numerical verification

Stress concentrations in the vicinity of cutouts can often be regarded to be the limiting factor for a whole structure. As a further development of prior research at the Institute of Lightweight Engineering and Polymer Technology, an analytical method for the determination of the whole stress-strain fields in the vicinity of holes in multilayered textile-reinforced composites has been developed, which takes into consideration the influences of a finite outer boundary of the specimen. The analytical method is based on the classical laminate theory and the use of complex-valued potential functions. To account for the shape of the specimen, the method of conformal mappings is applied for the inner boundary, while a combination of boundary collocation and least squares method is used for the outer boundary. The method allows a layer-by-layer analysis of stress concentrations. For the verification of the developed calculation model, extensive experimental and numerical finite-element (FE) studies have been carried out on multilayered GF/PP plates with different laminate layups, notches, and specimen dimensions. The comparison of the experimentally or numerically determined results with the analytically calculated ones shows a very good correlation, of which the numerical studies are presented here for the first time. In a second step, the applicable boundary conditions on the outer boundary have been extended in such a way that varying stress and moment resultants can be applied, so that the calculation method can be used as an analytical sub-model in combination with FE techniques.     

Calorimetric determination of the effect of additives on cement hydration process

Possibilities of a multicell isoperibolic-semiadiabatic calorimeter application for the measurement of hydration heat and maximum temperature reached in mixtures of various compositions during their setting and early stages of hardening are presented. Measurements were aimed to determine the impact of selected components?? content on the course of ordinary Portland cement (OPC) hydration. The following components were selected for the determination of the hydration behaviour in mixtures: very finely ground granulated blast furnace slag (GBFS), silica fume (microsilica, SF), finely ground quartz sand (FGQ), and calcined bauxite (CB). A commercial polycarboxylate type superplasticizer was also added to the selected mixtures. All maximum temperatures measured for selected mineral components were lower than that reached for cement. The maximum temperature increased with the decreasing amount of components in the mixture for all components except for silica fume. For all components, except for CB, the values of total released heat were higher than those for pure Portland cement samples.     

In vitro evaluation of cytotoxic and inflammatory properties of silica nanoparticles of different sizes in murine RAW 264.7 macrophages

The biological response to four well-characterized amorphous silica nanoparticles was investigated in RAW 264.7 macrophages in view of their potential application as drug carriers to sites of inflammation. All silica nanoparticles-induced cell membrane damage, reduced metabolic activity, generated ROS and released various cytokines, but to different extents. Two silica nanoparticles of 34 nm (A and B) with different zetapotentials were more cytotoxic than (aggregated) 11 and 248 nm nanoparticles, while cytokines were mostly induced by the (aggregated) 11 nm and only one of the 34 nm nanoparticles (34A). The results indicate that specific silica nanoparticles may have counterproductive effects, for example when used as carriers of anti-inflammatory drugs. The physicochemical properties determining the response of nanoparticles vary for different responses, implying that a screening approach for the safe development of nanoparticles needs to consider the role of combinations of (dynamic) physicochemical properties and needs to include multiple toxicity endpoints.     

Search for direct photons from S-Au collisions at 200 GeV/nucleon

The CERES experiment has measured inclusive photon production in S-Au collisions of 200 GeV/nucleon at the CERN SPS. No evidence for direct emission of photons was found. For the kinematic region 2.1<y<2.65 and 0.4 GeV/c<p??<2.0 GeV/c the yield andp??-dependence of the observed photons are well reproduced by hadron decays. Furthermore, their production rate is found to be proportional to the charged particle density. The systematic errors comparing the measured and expected photon yield result in an upper limit of 14% for the emission of direct photons in central S-Au collisions. For a photon source with a yield depending quadratically on the charged particle density the limit can be reduced to 7%.     

Pore Characterization Methodology by Means of Capillary Sorption Tests

In this study, a methodology is proposed for obtaining information about the porous structure of materials by analysing data supplied by a hydric absorption test. A model of vertical cylindrical pores is used for studying the variation of absorbed mass versus time. The proposed methodology requires an estimation of the numerical interval in which the radius distribution must be calculated and a minimum amount of experimental data. The experimental tests are developed with a system, designed and built in our laboratory, that allows capture the amount of data necessary to use the calculus methodology proposed. This methodology is based on the derivative of normalized mass in relation to the square root of time of the capillary absorption tests. The simplicity and low cost, in many cases, of the capillary absorption tests compared to other experimental techniques such as mercury porosimetry or SEM, make it feasible to design a simple methodology to obtain valuable information about the structure of a porous material, pore size distribution, and tortuosity factor.