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.     

Prediction of steady-state viscous and elastic properties of polyolefin melts in shear and elongation

The linear and nonlinear steady-state viscosities and elastic compliances were measured in shear and elongational flows for two low-density polyethylenes, a linear polypropylene, and two metallocene catalyzed polyethylenes (one linear and one long-chain branched) by Wolff et al. (Rheol Acta 49:95?C103, 2010) and Resch (dissertation, 2010). Comprehensive data of this type are rarely found in the literature, and comprehensive modeling of both viscous and elastic effects is even rarer. In this contribution, the reliability of a modeling approach proposed by Laun (J Rheol 30(3):459?C501, 1986) and based on the damping function concept is tested. The strain hardening seen for the long-chain branched polymers and its absence in the case of the linear polymer, the stronger decrease of the tensile compliance in comparison to the shear compliance with increasing stress, as well as the extended linear-viscoelastic regime of the shear viscosity in contrast to the shear compliance are correctly modeled. While the modeling of the nonlinear response in shear can be achieved with only one material parameter for most of the polymers considered here, the nonlinear modeling in elongation is achieved with two parameters. The same parameter values are shown to describe viscous as well as elastic properties of the melts, and thus the relations of Laun can be used to test the consistency of viscosity and compliance measurements.     

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.     

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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.     

Accumulation of uranium, transuranium and fission products on stainless steel surfaces II. Sorption studies in a laboratory model system

Within the frame of a joint project, the accumulation of the uranium and transuranium (TRU) species on some structural materials used at Soviet made VVER-type pressurized water reactors (such as heat exchanger tube of steam generators and stainless steel canister material) has been studied. The experiments were carried out in a laboratory model system. During the sorption studies, boric acid coolants provided by the Paks Nuclear Power Plant (Paks NPP) were circulated for a period of 30 h. Solution and tube samples obtained in the course of above experiments were analyzed by independent methods (??- and ??-spectrometry, ICP-MS, SEM-EDX, voltammetry and XPS). The experimental results reveal that: (i) the surface excess of the TRU nuclides studied is extremely low (less than 1% of a monolayer coverage); (ii) the surface excess of uranium species measured on the SG tube surfaces is significantly higher, after 30 h sorption period (??_sample = 1.0 ??g cm^?2 U ? 3.7 × 10^?9 mol cm^?2 UO₂) exceeds a monolayer coverage; (iii) the mechanistic features of the contamination processes (specific or non-specific adsorption, deposition of colloidal and/or disperse particles) depend decisively upon the nature of the studied radionuclides and the chemical structure and composition of the oxide layer formed on stainless steel surfaces.     

Utilization of Slovak bentonites in deposition of high-level radioactive waste and spent nuclear fuel

The basic strategic aims in the field of managing high-level radioactive waste and liquidation of nuclear power plants are all contained in the Energy policy of the Slovak Republic. Its aim is to resolve the concept of the backside of the nuclear energetics fuel cycle??long-term deposition of high-level radioactive waste and spent nuclear fuel (SNF). The most important form of high-level radioactive waste and SNF long-term deposition is their deposition in deep geological formations created by natural as well as engineering barriers used to isolate the long-lived radionuclides from the biosphere. The basic components of these barriers are clays, of which bentonite is generally referred to as the most suitable clay material. There are a few significant bentonite deposits in the Slovak Republic: Jel?ový potok, Kopernica, Lastovce, Lieskovec, Dolná Ves. The review article summarizes the information on geotechnical properties of Slovak bentonites published up-to-date, which is inevitable to know for the intention of their use. It highlights the advantages and shows drawbacks of five Slovak deposits. It suggests further research direction, to draw a thorough hydraulical, microbial and radiation profile of Slovak bentonites.     

Intercomparison of techniques for estimation of sedimentation rate in the Sabah and Sarawak coastal waters

A total of eight sediment cores with 50 cm length were taken in the Sabah and Sarawak coastal waters using a gravity corer in 2004 to estimate sedimentation rates using four mathematical models of CIC, Shukla-CIC, CRS and ADE. The average of sedimentation rate ranged from 0.24 to 0.48 cm year^?1, which is calculated based on the vertical profile of ²¹⁰Pb_ex in sediment core. The finding also showed that the sedimentation rates derived from four models were generally shown in good agreement with similar or comparable value at some stations. However, based on statistical analysis of paired sample t-test indicated that CIC model was the most accurate, reliable and suitable technique to determine the sedimentation rate in the coastal area.     

Determination of Chlorophenoxy Acid Herbicides in Water Samples by Suspended Liquid-Phase Microextraction�CLiquid Chromatography

In this study, directly suspended liquid-phase microextraction was investigated for the extraction and determination of five chlorophenoxy acid herbicides in water samples. The optimized parameters for extraction of chlorophenoxy acid herbicides were 1 M HCl concentration in sample solution, solution temperature 20 °C, 45-min extraction time, 1,000 rpm stirring rate, 25 ??L extracting solvent volume and without NaCl addition. Under the optimum conditions, the enrichment factor ranged from 192 to 390. Calibration curves yielded good linearity (R ² > 0.999) and the linear range was 5.0?C500.0 ??g L^?1, limit of detection was 0.3?C0.4 ??g L^?1 and limit of quantification was 1?C2 ??g L^?1 for analytes and the relative standard deviations were in the range of 3?C10% (n = 3). Finally, the proposed method was successfully applied to the quantification of five chlorophenoxy acid herbicides in water samples and recovery was in the range of 74?C110%.     

High-Efficiency Liquid Chromatography Using Sub-2?��m Columns at Elevated Temperature for the Analysis of Sulfonamides in Wastewater

Efficiency in HPLC can be enhanced by increasing the column length and/or decreasing the particle size. The use of high temperature in HPLC has emerged as a valuable tool to overcome the increase in column backpressure when using small packing particles, as it allows for reduction in mobile phase viscosity. In this study, high plate count was obtained by coupling sub-2 ??m columns at elevated temperature to reduce the viscosity of the mobile phase, thus reducing the column backpressure. At 80 °C, up to three columns of 15 cm × 4.6 mm I.D. packed with 1.8 ??m particles could be coupled generating ~84,000 theoretical plates for the last eluting compound. The number of theoretical plates was increased on average by a factor of ~3.6 when three columns were coupled at 80 °C compared with one column at 30 °C. The relationships between separation efficiency and column length were examined using Van Deemter plots constructed at 30 °C and 80 °C for different column lengths. The advantages of using coupled columns in combination with elevated temperature for the environmental analysis were illustrated using test mixtures comprised of eight sulfonamides separated on one column at 30 °C and three coupled columns at 80 °C by isocratic elution. Sample clean up was carried out by employing solid-phase extraction (SPE) using Oasis HLB cartridges. The method developed was validated based on parameters such as linearity, precision, accuracy, detection and quantification limits. Recoveries generally ranged from 71.7 to 99% (with the exception of sulfanilamide), with standard deviations not higher than 4.7%. The detection limits of the method ranged from 0.6?C2 ??g L^?1, while limits of quantification were in the range 2?C6.7 ??g L^?1 with UV detection.     

Qualitative and Quantitative Analysis of 17 Different Types of Tetra- and Pentacyclic Triterpenic Acids in Boswellia papyrifera by a Semi-Automatic Homomodal 2D HPLC method

A semi-automatic two dimensional high-performance liquid chromatography (HPLC) gradient method with photo diode array detection was developed, capable of separating and quantifying up to 17 different triterpenic acids in the gum resin of the frankincense species Boswellia papyrifera. The here reported quantitation of 14 of the possible 17 compounds contains boswellic, tirucallic and lupeolic acids. All compounds were isolated from B. papyrifera and used as external standards. Quantitation of these compounds was performed after minimizing the matrix by liquid?Cliquid separation, using alkaline, acidic and organic media to separate the acids from interfering matrix compounds. Therefore, two different extraction procedures were tested, giving two different extraction profiles. Within the first run (1st dimension) 13 compounds could be quantified. Quantitation of ??-boswellic acid, which was proved to elute as inhomogeneous peak, was achieved by introduction of a second dimension, leading to a fully validated semi-automatic homomodal 2D chromatography. The method is applicable for determination of compounds occurring in different types of frankincense and their pharmaceutical products. It also can be applied to distinguish between different kinds of frankincense. Moreover, it is the first published method feasible of separating and quantifying five different types of tirucallic acids.