A curvilinear snake arm robot with gripper-axis fibre-optic image processor feedback

The official version of this article can be found at the link below.A curvilinear robot constructed from a number of modular flexible sections of fixed length and diameter but independently controlled radius and direction of curvature has been equipped with an optical fibre image guide transmitting images from between the gripper jaws to the remote TV camera of Microvision-100, a microcomputer controlled real-time DMA-based vision System that is easily trained to recognise the shape, position and orientation of components. The gripper position and orientation is controlled by feedback from the vision System, the action taken depending on component recognition and inspection for defects. Redundant degrees of freedom enable the curvilinear robot to avoid obstacles and work in confined spaces.The research programme described in this paper is supported by the U.K. Science and Engineering Research Council

Nonlinear dynamics of attractive magnetic bearings

The nonlinear dynamics of a ferromagnetic shaft suspended by the force of attraction of 1, 2, or 4 independent electromagnets is presented. Each model includes a state variable feedback controller which has been designed using the pole placement method. The constitutive relationships for the magnets are derived analytically from magnetic circuit theory, and the effects of induced eddy currents due to the rotation of the journal are included using Maxwell's field relations. A rotor suspended by four electro-magnets with closed loop feedback is shown to have nine equilibrium points within the bearing clearance space. As the rotor spin speed increases, the system is shown to pass through a Hopf bifurcation (a flutter instability). Using center manifold theory, this bifurcation can be shown to be of the subcritical type, indicating an unstable limit cycle below the critical speed. The bearing is very sensitive to initial conditions, and the equilibrium position is easily upset by transient excitation. The results are confirmed by numerical simulation

A constitutive model for the forces of a magnetic bearing including eddy currents

A multiple magnet bearing can be developed from N individual electromagnets. The constitutive relationships for a single magnet in such a bearing is presented. Analytical expressions are developed for a magnet with poles arranged circumferencially. Maxwell's field equations are used so the model easily includes the effects of induced eddy currents due to the rotation of the journal. Eddy currents must be included in any dynamic model because they are the only speed dependent parameter and may lead to a critical speed for the bearing. The model is applicable to bearings using attraction or repulsion

A study of the enzymatic hydrolysis of fish frames using model systems

A model system was employed to study the operating conditions and primary parameters of enzymic hydrolysis of cod proteins. Pancreatin, papain, and bromelain were used to hydrolyse minced cod fillets under controlled conditions and with the rate of hydrolysis being continually monitored via both the pH-stat and TNBS method. The two methods were compared and evaluated. The rate of protein solubilisation was plotted against the degree of hydrolysis (DH). Dry fish protein hydrolysate (FPH) powders having short, medium and high degrees of hydrolysis (DH of approximately 8%, 11% and 16% respectively) were produced and analysed for their molecular weight distribution, using size exclusion chromatography. Almost complete protein solubilisation (75 g soluble protein per kg hydrolysis solution) could be achieved within an hour, at 40°C, at 1% enzyme/substrate ratio (w/w) with papain and bromelain. The pH-stat was found capable of continuously following the rate of hydrolysis but only at low DH. The TNBS could be accurately used even at high DH to estimate the percentage of the peptide bonds cleaved, but required chemical analysis of withdrawn samples

Trapping atoms using nanoscale quantum vacuum forces

Quantum vacuum forces dictate the interaction between individual atoms and dielectric surfaces at nanoscale distances. For example, their large strengths typically overwhelm externally applied forces, which makes it challenging to controllably interface cold atoms with nearby nanophotonic systems. Here, we show that it is possible to tailor the vacuum forces themselves to provide strong trapping potentials. The trapping scheme takes advantage of the attractive ground state potential and adiabatic dressing with an excited state whose potential is engineered to be resonantly enhanced and repulsive. This procedure yields a strong metastable trap, with the fraction of excited state population scaling inversely with the quality factor of the resonance of the dielectric structure. We analyze realistic limitations to the trap lifetime and discuss possible applications that might emerge from the large trap depths and nanoscale confinement.Comment: 13 pages, 4 figure

ECONOMIC IMPACTS OF FUSARIUM HEAD BLIGHT IN WHEAT

Fusarium Head Blight (FHB), commonly known as scab, has been a severe problem for wheat producers in recent years. This study estimates the economic value of crop losses suffered by wheat producers in the 1990s. Nine states and three wheat classes are included in the analysis, which considers the effects of scab on both production and average prices received. The cumulative value of losses (1991-97) in scab-affected regions is estimated at $1.3 billion. Two states, North Dakota and Minnesota, account for over two-thirds of these dollar losses.Fusarium Head Blight, scab, crop losses, wheat, Production Economics,

Professionalism, prejudice and personal taste: does it matter what we wear?

An earlier opinion piece considered the professional issues surrounding the occupational therapist’s dress code within the work place (Davys et al, 2006). This second paper considers the role of the occupational therapist when a client choice of clothing may conflict with social expectations and negatively impact upon social inclusion. Three practice based scenarios are presented, which serve as the prompts for reflection upon informed choice, professional responsibilities and the therapeutic relationship. This paper concludes that there needs to be debate about the conflict between each of these areas and the concept of social inclusion