bluuebunny/crossref_metadata_2025 huggingface dataset:
Jacobian Matrix of General Parallel and Hybrid Mechanisms With Rigid and Flexible Links: A Software-Oriented Approach
Authors: Monsarrat Bruno , Gosselin Cle´ment M.
Published: October 2012

This paper first presents a procedure for the determination of the Jacobian matrix exact to the first order of general parallel manipulators (GPMs) with rigid and flexible links. The formulation is then extended to the class of general hybrid parallel manipulators (GHPMs) with rigid and flexible links. The acronym GHPM refers to as a parallel mechanism in which the base is connected to the platform by serial subchains and/or hybrid subchains containing closed-chain modules, and with an arbitrarily located subset of actuated joints. The model of each flexible link includes bending in two perpendicular directions as well as torsion around its longitudinal axis. The proposed procedures involve the symbolic generation of a set of augmented matrices combined with a numerical postprocessing and are believed to be especially dedicated to the automatic software generation of the instantaneous kinematic equations of most types of complex closed-chain mechanisms, including all types of in-parallel and hybrid parallel manipulators, cooperative robots, and multifingered hands. A hybrid manipulator, pertaining to the class of GHPMs, is finally considered as an example.
Effective Backward Kinematics for an Industrial 6R Robot
Authors: Zoppi Matteo
Published: October 2012

The paper discusses a geometrical solution to perform the path analysis for an industrial 6R serial robot; the proposed solution represents, for the particular manipulator, an alternative to the general efficient numerical methods. The solution is conceived on the basis of a mechanism geometric decomposition, to calculate an input-output trigonometric equation in the last wrist angular joint co-ordinate. The roots are numerically singled out. By the found roots, representing the last wrist co-ordinates, all the joint sets (up to sixteen), solving the displacement analysis, are analytically worked out. The algorithm has been conceived and written to control an industrial painting robot; it has been tested and applied in production, with a worst-case running time amounting to eight milliseconds.
Geometric Algorithms for the Computation of the Constant-Orientation Workspace and Singularity Surfaces of a Special 6-RUS Parallel Manipulator
Authors: Bonev Ilian A. , Gosselin Cle´ment M.
Published: October 2012

This paper studies the kinematic geometry of a special 6-RUS parallel manipulator for which the axes of all base actuated R-joints coincide, the centers of all U-joints move along the same circular track, and the platform S-joints coincide in pairs. Particularly, the paper presents a geometric algorithm for the computation of the constant-orientation workspace. An already known methodology has been enhanced to include the physical constraint, modelled as three Bohemian dome surfaces, on the U-joint interference. In addition, the singularity loci for a constant orientation are shown to form a quartic surface. The workspace boundaries and the singularity loci are analytically computed and represented as horizontal cross-sections. Important observations are made on the singularities of general parallel mechanisms with pair-wise coincident S-joints. The paper also introduces the phenomenon that the workspace of some parallel mechanisms is divided into regions corresponding to different branch sets.
The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
Authors: Chablat D. , Wenger Ph. , Caro S. , Angeles J.
Published: October 2012

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic con-figurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.
The Robust Synthesis of Planar Four-Bar Linkages for Motion Generation
Authors: Al-Widyan Khalid , Angeles Jorge , Cervantes-Sa´nchez J. Jesu´s
Published: October 2012

The robust synthesis of motion generators in the realm of the Burmester problem is discussed in this paper. The synthesis procedure regards the original problem as a pick-and-place operation, where the intermediate poses are defined so as to produce a linkage that is least sensitive to variations in these poses.
Discontinuous Mobility of One Family of Spatial 6R Mechanisms Through the Group Algebraic Structure of Displacement Set
Authors: Lee Chung-Ching , Herve´ Jacques M.
Published: October 2012

Based on group theory and group algebraic structure of the displacement set, one family of single-loop spatial six-revolute mechanisms is offered to illustrate the discontinuous mobility of mechanism. Some properties of discontinuous mobility can be considered as those of the generalised kinematotropy. However, the former seems to be more general than the latter. In general, the discontinuously movable configuration of single-loop spatial 6R mechanism occurs as two or more independent manifolds or subgroups are involved in the same kinematic loop. There are totally three 6R mechanisms provided in this work. The first one is actually a famous Sarrus 6R mechanism, the second one is a hybrid 6R mechanism formed by the combination of one planar and one spherical 4R chains with one pair of collinear axes, and the last one belongs to the well-known generalised double-Hooke-joint mechanism. Their local or permanent mobility will depend on the various positions of joints during the movement.
An Improved Approach to Automatic Sketching of Mechanism Based on Loop Configuration and Its Implementation
Authors: Xiao Renbin , Liu Yong , Wang Deshi
Published: October 2012

An improved approach to automatic sketching of planar kinematic chain from its adjacent matrix is proposed in this paper. The basic loops of the graph, which correspond to the adjacent matrix of kinematic chain, are derived by means of breadth-first spanning tree, then these loops are standardized and configured according to some steps. Finally, the graph of kinematic chain is automatically sketched in terms of the configured loops. In addition, the comparison between the proposed approach and existing ones is made. Through some application examples, its effectiveness as well as completeness is verified, the corresponding computer prototype system is also implemented.
Static Analysis of Tensegrity Structures: Part 2 — Numerical Examples
Authors: Crane Carl D. , Duffy Joseph , Correa Julio C.
Published: October 2012

In this paper two examples are provided to demonstrate the use of the mathematical model developed in Part 1, as well as the verification method based on a Newtonian approach. The results are presented both graphically and numerically.
A Nip Closing Study of Crowned Rolls
Authors: Kivinen Juha-Matti , Ja¨rvinen Ville
Published: October 2012

A modern paper machine is equipped with various finishing units e.g. calenders and coating units in order to produce better optical and printing properties. To accomplish these required properties paper is manipulated between two parallel mounted rolls. The contact area of these rolls is called a nip. The rolls are pressed together using hydraulic loading mechanism in order to achieve required pressure to paper web between the rolls. One of the most important nip unit driving parameter is linear load i.e. force per length. To compensate deflections, which are caused by line load and gravity, the rolls are crowned. In cases, where the total nip force surpass the gravity force of the roll the zero load condition exists. In the other words the roll floats freely and bearing clearances can place themselves arbitrary. To prevent misalignment due to bearing clearances and to achieve more accurate line load control a new closing procedure has been developed. The actual line load level is force-controlled while the approach maneuver of the roll is controlled using positioning sensors. Tampere University of Technology (TUT) has built up an experimental set-up to study both vibration phenomena and behavior of polymer roll cover material. This paper presents the equations and experimental results of a new nip closing procedure.
Optimizing a Balanced Spring Mechanism
Authors: Brinkman Marc L. , Herder Just L.
Published: October 2012

Static balancing may be used to reduce unwanted forces in a mechanism. A bottom-up methodology for designing balanced systems is described. The approach differs from the classical mechanism synthesis methods in that a simple already balanced mechanism is developed into a mechanism of the desired specifications, rather than that an adjustment mechanism is synthesized to match the required transfer function between the energy storage devices. The described methodology uses some idealizations to yield a coherent theoretical framework for designing systems that are perfectly balanced. When real world constraints are to be applied on a system conceived of in this way, numerical approximation may become necessary. This paper describes an approximation method using an ideal design as an initial estimate. Examples are given that illustrate the followed approach.
The Design and Development of a New Biopsy Device for Prostate Cancer Examination
Authors: Zhang Rick H. , Erdman Arthur , McGlennen Ron , Wulfman David , Polla Dennis
Published: October 2012

Prostate cancer is a typical disease that affects many men aged 40 and above. A biopsy is an invasive procedure for prostate cancer examination that requires skill and experience. In this project, a new transrectal ultrasound biopsy system is designed and developed. This system is a tissue sampling system for prostate cancer biopsy operation, which would provide ultrasonic image conformation of the location of biopsy samples and be able to obtain 4∼6 samples without the need to remove the system from rectum and reinsert it. The system consists of an ultrasound imaging instrument, biopsy tool, and a tissue sample storage device. The system function objectives are summarized, and a conceptual design scheme is developed. Based on the analysis of the system functions, a 3-dimensional model of this device has been built up.
Two-Position Micro Latching Mechanism Requiring a Single Actuator
Authors: Weight Brent L. , Howell Larry L. , Lyon Scott M. , Wait Sydney M.
Published: October 2012

The Two-Position Micro Latching Mechanism (MLM) requiring a Single Actuator is presented in this paper. In contrast to the two positions of a bistable mechanism resulting from potential energy curves, the MLM remains in its second position as a result of mechanical interference between a slider and flexible beams. For the MLM, restoration energy and forces are supplied from an external source, either the actuator, an active load, or both. The MLM has two positions — locked and unlocked. The unlocked position is the manufactured position, where no loads are present. Once the mechanism is locked, it is held by mechanical interference in a second position and can resist forces opposite the input direction. Testing showed that the MLM functions as intended and demonstrated that the MLM is capable of being actuated on-chip with a single actuator. The unique characteristics of the MLM suggest that it has a potential for use in numerous MEMS applications where two positions are required.
Strain at Fracture Data for Use in Polysilicon Microsystem Design
Authors: Kemeny Deanne Clements , Howell Larry L. , Fort Sarah , Bromley Susan , Masters Nathan D.
Published: October 2012

This paper presents research on the strain at fracture of polysilicon at the micro scale. Compliant mechanisms and cantilever beams were tested to failure, the deflection measured, and the strain calculated. The results of three studies are given and the culmination of all three is presented in this paper. The information on the fracture strain and the associated uncertainty can be used to provide conservative strength estimates that can be used in design of compliant mechanisms in MEMS.
Mechanical Design and Modeling of a New MEMS Vertical Actuator
Authors: Yan Dong , Khajepour Amir , Mansour Raafat
Published: October 2012

This paper presents a new micro electro-thermal actuator with vertical motion. In the traditional vertical electro-thermal actuators, the arms of actuators are fabricated with different widths to provide high and low electrical resistance for the hot and cold arms. Applying electrical current to the arms results in different thermal expansion between the hot and cold arm, which forces the tip of the device to bend. The new vertical electro-thermal actuator design eliminates the parasitic electrical resistance of the cold arm through the use of a ‘U’ shape structure. This U-shape structure results in a bi-directional vertical actuator with larger deflection and improved electrical efficiency by providing an active return current pass. The ‘U’ shape actuator is more efficient in applications such as variable capacitors where larger deflection can increase the tuning range. For analysis and design purposes, an effective method to transfer the continuous system to a lumped model is presented. Simulation results are provided to show the deflection and effects of design parameters on the actuator performance.
Motion-Planning for the Axis-Control of Miniature Spacecraft Using Microactuators
Authors: Koh Sung K. , Ananthasuresh G. K.
Published: October 2012

A motion-planning algorithm for control of an axis of miniature spacecraft using microactuators is presented in this paper. The axis determines the orientation of the spacecraft except for its spin about the axis. This work is motivated by a novel attitude control technique for miniature spacecraft using pseudo-wheels proposed in our prior work. A pseudo-wheel achieves net orientation changes using a sequence of fully reversed partial rotations by utilizing the non-commutative property of finite rigid body rotations. Finding the sequence for a desired change in orientation constitutes the inverse kinematics problem. Our prior work presented an approximate method for this problem for which the existence of the solution is not proved. In this paper, we simplify the problem by considering only the orientation of an axis attached to the spacecraft ignoring the spin about it. For this simplified problem, an accurate algorithm is presented using a technique called pair-wise rotation method, and the existence of the solution is proved. Several numerical experiments have been carried out to validate the new motion-planning algorithm. An axis-control has much practical utility for spacecraft in applications such as pointing solar panels or a camera.
Computer Simulation of Unified Synthesis and Analysis With RSSR-SC Spatial Five-Bar Linkage
Authors: Yi Lu , Leinonen Tatu
Published: October 2012

The basic tool of dimensional synthesis for spatial mechanisms is the spatial dyads and vector approach, but their processes are quite complicated and far from straightforward. Even when some mechanisms can be synthesized, the synthesis results cannot ensure that the synthesized mechanism has good kinematic characteristics and no interference between the links. A novel computer simulation approach of unified dimensional synthesis, interference check and analysis of the spatial mechanism is presented. Based on the geometry constraint and dimension-driving technique, using RSSR-SC five-bar spatial linkage, a simulation mechanism of path and motion generation is created for 8-approximate-point cases. By using an animation function, the interference between links is checked in a virtual reality, and some key dimensions of the simulation mechanism are modified to obtain better kinematic characteristics and non-interference. The results of computer simulation prove that the mechanism simulation approach is not only fairly quick and straightforward, but also advantageous from the viewpoint of accuracy and repeatability.
Some Novel Lower-Mobility Parallel Mechanisms
Authors: Huang Z. , Li Q. C.
Published: October 2012

This paper gives a brief description of some novel lower-mobility parallel mechanisms developed in our recent research, including two 4-DOF (degrees-of-freedom) parallel mechanisms and two 5-DOF parallel mechanisms. The two 4-DOF parallel mechanisms can perform three dimensional rotations and one translation. The two 5-DOF parallel mechanism can perform three dimensional rotations and two translations. All of these novel parallel mechanisms have symmetrical mechanical structures.
Kinematic Synthesis of Spatial 3-RPS Parallel Manipulators
Authors: Kim Han Sung , Tsai Lung-Wen
Published: October 2012

This paper presents the design of spatial 3-RPS parallel manipulators from dimensional synthesis point of view. Since a spatial 3-RPS manipulator has only 3 degrees of freedom, its end effector cannot be positioned arbitrarily in space. It is shown that at most six positions and orientations of the moving platform can be prescribed at will and, given six prescribed positions, there are at most ten RPS chains that can be used to construct up to 120 manipulators. Further, solution methods for fewer than six prescribed positions are also described.
Suspension Mechanism Synthesis for Linear Toe Curves
Authors: Raghavan Madhusudan
Published: October 2012

We present an algorithm for synthesizing the attachment point locations of the tie-rod of an automotive suspension, to achieve linear toe change characteristics with jounce and rebound of the wheel. This behavior is considered desirable for achieving good ride and handling. The algorithm reduces the synthesis problem to the computation of the center and normal of a circle, given the coordinates of 3 points on the circle. This procedure is significant because it eliminates numerous cycles of design iterations in traditional analysis-based design methods. Furthermore, the locus of acceptable solutions allows the designer to comply with suspension packaging constraints.
On the Design of Spring-Type Mechanism for 69KV SF6 Gas Insulated Circuit Breaker
Authors: Chen Fu-Chen
Published: October 2012

This paper studies the design of a spring-type mechanism of 69KV SF6 Gas insulated circuit breakers. The creative mechanism design method is first used to synthesize all the feasible mechanisms that satisfy the requirements for the circuit breaker. The kinematics of the mechanisms are then analysed using the vector-loop method. Subsequently, the equations of motions are derived with the Lagrange equation and solved by the 4th order Runge-Kutta method for the dynamic response, which include the position, velocity and acceleration of each machine member. The duration of individual operation, and hence the total duration to complete the full cycle of the mechanism has also been calculated. The hme taken for the close, open and return operations are fbund to be 0.116, 0.076 and 0.069 sec respectively, which are comparable with those obtained experimentally.
Singularity Analysis and Design of Kinematically Redundant Parallel Mechanisms
Authors: Wang Jing , Gosselin Cle´ment M.
Published: October 2012

This paper addresses the singularity analysis and design of two new types of kinematically redundant parallel mechanisms, i.e., the four-degree-of-freedom planar and spherical parallel mechanisms. The main idea in the design of these parallel manipulators is the addition of one redundant degree of freedom in one of the kinematic chains of the nonredundant manipulator. Such manipulators can be used to avoid the singularities inside the workspace of nonredundant manipulators. After describing the geometry of the manipulators, the velocity equations are derived and the expressions for the Jacobian matrices are obtained. Then, the singularity conditions are discussed. Finally, the expressions of the singularity loci of the kinematically redundant mechanisms are obtained and the singularity loci of the nonredundant and redundant manipulators are compared. It is shown here that the conditions for the singularity of the redundant manipulators are reduced drastically relative to the nonredundant ones. As a result, the proposed kinematically redundant parallel manipulators may be of great interest in several applications.
An Integrated Method of Kinematic, Force, Power Flow and Efficiency Analyses for 3-D Epicyclic Gear Trains
Authors: Nelson Carl A. , Cipra Raymond J.
Published: October 2012

A unified and simplified technique is introduced to perform kinematic, force, power flow, and efficiency analyses for either planar or bevel (3-D) epicyclic gear trains. The method relies on an accurate spatial kinematic analysis using graph theory. It improves on existing techniques used separately for force, power flow, and efficiency analyses, combining and streamlining them into one straightforward procedure to aid in the design process. The technique is readily automated and has been implemented in a computer spreadsheet program. Examples are presented for illustration of the method.
Construction and Kinematic Properties of 3-UPU Parallel Mechanisms
Authors: Huang Z. , Li Q. C.
Published: October 2012

The assembly condition of universal pairs in the 3-UPU parallel mechanism determines the mechanism mobility. This paper uses reciprocal screw theory to study mobility analysis of the 3-UPU parallel mechanism under several different assembly conditions. The analysis and the method presented in this paper will be helpful in using the 3-UPU parallel mechanism and introduce new insights into the mobility analysis of parallel mechanisms.
Analysis of Integrated Grasp Stiffness Matrix With Manipulator Parameters
Authors: Ghafoor Abdul , Dai Jian S. , Duffy Joseph
Published: October 2012

This paper discusses the integration of grasp with manipulator parameters. The grasp mechanism is considered to be at the end of a serial manipulator. The operation of the grasp and manipulator are independent to each other but the paper describes how their movability can be integrated to achieve the desirable movement of a grasped object. The induction of movement of a grasped object mounted at an end-effector when subjected to an externally applied force system is presented here. The force is considered to be applied at the object and the effect incurs an infinitesimal displacement at the end-effector. The motions of the object and the end-effector have been analysed and associated using the infinitesimal loading. This generates an integrated grasp stiffness matrix associated with manipulator parameters based on fine displacement of an object. The paper presents a novel approach to analyse the grasp stiffness matrix integrated with manipulator parameters. It has shown how infinitesimal and gross movement to the grasped object can be combined which has applications in manufacturing and working environments.
Determination of Location and Path Planning Algorithms for Industrial Robots
Authors: Ting Yung , Jar Ho-Chin , Chen Yu-Shin
Published: October 2012

Without using tedious and maybe unsolvable robot teaching practice, a precise and efficient off-line path planning method is developed for industrial robots. Robot location is investigated to find a suitable installation position so as to ensure a possible path planning and to provide an index of better solution for the following path planning. Three extended wave propagation methods, the neighboring search, the depth-first search, and the extensile neighboring search, are investigated. The proposed extensile neighboring method not only can provide a reliable solution to successfully search a path, but also can autonomously reduce the manipulation steps effectively by the developed recursive algorithm.
Planning of Safe Kinematic Trajectories for Free Flying Robots Approaching an Uncontrolled Spinning Satellite
Authors: Jacobsen Stephen , Lee Christopher , Zhu Chi , Dubowsky Steven
Published: October 2012

The problem of planning a safe trajectory for a free-flying robot to approach an uncontrolled spinning satellite is addressed. First, a heuristic plan is presented for a simple planar case, which constructs a collision-free path within realistic system constraints. Second, a general numerical optimization technique for planning a safe spatial trajectory is presented. In it, the approach path is parameterized and a cost function based on performance metrics is minimized in order to find the optimal path. The results are analyzed, and it is shown that optimization techniques can be used to produce a far safer approach trajectory than the heuristic method.
Kinematic Calibration for Redundantly Actuated Parallel Mechanisms
Authors: Jeong Jayil , Kang Dongsoo , Iurascu Cornel C. , Kim Jongwon
Published: October 2012

In this paper we present simulation and experimental results for kinematic calibration algorithms using a planar seven-bar 2-d.o.f. redundantly actuated parallel mechanism. Although simple in appearance and identical to the non-redundant case, random joint errors due to the internal forces generated by the additional actuators make kinematic calibration more difficult. With a few exceptions, previous works in kinematic calibration ignored this issue and concentrated on the common non-redundant situation. Force redundancy aspects in closed chain mechanisms have also been extensively presented in the scientific community, however calibration related concerns have not been specifically addressed. Kinematic calibration for our mechanism is performed in state of redundant actuation within the enlarged workspace of the mechanism. Tool plate information is acquired using a laser ball bar and the mechanism’s kinematic calibration parameters are identified using an optimization algorithm. For the constant joint offsets case introduced by internal forces the accuracy of the tool plate after kinematic calibration improved by 25%.
Analytics and Motion Planning of a Novel Four-Wheel Vehicle With Expanding Wheels
Authors: Agrawal Sunil K. , Yan Jin , Rochester Jared
Published: October 2012

This paper describes analytics and experiments on a novel 4-wheel vehicle. The vehicle has back wheel drive and steering in addition to wheels that can expand and change radius. The motivation for this design is to attain added navigation capability by expanding the wheels according to the requirements of the terrain. In this paper, we discuss the motion of the vehicle on a flat floor. The steering angle is kept at zero so that the vehicle has a planar motion. The contact point of the wheel with the ground is assumed to be directly underneath the center of the wheel and has no slip. The rolling constraints are nonholonomic, i.e., are non-integrable. The rate constraints are written in an input-affine drift-less control system. The structure of this drift-less control system allows to determine the differentially flat outputs of the system. Motion planning of the vehicle between two configurations is achieved through planning of these differentially flat outputs. These trajectories are then used to determine a feedback controller. A dynamic simulation is performed using MATLAB. The motions are currently being implemented on the physical hardware using a dSPACE control system.
Workspace-Based Architecture Selection of a 3-Degree-of-Freedom Planar Parallel Manipulator
Authors: Heerah Imtehaze , Kang Bongsoo , Mills James K. , Benhabib Beno
Published: October 2012

This paper presents the workspace-based architecture selection process and singularity analysis of a high-speed, high-precision three degree-of-freedom (3-DOF) planar parallel manipulator for wire-bonding and electronic-component placement applications. A novel concept of manipulator “effective base area” is utilized for selecting the optimal architecture amongst the possible six well-known configurations. Dexterity regions, based on the manipulator requirements, within the reachable workspace have been identified for the selected architecture. Singular configurations of the optimal 3-PRR architecture have also been examined within the reachable workspace. Simulation results for both workspace and singularity analyses are also presented.
A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators
Authors: Namvar Mehrzad , Aghili Farhad
Published: October 2012

This paper presents a combined scheme of identification and robust torque control for rotary hydraulic actuators. The composite controller consists of a dynamic feedback linearizing inner loop cascaded with an optimal l1 - H∞ feedback outer loop. The proposed controller allows the actuator to generate any desired torque irrespective of the actuator motion. In fact, the controller reduces significantly the impedance of the actuator as seen by its external load, making the system an ideal source of torque suitable for any robotics and automation applications. A through-out analysis relating to the stability of the internal unobservable dynamics is presented. An identification method to extract the parameters of nonlinear model of actuator dynamics and to estimate a bound for modeling uncertainty used for synthesize of the outer optimal controller, is presented. The theoretical results of the paper are illustrated experimentally on the pitch actuator of the Titan II, Schilling industrial robot.
An Extensible Java Applet for Spatial Linkage Synthesis
Authors: Su Haijun , Collins Curtis , McCarthy J. Michael
Published: October 2012

A spatial linkage is defined by a workpiece supported by several serial chains. The task of the linkage is defined by specifying rigid positions for the workpiece that approximate a desired workspace. Spatial serial chains can be synthesized and combined to form more complicated linkages. Because there are many serial chains available for this design process, we have developed a Java-based architecture for a computer-aided-design system for spatial linkages that is organized to allow incorporation of individually defined serial chain classes prepared by users/collaborators. Using the RR and TS chains as an example, we present the general features common to dimensional synthesis methodologies, and identify the types of analysis, synthesis, and evaluation routines that are required for displaying, animating, and designing spatial linkages formed from serial chain primitives. We present the basic components of the design system as well as specifications for the serial chain analysis and synthesis classes. An example is provided to demonstrate how the system can be used to perform three position synthesis of spatial RR, TS, and RRTS linkages.
Extending Synthesis: Robust Design Using ADAMS/Insight
Authors: Shankar S. Ravi , Koerner Stephan , Janevic John
Published: October 2012

Mechanical Dynamics Inc. has entered its twenty-sixth year of producing ADAMS® (Automatic Dynamic Analysis of Mechanical Systems), the world’s leading commercial mechanical analysis software for kinematics and dynamics of multibody systems. During the past twenty-five years, use of mechanical analysis software has grown dramatically. No longer the province of a fringe group of highly trained specialists, it now has a presence on nearly every engineer’s desktop. The software comes in many forms—embedded in Computer Aided Design (CAD) software, or as stand-alone packages such as ADAMS. Use of the software even has a new name: Functional Virtual Prototyping refers to the ability to use mechanical analysis software to complete the engineer’s understanding of the physics of a design without the need for prototype parts. Due to large numbers of mechanical systems, a high cost of prototypes, and relentless pressure on cost and safety, the automotive industry has always been at the vanguard of the use of Functional Virtual Prototyping technology. A recent popular trend in the automotive industry is called the Six Sigma process—intended to get as close as possible to zero defects—in part by assuring robust quality and performance of components, subsystems, and systems. To satisfy the demands of the Six Sigma trend, the automotive industry now uses Functional Virtual Prototyping software such as ADAMS as an important tool in Robust Design. This paper describes new software for Robust Design, called ADAMS/Insight, and illustrates how the behavior of a mechanical system model in ADAMS can now be understood more completely over a range of system parameters and tolerances.
Self-Assembled Colloidal Superparticles from Nanorods
Authors: Wang Tie , Zhuang Jiaqi , Lynch Jared , Chen Ou , Wang Zhongliang , Wang Xirui , LaMontagne Derek , Wu Huimeng , Wang Zhongwu , Cao Y. Charles
Published: October 2012

Beyond Quantum Dots

Semiconducting colloidal nanoparticles—quantum dots—are of interest for their unusual properties. One current challenge is the controlled assembly of colloidal particles into larger structures, such as two-dimensional lattices on a substrate, or three-dimensional superparticles.

Wang
et al.

(p.
358
) present a two-step self-assembly of CdSe/CdS semiconductor nanorods to form mesoscopic colloidal superparticles. The particles show well-defined super-crystalline domains with dimensions ranging from hundreds of nanometers to several microns, and with the particle morphology controlled by the number of constituent rods. Films of the needle-shaped superparticles were able to act as polarizing light-emitting diodes.
How Information Theory Handles Cell Signaling and Uncertainty
Authors: Brennan Matthew D. , Cheong Raymond , Levchenko Andre
Published: October 2012

Information theory allows analyses of cell signaling capabilities without necessarily requiring detailed knowledge of the signaling networks.
Refining the Radiocarbon Time Scale
Authors: Reimer Paula J.
Published: October 2012

A highly resolved lake sediment record is set to improve the accuracy of calibrated radiocarbon dates between 12,600 and 50,000 years ago.
A Threat to National Security
Authors: Hamre John J.
Published: October 2012

The United States faces one of the most perilous conditions that I can remember in my professional life. The greatest threat we face today is not external, but internal. Our inability as a nation to reach a durable consensus on plans that match our national goals with our financial resources is, in my judgment, the greatest National Security risk.
Economics Nobel Honors Matchmaking Finesse
Authors: Bhattacharjee Yudhijit
Published: October 2012

Lloyd Shapley and Alvin Roth have won the 2012 Nobel Prize in economics for helping to answer the question of how you make a perfect match.
Reinventing the Pill: Male Birth Control
Authors: Kean Sam
Published: October 2012

Researchers tinkering with cancer drugs and related molecules have found reversible ways of altering sperm; now they need to secure money and regulatory support for drug testing.
Primordial Matter Comes Into Focus in Many Tiny Big Bangs
Authors: Cho Adrian
Published: October 2012

A standard model is emerging of the quark-gluon plasma produced in collisions of heavy nuclei. But will a key atom smasher run long enough to flesh it out?
Bioluminescent Enzyme Immunoassay for the Detection of Norovirus Capsid Antigen
Authors: Sakamaki Nozomi , Ohiro Yoshiyuki , Ito Mitsuki , Makinodan Mitsuru , Ohta Tsubasa , Suzuki Wataru , Takayasu Susumu , Tsuge Harufumi
Published: October 2012

An ultrasensitive and fully automated bioluminescent enzyme immunoassay (BLEIA) was developed for the detection of norovirus (NV) capsid antigen. In the evaluation tests with recombinant virus-like particles, the BLEIA demonstrated broad reactivity against several NV genotypes (genotypes 1, 3, 4, 7, 8, and 12 in genogroup I [GI] and genotypes 1, 2, 3, 4, 5, 6, 12, and 13 in GII), a wide dose-response range from 0.25 pg/ml to 10,000 pg/ml, and good reproducibility with low coefficients of variation (CVs) (within-run CVs of <2.8%, between-day CVs of <3.7%). In the evaluation tests with NV-positive fecal samples, a good correlation (y= 0.66x −3.21,r= 0.84) between the BLEIA and real-time quantitative reverse transcription-PCR was obtained. Furthermore, in the dilution test with NV specimens, the analytical sensitivity of NV was estimated to be 105to 106copies/g of fecal sample, indicating that the analytical sensitivity of the BLEIA is comparable to that of commercially available molecular methods. All assay steps are fully automated, the turnaround time is 46 min, and the throughput of the assay is 120 tests/h. These results indicate that the BLEIA is potentially useful for the rapid diagnosis of NV in epidemic and sporadic gastroenteritis.
Comparison of Four Assays for the Detection of Cryptococcal Antigen
Authors: Binnicker M. J. , Jespersen D. J. , Bestrom J. E. , Rollins L. O.
Published: October 2012

We compared the performance of four assays for the detection of cryptococcal antigen in serum samples (
n
= 634) and cerebrospinal fluid (CSF) samples (
n
= 51). Compared to latex agglutination, the sensitivity and specificity of the Premier enzyme immunoassay (EIA), Alpha CrAg EIA, and CrAg lateral flow assay (LFA) were 55.6 and 100%, 100 and 99.7%, and 100 and 99.8%, respectively, from serum samples. There was 100% agreement among the four tests for CSF samples, with 18 samples testing positive by each of the assays.
Complete Genome Sequences of Novel Rat Noroviruses in Hong Kong
Authors: Tse Herman , Chan Wan-Mui , Lam Carol S. F. , Lau Susanna K. P. , Woo Patrick C. Y. , Yuen Kwok-Yung
Published: October 2012

We report two genome sequences of novel noroviruses isolated from fecal swab specimens of brown rats in Hong Kong. The complete genome is approximately 7.5 kb in length and consists of 3 overlapping open reading frames encoding ORF1 polyprotein, VP1, and VP2, respectively. Sequence analysis suggested that these noroviruses should be classified in genogroup V, but they are distinct from other known rodent noroviruses and represent a novel cluster within the genogroup.
Complete Genome Sequence of the Podoviral Bacteriophage YMC/09/02/B1251 ABA BP, Which Causes the Lysis of an OXA-23-Producing Carbapenem-Resistant Acinetobacter baumannii Isolate from a Septic Patient
Authors: Jeon Jongsoo , Kim Jae-won , Yong Dongeun , Lee Kyungwon , Chong Yunsop
Published: October 2012

The emergence of carbapenem-resistant
Acinetobacter baumannii
, responsible for causing nosocomial infections, has been becoming a significant global health issue. In this article, we report the complete genome sequence of bacteriophage Bϕ-B1251 (YMC/09/02/B1251 ABA BP), which causes lysis of a carbapenem-resistant
A. baumannii
strain. The bacteriophage belongs to the family
Podoviridae
and has a double-stranded circular DNA genome with a length of 45,364 bp and a 39.05% G+C content. Genome analysis showed that it had no similarity to other previously reported bacteriophages capable of infecting
A. baumannii
.
Complete Genome Sequence of the Bacteriophages ECBP1 and ECBP2 Isolated from Two Different Escherichia coli Strains
Authors: Nho Seong-Won , Ha Mi-Ae , Kim Ki-Sei , Kim Tae-Hwan , Jang Ho-Bin , Cha In-Seok , Park Seong-Bin , Kim Young-Kyu , Jung Tae-Sung
Published: October 2012

Escherichia coli
is recognized as one of the most abundant avian bacterial pathogens. In this study, we report the sequencing by the traditional Sanger method of ECBP1 and ECBP2: bacteriophages that infected two different
E. coli
strains which might be used as therapeutic agents in combination with alternative antibiotics.
Genome Sequence of a Novel Hobi-Like Pestivirus in China
Authors: Mao Li , Li Wenliang , Zhang Wenwen , Yang Leilei , Jiang Jieyuan
Published: October 2012

Hobi-like pestivirus is a novel pestivirus species first isolated in 2004. Here, we report the genome sequence of a Hobi-like pestivirus strain isolated from contaminated MDBK cells in China. The sequence information is important for surveillance of this emerging animal infectious disease worldwide.
Genome Sequence of Human Adenovirus Type 55, a Re-Emergent Acute Respiratory Disease Pathogen in China
Authors: Zhang Qiwei , Seto Donald , Cao Bin , Zhao Suhui , Wan Chengsong
Published: October 2012

Human adenovirus type 55 (HAdV-B55) is an acute respiratory disease (ARD) pathogen first completely characterized in China (2006). This is a unique Trojan horse microbe with the virus neutralization attribute of a renal pathogen and the cell tropism and clinical attributes of a respiratory pathogen, bypassing herd immunity. It appeared to be an uncommon pathogen, with earlier putative, sporadic occurrences in Spain (1969) and Turkey (2004); these isolates were incompletely characterized using only two epitopes. Reported here is the genome of a second recent isolate (China, 2011), indicating that it may occur more frequently. The availability of this HAdV-B55 genome provides a foundation for studying adenovirus molecular evolution, the dynamics of epidemics, and patterns of pathogen emergence and re-emergence. These data facilitate studies to predict genome recombination between adenoviruses, as well as sequence divergence rates and hotspots, all of which are important for vaccine development and because HAdVs are used for epitope and/or gene delivery vectors.
Complete Genome Sequence of a Novel Reassortant H11N2 Avian Influenza Virus Isolated from a Live Poultry Market in Eastern China
Authors: Zhang Yuee , Teng Qiaoyang , Ren Chaochao , Li Guoxin , Li Xuesong , Li Zejun
Published: October 2012

A/chicken/Nanjing/908/2009(H11N2) (CK908) was isolated from a live poultry market in Nanjing, China. Using PCR and sequencing analysis, we obtained the complete genome sequences of the CK908 virus. The sequence analysis demonstrated that this H11N2 virus was a novel reassortant AIV whose PB1, PB2, PA, HA, NP, NA, M, and NS genes originated from H9N2, H7N7, H5N2, H11N8, H3N6, H6N2, H1N1, and H5N1, respectively. Knowledge regarding the complete genome sequences of the CK908 virus will be useful for epidemiological surveillance.
Complete Genome Sequence of a Novel Bovine Norovirus: Evidence for Slow Genetic Evolution in Genogroup III Genotype 2 Noroviruses
Authors: Mauroy A. , Scipioni A. , Mathijs E. , Ziant D. , Daube G. , Thiry E.
Published: October 2012

A new genogroup III genotype 2 bovine norovirus, B309/2003/BE, was entirely sequenced and genetically compared to the original Newbury2/1976/UK strain and to Dumfries/1994/UK, detected in 1976 and 1994, respectively. Interestingly, except in well-defined coding regions (N-terminal protein, 3A-like protease, hypervariable region of the capsid protein, and C-terminal part of the minor structural protein), very low genetic differences were noted between the entire genomes of these three strains along a 30-year-long period. It allowed some hypotheses of hotspots of genetic evolution through a low genetic evolution background in genotype 2 genogroup III bovine noroviruses.
Complete Genome Sequence of a Porcine Orthoreovirus from Southern China
Authors: Dai Yimin , Zhou Qingfeng , Zhang Chengwen , Song Yanhua , Tian Xiaoyan , Zhang Xiangbin , Xue Chunyi , Xu Shun , Bi Yingzuo , Cao Yongchang
Published: October 2012

Porcine orthoreoviruses belong to the family
Reoviridae
and cause mainly mild enteritis in piglets. We present here the complete genome sequence of a novel porcine orthoreovirus strain (GD-1) isolated from a piglet in southern China. Our data will facilitate future investigations of the molecular characteristics and epidemiology of porcine orthoreoviruses.
Complete Genome Sequence of Temperate Bacteriophage
Aca
ML1 from the Extreme Acidophile Acidithiobacillus caldus ATCC 51756
Authors: Tapia Pablo , Flores Francisco Moya , Covarrubias Paulo C. , Acuña Lillian G. , Holmes David S. , Quatrini Raquel
Published: October 2012

Development of reproducible genetic tools in the industrially important acidithiobacilli is urgently required. Inducible temperate phages which may be modified
in vitro
, propagated in suitable hosts, and used to transduce relevant genetic information to other strains and/or species are potentially valuable tools in this field of research. In order to address these current limitations, the genome sequence of an inducible temperate
Myoviridae
-like bacteriophage from the
Acidithiobacillus caldus
type strain was annotated and analyzed bioinformatically. Here, we announce the genome sequence of
Aca
ML1 and report major findings from its annotation.
Complete Genome Sequences of Highly Divergent Torque Teno Virus Type II from Swine Herds
Authors: Wang Meng-meng , Zhou Yan-jun , Zhang Qing-zhan , Hou Jun-wei , Yu Hai , Tong Guang-zhi
Published: October 2012

Through routine and nested PCR amplifications, four complete genome sequences of porcine
Torque teno virus
(TTV) type II were obtained from swine herds. By comparison with the TTV genome sequences deposited in GenBank, we found the most divergent types so far described. The level of genetic diversity between these genomes is higher than would be expected within a single virus species. A nucleotide and amino acid phylogenetic tree was constructed.
A medical student with symphalangism, would it affect her future career?
Authors: Saliem Ahmed M , Nimir Amal Rashad , Abdul Kadir Farkaad A
Published: October 2012

Absence of the distal crease of the fingers is usually associated with a flexion deformity. A single crease of one or more fingers is found in many syndromes. We present this report as a rare case of absence of interphalangeal crease of the right ring finger with restriction of flexion but without any other anomaly.
Dying for a cup of tea
Authors: Kormann Raphaël , Languille Eva , Amiot Henri-Marc , Hertig Alexandre
Published: October 2012

We report the case of a 70-year-old woman who developed life-threatening arrhythmia as a result of acute and severe hypokalaemia, which she developed after consuming large quantities of a liquorice-rich herb tea. She had no previous heart condition. We also discuss the legislative discrepancy in both the USA and in Europe, whereby consumers are warned about the risk of chronic hypertension whenever they buy a product containing liquorice, yet the risk of hypokalaemia may not be mentioned at all.
Massive pericardial effusion and multiple pericardial masses due to an anterior mediastinal teratoma rupturing in pericardial sac
Authors: Ahmed Mohammed Abd Elalim , Fouda Ragai , Ammar Hussam , Amin Samy M
Published: October 2012

A 25 -year-old Egyptian man presented to our unit for the evaluation of a large pericardial effusion. At 1 month before presentation he suffered from daily bouts of fever. Chest x-ray revealed cardiomegaly, echocardiography showed large pericardial effusion and multiple pericardial masses. Needle pericardiocentesis revealed a bloody exudate with no malignant cells. Chest CT showed a well-circumscribed anterior mediastinal cystic mass with a central fat component and foci of calcification. MRI of the chest similarly showed no intracardiac extension. A cystic mass 7×9 cm was removed via a median sternotomy with uneventful postoperative course. Pathological evaluation revealed a benign cystic teratoma and a thymic cyst. Most cystic teratomas are accidentally discovered, large ones can cause symptoms through the compression of mediastinal structures or rupture in pericardial sac.
Heat stroke presented with disseminated intravascular coagulation and bilateral intracerebral bleed
Authors: Sonkar Satyendra Kumar , Soni Deepika , Sonkar Gyanendra Kumar
Published: October 2012

Heat stroke is a life-threatening condition which is characterised by nausea, vomiting, confusion, disorientation and coma. Aggressive treatment in the form of intravenous fluids along with other symptomatic management can be life saving. Here we present an unusual case of heat stroke followed by disseminated intravascular coagulation, multiple organ dysfunction with bilateral intracerebral bleed who survived with judicious management and recovered without any neurological sequeale.