bluuebunny/crossref_metadata_2025_split huggingface dataset:
A Moving Frame Method for Multi-Body Dynamics Using SE(3)
Authors: Murakami Hidenori 
Published: March 2016

To describe the configuration of a multi-body system, Cartesian coordinate systems are attached to all bodies comprising the system. Their connections through joints and force elements are efficiently expressed by using 4×4 matrices of the homogeneous transformation, presented by Denavit and Hartenberg in 1955. However, at this time, there is no systematic method to compute velocities and angular velocities using the matrices of such homogeneous transformations.
In this paper, homogeneous transformation matrices are identified as a subset of a Lie group, called the special Euclidean group denoted by SE(3). This observation enables the usage of the Lie group theory in multibody kinematics. The effective use of the theory is built upon a platform of a moving frame method as presented in this paper. In this method, for each body-attached Cartesian coordinate system, the coordinate vector basis is written explicitly following Élie Cartan. This moving frame notation enables us to use the Lie algebra of SE(3), denoted by se(3), to compute velocities and angular velocities by minimizing the complexities of the Lie group theory.
For kinetics, a variational method is established in se(3) by deriving a relationship between a virtual angular velocities and the corresponding virtual rotational displacements. This constrained variation of virtual angular velocities allows the derivation of the d’Alembert principle of virtual work from Hamilton’s principle for multibody systems. Utilizing this variational tool, we present a systematic computation of equations of motion from Hamilton’s principle.
Finally, we reduce the spatial dynamics to planar dynamics and list the simplifications achieved in the two-dimensional problems using SE(2). Then, for a two-degree-of-freedom manipulator the analytical equations of motion are obtained to demonstrate the power of the moving frame method.
Image Schema Based Landing and Navigation for Rotorcraft MAV-s
Authors: Enikov Eniko T. , Escareno Juan-Antonio , Rakotondrabe Micky 
Published: March 2016

To date, most autonomous micro air vehicles (MAV-s) operate in a controlled environment, where the location of and attitude of the aircraft are measured with an infrared (IR) tracking systems. If MAV-s are to ever exit the lab, their flight control needs to become autonomous and based on on-board image and attitude sensors. To address this need, several groups are developing monocular and binocular image based navigation systems. One of the challenges of these systems is the need for exact calibration in order to determine the vehicle’s position and attitude through the solution of an inverse problem. Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brain, which allows it to learn non-linear mappings between the body configurations, i.e. its generalized coordinates and the resulting sensory outputs. The advantages of body schemas has long been recognized in the cognitive robotic literature and resulting studies on human-robot interactions based on artificial neural networks, however little effort has been made so far to develop avian-inspired flight control strategies utilizing body and image schemas.
This paper presents a numerical experiment of controlling the trajectory of a miniature rotorcraft during landing maneuvers suing the notion of body and image schemas. More specifically, we demonstrate how trajectory planning can be executed in the image space using gradient-based maximum seeking algorithm of a pseudo-potential. It is demonstrated that a neural-gas type artificial neural network (ANN), trained through Hebbian-type learning algorithm, can be effective in learning a mapping between the rotorcraft’s position/attitude and the output of its vision sensors. Numerical simulation of the landing performance, including resulting landing errors are presented using an experimentally validated rotorcraft model.
Modeling and Actuators Design of an Unconventional Airship
Authors: Khamlia Mahmoud , Bennaceur Sélima , Azouz Naoufel , Samaali Sarra , Abichou Azgal , Lerbet Jean 
Published: March 2016

This paper presents a dynamic modeling of a quadrotor flying wing airship. This airship is a scale model of airships dedicated for freight transport. It is equipped with steerable thrusters that made over-actuated. A control strategy based on the linearization of the local equation and the use of backstepping control is applied to this model. We made a focus on the relations between the control vectors obtained from the control strategy and the response of the airship actuators.
Numerical results show the benefits of the proposed algorithm.
Cutting Forces With 3-D Tool Wear Analysis in Orthogonal Tube Machining of 6061-T6 Aluminum Alloy With Uncoated Carbide Tool Inserts Using Cold Compressed Air Versus Liquid Nitrogen as Metal Working Fluids
Authors: Chandrasekaran Vishnu Vardhan , Payton Lewis N. , Hunko Wesley S. 
Published: March 2016

Metal working fluids remain in common use throughout many industries where metal cutting is necessary. Optimizing the use of a metal working fluid must balance environmental needs, production needs and economic needs.
An orthogonal tube turning machining experiment on 6061-T6 aluminum alloy was conducted to study the performance of uncoated carbide tool inserts utilizing cold compressed air and liquid nitrogen environments as the metal working fluid of choice. The tool inserts selected for this study did not have any chip breaker and studied at 3 different rake angles of 0°, 7° and 15°. Aluminum alloy 6061-T6 was used because of its commercially dominant availability and usage. Cold cryogenic cooling was selected because of its growing usage in high performance machining applications. The use of cold compressed air has been much less studied in the machining of metals than in the machining of plastics and composites where it is quite commonly used. The comparisons between these two methods represent the first published values comparing the current extremes of gaseous metal working fluid applications in a commercially dominant aluminum alloy.
This statistically designed experiment produced a large amount of comparative data that focused on the wear of the tools in two different cutting environments allowing for multivariate analysis of variance and regressive curve fitting. The orthogonal tube turning was set up on a conventional two axis HAAS TL-2 CNC tool room lathe. Forces were collected utilizing a standard Kistler force dynamometer to record the force data in X, Y and Z axes. Two levels of uncut chip thickness, 0.002” and 0.004” per revolution were maintained with a constant feed and depth of cut of 0.125”. Tool rake angles and depth of cuts were selected to ensure maximum statistical power / decisiveness of the experiment. The experiment was carried out for duration of 1 minute while the force data was collected for the entire duration of cut. New tool insert was used for each factor level combination.
The traditional force analysis results are provided for an orthogonal tube turning experiment. In addition, all tools were analyzed for 3-dimensional rake face wear using an innovative Keyence white light microscope in conjunction with a Dektak surface profilometer. Although cutting forces were statistically the same, the inexpensive, simple cold compressed air produced less rake wear than the more expensive liquid nitrogen for all cutting factor level combinations. There was no measureable benefit in using the more expensive liquid nitrogen system.
Methane Transcritical Behavior in the Cooling System of the HYPROB-BREAD LOX/LCH4 Demonstrator Rocket Engine
Authors: Ricci D. , Battista F. , Ferraiuolo M. , Salvatore V. , Fragiacomo M. 
Published: March 2016

The HYPROB Program, developed by the Italian Aerospace Research Centre, has the aim of increasing the Italian system design and manufacturing capabilities on liquid oxygen-hydrocarbon rocket engines; the most important activity is represented by the development and testing of a ground engine demonstrator of three tons thrust based on methane as propellant. The demonstrator baseline concept is featured by 18 injectors and is regeneratively cooled by using liquid methane. The cooling system has a counter-flow architecture and is made by 96 axial channels; methane enters the channels in the nozzle region in supercritical liquid condition, is heated by the combustion gases along the cooling jacket and then is injected into the combustion chamber as a supercritical gas.
The goal of the present paper is to describe the activities supporting the cooling jacket design, aiming at identifying the optimal configuration of the cooling channels. 3-D CFD analyses have been performed on different cooling channel arrangements, in terms of channel height and rib width. Moreover, simulations described the thermo-fluid dynamic behavior of methane by means of NIST real gas modeling and they were necessary to give the proper input to the thermo-structural analyses in order to verify the most critical sections of the cooling jacket.
Dynamic Modelling of an Off-Road Vehicle for the Design of a Semi-Active, Hydropneumatic Spring-Damper System
Authors: Panetta Giuseppe , Mancarella Francesco , Borghi Massimo , Zardin Barbara , Pintore Francesco 
Published: March 2016

In this paper a tool integrating a multibody full car model of a tractor and the hydraulic model of the suspension system is presented as a virtual tool able to help the designer and also the control tuning of the system. The full car approach is chosen in order to be able to describe all the vehicles movements (roll, yaw, pitch) while the detailed lumped parameters model of the hydraulic suspensions allows to consider the role of the electrohydraulic valves, accumulator, hydraulic actuator on the vehicle dynamic behaviour. The hydraulic model and the multibody model exchange forces and displacements at the joint points: one between actuator and sprung mass (chassis) and the other one between actuator and unsprung mass (front axle and wheels).
Experimental test have been performed (suspension leveling maneuvers, tests on ISO 50008 track, bump tests) and the results of the numerical model have been compared with the experimental data, allowing the understanding of the influence of the numerous design and control parameters involved in the determination of the vehicle dynamic behaviour. The influence of mechanical and geometrical parameters on the damping force hysteresis measured during levelling test are shown and described. Finally, the dynamic behavior of the suspension is analyzed making reference to a dynamic test over a bump.
MATLAB Image Processing as a Viable Tool to Study Low Surface Roughness
Authors: Hunko Wesley S. , Chandrasekaran Vishnuvardhan , Payton Lewis N. 
Published: March 2016

The purpose of this paper is to present the results of a study comparing an old technique for measuring low surface roughness with a new technique of data acquisition and processing that is potentially cheaper, quicker and more automated. It offers the promise of in-process quality monitoring of surface finish.
Since the late 1800s, researchers have investigated the light scattering effects of surface asperities and have developed many interferometry techniques to quantify this phenomenon. Through the use of interferometry, the surface roughness of objects can be very accurately measured and compared. Unlike contact measurement such as profilometers, interferometry is nonintrusive and can take surface measurements at very wide ranges of scale. The drawbacks to this method are the high costs and complexity of data acquisition and analysis equipment. This study attempts to eliminate these drawbacks by developing a single built-in MATLAB function, to simplify data analysis, and a very economically priced digital microscope (less than $200), for data acquisition. This is done by comparing the results of various polishing compounds on the basis of the polished surface results obtained from MATLAB’s IMHIST function to the results of stylus profilometry methods. The study with the MATLAB method is also to be compared to 3D microscopy with a Keyence microscope.
With surface roughness being a key component in many manufacturing and tribology applications, the apparent need for accurate, reliable and economical measuring systems is prevalent. However, interferometry is not a cheap or simple process. “Over the last few years, advances in image processing techniques have provided a basis for developing image-based surface roughness measuring techniques” [1]. One popular image processing technique is through the use of MATLAB’s Image Processing Toolbox. This includes an array of functions that can be used to quantify and compare textures of a surface. Some of these include standard deviation, entropy, and histograms of images for further analysis. “These statistics can characterize the texture of an image because they provide information about the local variability of the intensity values of pixels in an image. For example, in areas with smooth texture, the range of values in the neighborhood around a pixel will be a small value; in areas of rough texture, the range will be larger. Similarly, calculating the standard deviation of pixels in a neighborhood can indicate the degree of variability of pixel values in that region” [2].
By combining the practices of interferometry with the processing techniques of MATLAB, this fairly new method of roughness measurement proved itself as a very viable and inexpensive technique. This technique should prove to be a very viable means of interferometry at an affordable cost.
Segregation of Cortical Bone’s Haversian Systems via Automated Image Segmentation
Authors: Hage Ilige S. , Hamade Ramsey F. 
Published: March 2016

The lamellar or Haversian system is comprised mainly of fundamental units “osteons”. Haversian canals run through the center of the osteons where one or more blood vessels are located. The bone matrix is comprised of concentric lamellae surrounding Haversian canals. Those lamellae are punctuated by holes called lacunae, which are connected to each other through the canaliculi supplying nutrients. Haversian canals, lacunae and canaliculi of the Haversian system constitute the main porosities in cortical bone, thus it is advantageous to segregate those systems in segmented images that will help medical image analysis in accounting for porosities.
To the authors’ best knowledge, no work has been published on segregating Haversian systems with its 3 predominant components (Haversian canals, lacunae, and canaliculi) via automated image segmentation of optical microscope images. This paper aims to detect individual osteonal Haversian system via optical microscope image segmentation. Automation is assured via artificial intelligence; specifically neural networks are used to procure an automated image segmentation methodology.
Biopsies are taken from cortical bone cut at mid-diaphysis femur from bovine cows (which age is about 2 year-old). Specimens followed a pathological procedure (fixation, decalcification, and staining using H&E staining treatment) in order to get slides ready for optical imaging. Optical images at 20X magnification are captured using SC30 digital microscope camera of BX-41M LED optical Olympus microscope. In order to get the targeted segmented images, utilized was an image segmentation methodology developed previously by the authors. This methodology named “PCNN-PSO-AT” combines pulse coupled neural networks to particle swarm optimization and adaptive thresholding, yielding segmented images quality. Segmentation is occurred based on a geometrical attribute namely orientation used as the fitness function for the PSO. The fitness function is built in such way to maximize the identified number of features (which are the 3 components of the osteonal system) having same orientation.
The segmentation methodology is applied on several test images. Results were compared to manually segmented images using suitable quality metrics widely used for image segmentation evaluation namely precision rate, sensitivity, specificity, accuracy and dice.
The main goal of segmentation algorithms is to capture as accurate as possible structures of interest, herein Haversian (osteonal) system. High quality segmented images obtained as well as high values of quality metrics (approaching unity) prove the robustness of the segmentation methodology in reaching high fidelity segments of the Haversian system.
Permeability Testing of Ceramic Foam Filters
Authors: Ostergaard Halsey , Dailey Patrick , Alam Mahabub , Parmigiani John 
Published: March 2016

The construction and validation of an apparatus for measuring the permeability of ceramic foam filters (CFFs) at varying water flow rates is presented here. Commercially available CFFs are specified by pores per inch, which does not uniquely determine the flow characteristics of CFFs. Permeability, the pressure drop per unit filter thickness as a function of velocity, is desired for modeling and quality control purposes. Permeability is typically described with the Forchheimer equation, which can be broken into linear (Darcy) and quadratic (non-Darcy) components. Linear dependence comes from laminar flow at low flow rates, and is scaled by viscosity, while the square dependence dominates at high flow rates, and is scaled by fluid density.
CFF measurement systems are not commercially available, and while several examples are found in literature, they are expensive and labor intensive to operate, and are usually limited to specific sizes of filter. The methodology, apparatus, and verification work presented here aims to reduce the cost, time, and complexity of measuring the permeability of commercially available CFFs of different sizes and porosities.
Water is used as the working fluid, which is pumped through a CFF held in a modular cartridge. Pressure transducers are mounted close to the filter on either side. For testing different diameters of commercially available CFFs, different inlet and outlet pipe sizes are used to approximately match the diameter of the filter. This approach avoids the need for computational modeling of an effective filter diameter when the pipe and filter diameters do not match. Long, straight rigid pipe runs are used on the inlet to ensure fully developed flow profiles. Flow is measured with a magnetic flow meter. Pressure drop and flow rate are recorded at discrete flow rates after allowing the system to settle to a constant flow rate. A continuously variable methodology was evaluated and rejected. During testing, it was found that the decreased viscosity of water heated by the pump during long testing runs affected the measured permeability. To compensate, water temperature is measured during each run, and the viscosity is calculated for each run. The linear and quadratic permeability coefficients are determined by fitting a quadratic model through pressure drop data as a function of flow rate.
In order to verify the accuracy of the device, a validation disc was created. A 49.6 mm disc of aluminum was drilled with 1,467 evenly spaced holes. An analytical formula from literature was used to calculate the theoretical permeability of the array. The measured permeability was below the calculated value, but surface defects in the disk were shown to have a large impact on measured permeability.
VHC Performance Evaluation at Connstant Flow: 30 L/Min
Authors: Oliveira Ricardo F. , Cabral Marques Helena Maria , Machado Ana V. , Teixeira José Carlos , Teixeira Senhorinha F. 
Published: March 2016

Asthma treatment provided by a pressurized Metered Dose Inhaler (MDI) coupled to a Valved Holding Chamber (VHC), in cases of children younger than 5 years old, is a standard well-stablished in the medical community. The lack of experimental studies for comparison of several commercial VHC alternatives is the main goal of this study. The VHC device needs to be evaluated in terms of Fine Particle Mass (FPM) emitted and Performance. Such assessment was made based on a cascade impaction methodology (i.e. Multi-Stage Liquid Impinger - MSLI) at 30 ± 5 L/min. This impactor apparatus is composed by five stage of impaction, where the spray particle size distribution is collected by ranges of aerodynamic diameter, from coarse to fine particles. This evaluation was executed for 8 VHC devices: Aerochamber Plus®, A2A Spacer®, Compact Space Chamber Plus®, Space Chamber Plus®, Nebuchamber®, Vortex®, OptiChamber Diamond® and Volumatic®. The Ventolin® (salbutamol sulphate 100 μg/dose) was the chosen MDI device, due to its widely prescription and acceptance. Drug mass per stage was quantified by UV-Vis Spectrometry, through washing solutions of NaOH 0.01M.
Results show clear distinction between the use of MDI alone or coupled with any VHC. Its Emitted Dose (ED) is higher when coupled to a VHC, although the FPM emitted is not different. In other hand the use of VHC provides a reduction from 82.7% to 95.3% of the Throat deposition in comparison to MDI alone.
Results point the Aerochamber, Volumatic and Nebuchamber as the highest FPM emitters (27.5 ± 2.4 μg, 27.3 ± 2.7 μg, 26.5 ± 1.8 μg) and with high performance indexes (5.3 ± 0.1, 6.6 ± 1.3, 5.0 ± 0.4).
A complete device characteristics analysis is provided, showing that Throat deposition is highly related to the valve design. The Leaflet design (≈5.0 μg) has lower throat deposition than Duck type (≈9.5 μg).
A Handling and Attractiveness index is calculated and plotted against the Performance index divided by the device cost. This analysis shows that Volumatic is the best investment (1.73 ± 0.34 £−1) for home / hospital use (2.0 g−1·m−3), while the Aerochamber shows the best portability (53.2 g−1·m−3) and a reasonable investment (1.10 ± 0.02 £−1).
Isolation of Circulating Tumor Cells Using Stiffness-Based Filtration Platform
Authors: Celik Emrah , Rongione Nicolas , Bahamonde Amelia , Ao Zheng , Datar Ram 
Published: March 2016

Analysis of isolated cancer cells in circulation is proven to help determine the success of the cancer treatment and understand the genetic signature of cancer disease. Scarcity of these cells in blood circulation (1–10 CTC in 1ml blood) however, makes the isolation process extremely challenging. Ever improving CTC isolation methods fall into two main categories: 1.Immunomagnetic separation based on antibody binding to tumor specific biomarkers expressed on the cell 2. Physical separation based on the size of the CTCs. Efficiency in cell isolation is still low in these techniques due to the variation in expression level of tumor specific antigens and tumor cell size. Therefore, tumor cell isolation strategies using new CTC biomarkers must be explored.
In this study, we investigated the feasibility of using mechanical stiffness difference in order to detect and isolate the circulating tumor cells from the blood cells. AFM nanindentation experiments revealed that cancer cells are significantly softer than the surrounding white blood cells and therefore, stiffness can be used as a biomarker for CTC isolation. In addition, finite element analysis simulations have shown that CTC isolation can be performed at high efficiency using stiffness-based isolation. Therefore, stiffness based isolation has a potential to achieve fast, label-free isolation of CTCs at high efficiency for clinical applications.