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Sample records for controlling pneumatic soil

  1. Model analysis of mechanisms controlling pneumatic soil vapor extraction

    Høier, Camilla Kruse; Sonnenborg, Torben Obel; Jensen, Karsten Høgh

    2009-01-01

    of heterogeneous soils by enforcing large fluctuating pressure fronts through the contaminated area. Laboratory experiments have suggested that pneumatic SVE considerably improves the recovery rate from low-permeable units. We have analyzed the experimental results using a numerical code and quantified......The efficiency of traditional soil venting or soil vapor extraction (SVE) highly depends on the architecture of the subsurface because imposed advective air flow tends to bypass low-permeable contaminated areas. Pneumatic SVE is a technique developed to enhance remediation efficiency...... level the pneumatic venting technology is superior to the traditional technique, and that the method is particularly efficient in cases where large permeability contrasts exist between soil units in the subsurface....

  2. Pneumatic soil removal tool

    Neuhaus, J.E.

    1992-01-01

    A soil removal tool is provided for removing radioactive soil, rock and other debris from the bottom of an excavation, while permitting the operator to be located outside of a containment for that excavation. The tool includes a fixed jaw, secured to one end of an elongate pipe, which cooperates with a movable jaw pivotably mounted on the pipe. Movement of the movable jaw is controlled by a pneumatic cylinder mounted on the pipe. The actuator rod of the pneumatic cylinder is connected to a collar which is slidably mounted on the pipe and forms part of the pivotable mounting assembly for the movable jaw. Air is supplied to the pneumatic cylinder through a handle connected to the pipe, under the control of an actuator valve mounted on the handle, to provide movement of the movable jaw. 3 figs

  3. Pneumatic soil removal tool

    Neuhaus, John E.

    1992-01-01

    A soil removal tool is provided for removing radioactive soil, rock and other debris from the bottom of an excavation, while permitting the operator to be located outside of a containment for that excavation. The tool includes a fixed jaw, secured to one end of an elongate pipe, which cooperates with a movable jaw pivotably mounted on the pipe. Movement of the movable jaw is controlled by a pneumatic cylinder mounted on the pipe. The actuator rod of the pneumatic cylinder is connected to a collar which is slidably mounted on the pipe and forms part of the pivotable mounting assembly for the movable jaw. Air is supplied to the pneumatic cylinder through a handle connected to the pipe, under the control of an actuator valve mounted on the handle, to provide movement of the movable jaw.

  4. Pneumatic control technology

    Tae, Seong Gil; Kim, Won Hoe; Nam, Dae Hyun

    1993-03-01

    This book contains property of pneumatic pressure drive, pneumatic pressure device like air cleaning, pressure control, lubricators, air pressure pipe, kinds and function of pneumatic pressure equipment like pneumatic cylinders, pneumatic motor, flow control valve, direction control valve, design of pneumatic control circuit, pneumatic system design, cause and measurement of pneumatic circuit failure, PLC and pneumatic control like introduction and system application and method of PLC programing.

  5. Pneumatic Muscle Actuator Control

    Lilly, John

    2000-01-01

    This research is relevant to the Air Fore mission because pneumatic muscle actuation devices arc advantageous for certain types of robotics as well as for strength and/or mobility assistance for humans...

  6. Synthesis of pneumatic controll systems

    D. Nowak

    2011-04-01

    Full Text Available Currently, the basic tool for automating the production processes are the PLCs. However, in many areas application of the pneumaticcontrol systems may be more reasonable. The main factor determining choice of the control technology are costs. In the case of pneumaticsystems, the costs shall be determined by the number of elements used. Therefore, during the design works it is important to choose anappropriate method for the pneumatic control systems synthesis. The article presents the MTS method, which may be used for a discretetechnological processes modeling and PLC programming, as well as for a pneumatic control systems designing. An important element ofthe MTS method is the network of actions, which graphically presents an algorithm of the implemented process. Based on the actionnetwork and operating machine’s functional diagram, the diagram of different states is determinated, which graphically shows changes ofthe control system’s input and output signals. Analysis of the diagram of different states, makes it easy to determine a schematic equation, which shall be the basis for the control system implementation. Advantage of the MTS method is the lack of restrictions on the number of the control system’s input and output signals. The resulting solution is characterized by a minimum number of elements needed to implement the control system.

  7. Sliding pressure control valve for pneumatic hammer drill

    Polsky, Yarom [Albuquerque, NM

    2011-08-30

    A pneumatic device control apparatus and method comprising a ported valve slidably fitted over a feed tube of the pneumatic device, and using a compliant biasing device to constrain motion of the valve to provide asymmetric timing for extended pressurization of a power chamber and reduced pressurization of a return chamber of the pneumatic device. The pneumatic device can be a pneumatic hammer drill.

  8. Fractional Order Models of Industrial Pneumatic Controllers

    Abolhassan Razminia

    2014-01-01

    Full Text Available This paper addresses a new approach for modeling of versatile controllers in industrial automation and process control systems such as pneumatic controllers. Some fractional order dynamical models are developed for pressure and pneumatic systems with bellows-nozzle-flapper configuration. In the light of fractional calculus, a fractional order derivative-derivative (FrDD controller and integral-derivative (FrID are remodeled. Numerical simulations illustrate the application of the obtained theoretical results in simple examples.

  9. Robust PID Controller for a Pneumatic Actuator

    Skarpetis Michael G.

    2016-01-01

    Full Text Available In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provide a suboptimal solution for tracking error minimization. Simulation results are presented for the nonlinear model.

  10. Fractional-Order Control of Pneumatic Position Servosystems

    Junyi, Cao; Binggang, Cao

    2011-01-01

    A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo ...

  11. Fractional-Order Control of Pneumatic Position Servosystems

    Cao Junyi

    2011-01-01

    Full Text Available A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo system is established. The fractional-order controller for pneumatic position servo and its implementation in industrial computer is designed. The experiments with fractional-order controller are carried out under various conditions, which include sine position signal with different frequency and amplitude, step position signal, and variety inertial load. The results show the effectiveness of the proposed scheme and verify their fine control performance for pneumatic position servo system.

  12. Transforming insect electromyograms into pneumatic muscle control

    Rutter, Brandon; Mu, Laiyong; Ritzmann, Roy; Quinn, Roger

    2006-05-01

    Robots can serve as hardware models for testing biological hypotheses. Both for this reason and to improve the state of the art of robotics, we strive to incorporate biological principles of insect locomotion into robotic designs. Previous research has resulted in a line of robots with leg designs based on walking and climbing movements of the cockroach Blaberus discoidalis. The current version, Robot V, uses muscle-like Braided Pneumatic Actuators (BPAs). In this paper, we use recorded electromyograms (EMGs) to drive robot joint motion. A muscle activation model was developed that transforms EMGs recorded from behaving cockroaches into appropriate commands for the robot. The transform is implemented by multiplying the EMG by an input gain thus generating an input pressure signal, which is used to drive a one-way closed loop pressure controller. The actuator then can be modeled as a capacitance with input rectification. The actuator exhaust valve is given a leak rate, making the transform a leaky integrator for air pressure, which drives the output force of the actuator. We find parameters of this transform by minimizing the difference between the robot motion produced and that observed in the cockroach. Although we have not reproduced full-amplitude cockroach motion using this robot, results from evaluation on reduced-amplitude cockroach angle data strongly suggest that braided pneumatic actuators can be used as part of a physical model of a biological system.

  13. Pneumatic load compensating or controlling system

    Rogers, J. R. (Inventor)

    1975-01-01

    A pneumatic load compensating or controlling system for restraining a load with a predetermined force or applying a predetermined force to the load is described; it includes a source of pressurized air, a one-way pneumatic actuator operatively connected to a load, and a fluid conduit fluidically connecting the actuator with the source of pressurized air. The actuator is of the piston and cylinder type, and the end of the fluid conduit is connected to the upper or lower portion of the cylinder whereby the actuator alternatively and selectively restrains the load with a predetermined force or apply a predetermined force to the load. Pressure regulators are included within the system for variably selectively adjusting the pressurized fluid to predetermined values as desired or required; a pressure amplifier is included within the system for multiplying the pressurized values so as to achieve greater load forces. An accumulator is incorporated within the system as a failsafe operating mechanism, and visual and aural alarm devices, operatively associated with pressure detecting apparatus, readily indicate the proper or improper functioning of the system.

  14. Control performance of pneumatic artificial muscle

    Saga, Norihiko; Chonan, Seiji

    2007-01-01

    The robot in the future will be lightened and, in addition, the complex tasks will be done by the consumption of less energy. To achieve this, the development of an artificial muscle actuator which is as soft as a human-being becomes indispensable. At present, the artificial muscle actuator used is the McKibben type, but the heat and mechanical loss of this actuator are large because of the friction caused by the expansion and contraction of the sleeve. Therefore, we developed the artificial muscle tube where the Carbon fiber of the high intensity had been built into the silicon tube. In this report, the results of the examined the mechanical property of silicone rubber is reported, and the shrinking characteristics, response characteristics, and control performance as a pneumatic actuator are reported.

  15. Designed pneumatic valve actuators for controlled droplet breakup and generation.

    Choi, Jae-Hoon; Lee, Seung-Kon; Lim, Jong-Min; Yang, Seung-Man; Yi, Gi-Ra

    2010-02-21

    The dynamic breakup of emulsion droplets was demonstrated in double-layered microfluidic devices equipped with designed pneumatic actuators. Uniform emulsion droplets, produced by shearing at a T-junction, were broken into smaller droplets when they passed downstream through constrictions formed by a pneumatically actuated valve in the upper control layer. The valve-assisted droplet breakup was significantly affected by the shape and layout of the control valves on the emulsion flow channel. Interestingly, by actuating the pneumatic valve immediately above the T-junction, the sizes of the emulsion droplets were controlled precisely in a programmatic manner that produced arrays of uniform emulsion droplets in various sizes and dynamic patterns.

  16. Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

    Ammar Al-Jodah; Laith Khames

    2018-01-01

    In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compar...

  17. Intelligent Switching Control of Pneumatic Artificial Muscle Manipulator

    Ahn, Kyoung Kwan; Thanh, Tu Diep Cong; Ahn, Young Kong

    Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are the factors that could potentially be exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as deterioration of the performance of transient response due to the change of the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, switching algorithm of control parameter using learning vector quantization neural network (LVQNN) is newly proposed, which estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

  18. Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

    V. N. Pilgunov

    2016-01-01

    Full Text Available A compressibility of the actuating fluid of a pneumatic drive (compressed air leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the constant load component at the time of stop and its variation for the holding period, a transfer coefficient of the position component of the load, an active area of the pneumatic cylinder piston, as well as reduction in atmospheric pressure, which can significantly affect the operation of the control systems of small aircrafts flying at high altitudes.To reduce the landing value of piston due to changing value of the constant load component for its holding period, it is proposed to use a hydraulic positioner, which comprises a hydraulic cylinder the rod of which is rigidly connected to the rod of the pneumatic cylinder through the traverse, a cross-feed valve of the hydro-cylinder cavities with discrete electro-magnetic control, and adjustable chokes.A programmable logic controller provides the hydraulic positioner control. At the moment the piston stops and the load is held the cross-feed valve overlaps the hydro-cylinder cavities thereby locking the pneumatic cylinder piston and preventing its landing. With available pneumatic cylinder-controlled signal the cross-feed valve connects the piston and rod cavities of the positioner hydro-cylinder, the pneumatic cylinder piston is released and becomes capable of moving.A numerical estimate of landing of the pneumatic cylinder piston and its positioning quality is of essential interest. For this purpose, a technique to calculate the landing of piston has been developed taking into consideration that different

  19. Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

    Ammar Al-Jodah

    2018-01-01

    Full Text Available In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs. A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

  20. Force Control for a Pneumatic Cylinder Using Generalized Predictive Controller Approach

    Mohd Faudzi, Ahmad ’Athif; Mustafa, Nu’man Din; Osman, Khairuddin

    2014-01-01

    Pneumatic cylinder is a well-known device because of its high power to weight ratio, easy use, and environmental safety. Pneumatic cylinder uses air as its power source and converts it to a possible movement such as linear and rotary movement. In order to control the pneumatic cylinder, controller algorithm is needed to control the on-off solenoid valve with encoder and pressure sensor as the feedback inputs. In this paper, generalized predictive controller (GPC) is proposed as the control st...

  1. Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle

    Youssif Mohamed Toum Elobaid

    2014-01-01

    Full Text Available Presently pneumatic muscles (PMs are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods.

  2. Pneumatic motor speed control by trajectory tracking fuzzy logic

    In this study, trajectory tracking fuzzy logic controller (TTFLC) is proposed for the speed control of a pneumatic motor (PM). A third order trajectory is defined to determine the trajectory function that has to be tracked by the PM speed. Genetic algorithm (GA) is used to find the TTFLC boundary values of membership functions ...

  3. Control of pneumatic transfer system for neutron activation analysis

    Jung, H. S.; Chung, Y. S.; Wu, J. S.; Kim, H. K.; Choi, Y. S.; Kim, S. H.; Moon, J. H.; Baek, S. Y

    2000-06-01

    Pneumatic transfer system(PTS) is one of the facilities to be used in irradiation of target materials for neutron activation analysis(NAA) in the research reactor. There are two systems the manual and the automatic system in PTS of HANARO research reactor. The pneumatic transfer system consists of many devices, sends and loads the capsules from NAA laboratory into three holes in the reflector tank of reactor and retrieves irradiated capsules after irradiation. This report describes the part's design, control system and the operation procedures. All the algorithm described in the text will be used for maintenance and upgrading.

  4. Control of pneumatic transfer system for neutron activation analysis

    Jung, H. S.; Chung, Y. S.; Wu, J. S.; Kim, H. K.; Choi, Y. S.; Kim, S. H.; Moon, J. H.; Baek, S. Y.

    2000-06-01

    Pneumatic transfer system(PTS) is one of the facilities to be used in irradiation of target materials for neutron activation analysis(NAA) in the research reactor. There are two systems the manual and the automatic system in PTS of HANARO research reactor. The pneumatic transfer system consists of many devices, sends and loads the capsules from NAA laboratory into three holes in the reflector tank of reactor and retrieves irradiated capsules after irradiation. This report describes the part's design, control system and the operation procedures. All the algorithm described in the text will be used for maintenance and upgrading

  5. Design and control of a pneumatic musculoskeletal biped robot.

    Zang, Xizhe; Liu, Yixiang; Liu, Xinyu; Zhao, Jie

    2016-04-29

    Pneumatic artificial muscles are quite promising actuators for humanoid robots owing to their similar characteristics with human muscles. Moreover, biologically inspired musculoskeletal systems are particularly important for humanoid robots to perform versatile dynamic tasks. This study aims to develop a pneumatic musculoskeletal biped robot, and its controller, to realize human-like walking. According to the simplified musculoskeletal structure of human lower limbs, each leg of the biped robot is driven by nine muscles, including three pairs of monoarticular muscles which are arranged in the flexor-extensor form, as well as three biarticular muscles which span two joints. To lower cost, high-speed on/off solenoid valves rather than proportional valves are used to control the muscles. The joint trajectory tracking controller based on PID control method is designed to achieve the desired motion. Considering the complex characteristics of pneumatic artificial muscles, the control model is obtained through parameter identification experiments. Preliminary experimental results demonstrate that the biped robot is able to walk with this control strategy. The proposed musculoskeletal structure and control strategy are effective for the biped robot to achieve human-like walking.

  6. Research of pneumatic control transmission system for small irradiation samples

    Bai Zhongxiong; Zhang Haibing; Rong Ru; Zhang Tao

    2008-01-01

    In order to reduce the absorbed dose damage for the operator, pneumatic control has been adopted to realize the rapid transmission of small irradiation samples. On/off of pneumatic circuit and directions for the rapid transmission system are controlled by the electrical control part. The main program initializes the system and detects the location of the manual/automatic change-over switch, and call for the corresponding subprogram to achieve the automatic or manual operation. Automatic subprogram achieves the automatic sample transmission; Manual subprogram completes the deflation, and back and forth movement of the radiation samples. This paper introduces in detail the implementation of the system, in terms of both hardware and software design. (authors)

  7. Design and Control of a Pneumatically Actuated Transtibial Prosthesis.

    Zheng, Hao; Shen, Xiangrong

    2015-04-01

    This paper presents the design and control of a pneumatically actuated transtibial prosthesis, which utilizes a pneumatic cylinder-type actuator to power the prosthetic ankle joint to support the user's locomotion. The pneumatic actuator has multiple advantages over the traditional electric motor, such as light weight, low cost, and high power-to-weight ratio. The objective of this work is to develop a compact and lightweight transtibial prosthesis, leveraging the multiple advantages provided by this highly competitive actuator. In this paper, the design details of the prosthesis are described, including the determination of performance specifications, the layout of the actuation mechanism, and the calculation of the torque capacity. Through the authors' design calculation, the prosthesis is able to provide sufficient range of motion and torque capacity to support the locomotion of a 75 kg individual. The controller design is also described, including the underlying biomechanical analysis and the formulation of the finite-state impedance controller. Finally, the human subject testing results are presented, with the data indicating that the prosthesis is able to generate a natural walking gait and sufficient power output for its amputee user.

  8. Microcomputer-based pneumatic controller for neutron activation analysis

    Byrd, J.S.; Sand, R.J.

    1976-10-01

    A microcomputer-based pneumatic controller for neutron activation analysis was designed and built at the Savannah River Laboratory for analysis of large numbers of geologic samples for locating potential supplies of uranium ore for the National Uranium Resource Evaluation program. In this system, commercially available microcomputer logic modules are used to transport sample capsules through a network of pressurized air lines. The logic modules are interfaced to pneumatic valves, solenoids, and photo-optical detectors. The system operates from programs stored in firmware (permanent software). It also commands a minicomputer and a hard-wired pulse height analyzer for data collection and bookkeeping tasks. The advantage of the system is that major system changes can be implemented in the firmware with no hardware changes. This report describes the hardware, firmware, and software for the electronics system

  9. Force Control for a Pneumatic Cylinder Using Generalized Predictive Controller Approach

    Ahmad ’Athif Mohd Faudzi

    2014-01-01

    Full Text Available Pneumatic cylinder is a well-known device because of its high power to weight ratio, easy use, and environmental safety. Pneumatic cylinder uses air as its power source and converts it to a possible movement such as linear and rotary movement. In order to control the pneumatic cylinder, controller algorithm is needed to control the on-off solenoid valve with encoder and pressure sensor as the feedback inputs. In this paper, generalized predictive controller (GPC is proposed as the control strategy for the pneumatic cylinder force control. To validate and compare the performance, proportional-integral (PI controller is also presented. Both controllers algorithms GPC and PI are developed using existing linear model of the cylinder from previous research. Results are presented in simulation and experimental approach using MATLAB-Simulink as the platform. The results show that the GPC is capable of fast response with low steady state error and percentage overshoot compared to PI.

  10. Integrated vacuum extraction/pneumatic soil fracturing system for remediation of low permeability soil

    Plaines, A.L.; Piniewski, R.J.; Yarbrough, G.D.

    1994-01-01

    There is wide use of vacuum extraction to remove volatile and semi-volatile organic compounds (VOCs) from unsaturated soil. At sites with soil of low permeability, VOC extraction rates may not be sufficient to meet soil clean-up objectives within the desired time frame. During vacuum extraction in low permeability soil, the diffusion rates of VOCs through the soil matrix may limit VOC removal rates. An increase in the number of subsurface paths for advective flow through the contaminated zone results in a larger mass of contaminant being removed in a shorter time frame, accelerating site remediation. One technique for increasing the number of subsurface flow paths is Terra Vac's process of pneumatic soil fracturing (PSF). In this process, pressurized air is injected into the subsurface, creating micro-fractures for the vacuum extraction system to withdraw contaminants. Similar to hydraulic fracturing techniques long used in the petroleum industry for increasing yield from oil and gas production wells, this technique has applications for soil remediation in low permeability conditions. Two case studies, one in Louisiana at a gasoline service station and one at a manufacturing plant in New York, are presented

  11. Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

    Glenn-Ole Kaasa

    2003-10-01

    Full Text Available This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback. We present a mathematical model of the strongly nonlinear system, and implement an adaptive algorithm, based on a parallel feedforward compensator (PFC to remove the relative-degree-1 restriction. We propose a practical method of constructing the PFC, and introduce a simple modification that removes an inherent restriction on bandwidth of the nonlinear system. We show that the adaptive algorithm deals well with nonlinearities, and we achieve tracking corresponding to a settling-time of 150 ms.

  12. Quantification of dynamic property of pneumatic muscle actuator for design of therapeutic robot control.

    Balasubramanian, Sivakumar; Huang, He; He, Jiping

    2006-01-01

    Robot-assisted therapy has shown potential in neuromotor rehabilitation. A therapeutic robot driven by pneumatic muscle actuators has been developed in our research group. However, the design of fine and real-time feedback robot control is a challenge. One of the difficulties is the lack of a general dynamic model of the pneumatic muscle actuator. In this study, a phenomenological model has been developed to quantify the dynamic behavior of pneumatic muscle actuator by fitting the experimental length response of the pneumatic muscle, to a step pressure input. In addition, comparison of the dynamic responses of two pneumatic muscles of different dimensions has also been studied. Several control strategies for the pneumatic muscle actuator are discussed based on the results from this study.

  13. Vibration and recoil control of pneumatic hammers. [by air flow pressure regulation

    Constantinescu, I. N.; Darabont, A. V.

    1974-01-01

    Vibration sources are described for pneumatic hammers used in the mining industry (pick hammers), in boiler shops (riveting hammers), etc., bringing to light the fact that the principal vibration source is the variation in air pressure inside the cylinder. The present state of the art of vibration control of pneumatic hammers as it is practiced abroad, and the solutions adopted for this purpose, are discussed. A new type of pneumatic hammer with a low noise and vibration level is presented.

  14. Pneumatic oscillator circuits for timing and control of integrated microfluidics.

    Duncan, Philip N; Nguyen, Transon V; Hui, Elliot E

    2013-11-05

    Frequency references are fundamental to most digital systems, providing the basis for process synchronization, timing of outputs, and waveform synthesis. Recently, there has been growing interest in digital logic systems that are constructed out of microfluidics rather than electronics, as a possible means toward fully integrated laboratory-on-a-chip systems that do not require any external control apparatus. However, the full realization of this goal has not been possible due to the lack of on-chip frequency references, thus requiring timing signals to be provided from off-chip. Although microfluidic oscillators have been demonstrated, there have been no reported efforts to characterize, model, or optimize timing accuracy, which is the fundamental metric of a clock. Here, we report pneumatic ring oscillator circuits built from microfluidic valves and channels. Further, we present a compressible-flow analysis that differs fundamentally from conventional circuit theory, and we show the utility of this physically based model for the optimization of oscillator stability. Finally, we leverage microfluidic clocks to demonstrate circuits for the generation of phase-shifted waveforms, self-driving peristaltic pumps, and frequency division. Thus, pneumatic oscillators can serve as on-chip frequency references for microfluidic digital logic circuits. On-chip clocks and pumps both constitute critical building blocks on the path toward achieving autonomous laboratory-on-a-chip devices.

  15. Validity and reliability of a controlled pneumatic resistance exercise device.

    Paulus, David C; Reynolds, Michael C; Schilling, Brian K

    2008-01-01

    During the concentric portion of the free-weight squat exercise, accelerating the mass from rest results in a fluctuation in ground reaction force. It is characterized by an initial period of force greater than the load while accelerating from rest followed by a period of force lower than the external load during negative acceleration. During the deceleration phase, less force is exerted and muscles are loaded sub-optimally. Thus, using a reduced inertia form of resistance such as pneumatics has the capability to minimize these inertial effects as well as control the force in real time to maximize the force exerted over the exercise cycle. To improve the system response of a preliminary design, a squat device was designed with a reduced mass barbell and two smaller pneumatic cylinders. The resistance was controlled by regulating cylinder pressure such that it is capable of adjusting force within a repetition to maximize force exerted during the lift. The resistance force production of the machine was statically validated with the input voltage and output force R2 =0.9997 for at four increments of the range of motion, and the intraclass correlation coefficient (ICC) between trials at the different heights equaled 0.999. The slew rate at three forces was 749.3 N/s +/- 252.3. Dynamic human subject testing showed the desired input force correlated with average and peak ground reaction force with R2 = 0.9981 and R2 = 0.9315, respectively. The ICC between desired force and average and peak ground reaction force was 0.963. Thus, the system is able to deliver constant levels of static and dynamic force with validity and reliability. Future work will be required to develop the control strategy required for real-time control, and performance testing is required to determine its efficacy.

  16. Sliding mode control of a "Soft" 2-DOF Planar Pneumatic Manipulator

    Van Damme, M.; Vanderborght, B.; Beyl, P.; Versluys, R.; Vanderniepen, I.; Van Ham, R.; Cherelle, P.; Daerden, F.; Lefeber, D.

    2008-10-01

    This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed

  17. Pneumatic control system for rapid vertical rectangular movements of heavy loads

    Huettel, G; Krause, H [Zentralinstitut fuer Kernforschung, Rossendorf bei Dresden (German Democratic Republic)

    1975-01-01

    A new control system has been developed in order to realize the physically necessary short transition times between the dead points of a pneumatic oscillator even for heavy loads and high working speeds. Integral element of this system is the external control of braking process provided for in addition to the end position brake installed in the working cylinder. This control system is applicable not only to pile oscillators, but also universally applicable to pneumatic apparatuses.

  18. A pneumatic control system for rapid vertical rectangular movements of heavy loads

    Huettel, G.; Krause, H.

    1975-01-01

    A new control system has been developed in order to realize the physically necessary short transition times between the dead points of a pneumatic oscillator even for heavy loads and high working speeds. Integral element of this system is the external control of braking process provided for in addition to the end position brake installed in the working cylinder. This control system is applicable not only to pile oscillators, but also universally applicable to pneumatic apparatuses working like that. (author)

  19. Integration of pneumatic fracturing and in situ vitrification in the soil subsurface

    Luey, J.; Seiler, D.K.; Schuring, J.R.

    1995-02-01

    Pacific Northwest Laboratory is evaluating ways to increase the applicability of the in situ vitrification (ISV) process at hazardous and radioactive waste sites. One innovation is the placement of a conductive material that will facilitate initiating the ISV process at a target depth. A series of laboratory tests performed at the New Jersey Institute of Technology (NJIT) assessed the feasibility of pneumatic fracturing (PF) in the highly permeable soils of the Hanford Site. The NJIT tests included an analysis of Hanford soils, a series of PF injection tests, and a parametric analysis to determine how soil properties affect the PF process. Results suggest that the PF process can be applied to Hanford soils and that dry medium (e.g., conductive material such as graphite flake) can be injected into the fracture. This paper describes the laboratory testing performed at NJIT, its results, and the application of those results to plans for a field demonstration at Hanford

  20. A study on modelling of a butterfly-type control valve by a pneumatic actuator

    Hwang, I Cheol; Park, Cheol Jae

    2009-01-01

    This paper studies on the modelling of a butterfly-type control valve actuating by an on-off pneumatic solenoid valve. The mathematical model is composed of nonlinear differential equations three parts: (i) a solenoid valve, (ii) a pneumatic cylinder, (iii) a rotary-type butterfly valve. The flow characteristics of the butterfly control valve is analysed by a computer simulator, then its simple transfer function is identified from the step responses.

  1. An investigation of the effects of pneumatic actuator design on slip control for heavy vehicles

    Miller, Jonathan I.; Cebon, David

    2013-01-01

    Progress in reducing actuator delays in pneumatic brake systems is opening the door for advanced anti-lock braking algorithms to be used on heavy goods vehicles. However, little has been published on slip controllers for air-braked heavy vehicles, or the effects of slow pneumatic actuation on their design and performance. This paper introduces a sliding mode slip controller for air-braked heavy vehicles. The effects of pneumatic actuator delays and flow rates on stopping performance and air (energy) consumption are presented through vehicle simulations. Finally, the simulations are validated with experiments using a hardware-in-the-loop rig. It is shown that for each wheel, pneumatic valves with delays smaller than 3 ms and orifice diameters around 8 mm provide the best performance.

  2. Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

    V. N. Pilgunov; K. D. Efremova

    2016-01-01

    A compressibility of the actuating fluid of a pneumatic drive (compressed air) leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the con...

  3. Controlling pneumatic artificial muscles in exoskeletons with surface electromyography

    Groenhuis, Vincent; Chandrapal, Mervin; Stramigioli, Stefano; Chen, XiaoQi

    2014-01-01

    Powered exoskeletons are gaining more interest in the last few years, as useful devices to provide assistance to elderly and disabled people. Many different types of powered exoskeletons have been studied in the past. In this research paper, a soft lower limb exoskeleton driven by pneumatic

  4. System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic

    Khairuddin Osman

    2014-01-01

    Full Text Available This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function is obtained from system identification (SI method. Next, combination of predictive functional control with observer (PFC-O design is selected as a new control strategy for pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiments using national instrument (NI devices and programmable system on chip (PSoC microcontroller. Result shows that the new controller is adapted to the system and able to successfully control both simulation and real-time experiments.

  5. Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

    Ce Shang

    2016-04-01

    Full Text Available Due to the compressibility of air, non-linear characteristics, and parameter uncertainties of pneumatic elements, the position control of a pneumatic cylinder or parallel platform is still very difficult while comparing with the systems driven by electric or hydraulic power. In this article, based on the basic dynamic model and descriptions of thermal processes, a controller integrated with online parameter estimation is proposed to improve the performance of a pneumatic cylinder controlled by a proportional valve. The trajectory tracking error is significantly decreased by applying this method. Moreover, the algorithm is expanded to the problem of posture trajectory tracking for the three-revolute prismatic spherical pneumatic parallel manipulator. Lyapunov’s method is used to give the proof of stability of the controller. Using NI-CompactRio, NI-PXI, and Veristand platform as the realistic controller hardware and data interactive environment, the adaptive robust control algorithm is applied to the physical system successfully. Experimental results and data analysis showed that the posture error of the platform could be about 0.5%–0.7% of the desired trajectory amplitude. By integrating this method to the mechatronic system, the pneumatic servo solutions can be much more competitive in the industrial market of position and posture control.

  6. Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

    Yeming Zhang

    2018-03-01

    Full Text Available In order to accurately control the rotation position of a pneumatic rotary actuator, the flow state of the gas and the motion state of the pneumatic rotary actuator in the pneumatic rotary actuator position servo system are analyzed in this paper. The mathematical model of the system and the experiment platform are established after that. An Adaptive Differential Evolution (ADE algorithm which adaptively ameliorates the scaling factor and crossover probability in the process of individual evolution is proposed and applied to the parameter optimization of PD controller. The experimental platform is used to compare the controller with Differential Evolution (DE algorithm and NCD-PID controller. Finally, the characteristics of the system are tested by increasing the inertial load. The experimental results illustrate that system using ADE-PD control strategy has greater position precision and faster response than using DE-PD and NCD-PID strategies, and shows great robustness.

  7. Controllable pneumatic generator based on the catalytic decomposition of hydrogen peroxide

    Kim, Kyung-Rok; Kim, Kyung-Soo; Kim, Soohyun

    2014-01-01

    This paper presents a novel compact and controllable pneumatic generator that uses hydrogen peroxide decomposition. A fuel micro-injector using a piston-pump mechanism is devised and tested to control the chemical decomposition rate. By controlling the injection rate, the feedback controller maintains the pressure of the gas reservoir at a desired pressure level. Thermodynamic analysis and experiments are performed to demonstrate the feasibility of the proposed pneumatic generator. Using a prototype of the pneumatic generator, it takes 6 s to reach 3.5 bars with a reservoir volume of 200 ml at the room temperature, which is sufficiently rapid and effective to maintain the repetitive lifting of a 1 kg mass

  8. Controllable pneumatic generator based on the catalytic decomposition of hydrogen peroxide

    Kim, Kyung-Rok; Kim, Kyung-Soo; Kim, Soohyun

    2014-07-01

    This paper presents a novel compact and controllable pneumatic generator that uses hydrogen peroxide decomposition. A fuel micro-injector using a piston-pump mechanism is devised and tested to control the chemical decomposition rate. By controlling the injection rate, the feedback controller maintains the pressure of the gas reservoir at a desired pressure level. Thermodynamic analysis and experiments are performed to demonstrate the feasibility of the proposed pneumatic generator. Using a prototype of the pneumatic generator, it takes 6 s to reach 3.5 bars with a reservoir volume of 200 ml at the room temperature, which is sufficiently rapid and effective to maintain the repetitive lifting of a 1 kg mass.

  9. Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

    Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

    2017-11-01

    The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

  10. A pneumatic Bionic Voice prosthesis-Pre-clinical trials of controlling the voice onset and offset.

    Farzaneh Ahmadi

    Full Text Available Despite emergent progress in many fields of bionics, a functional Bionic Voice prosthesis for laryngectomy patients (larynx amputees has not yet been achieved, leading to a lifetime of vocal disability for these patients. This study introduces a novel framework of Pneumatic Bionic Voice Prostheses as an electronic adaptation of the Pneumatic Artificial Larynx (PAL device. The PAL is a non-invasive mechanical voice source, driven exclusively by respiration with an exceptionally high voice quality, comparable to the existing gold standard of Tracheoesophageal (TE voice prosthesis. Following PAL design closely as the reference, Pneumatic Bionic Voice Prostheses seem to have a strong potential to substitute the existing gold standard by generating a similar voice quality while remaining non-invasive and non-surgical. This paper designs the first Pneumatic Bionic Voice prosthesis and evaluates its onset and offset control against the PAL device through pre-clinical trials on one laryngectomy patient. The evaluation on a database of more than five hours of continuous/isolated speech recordings shows a close match between the onset/offset control of the Pneumatic Bionic Voice and the PAL with an accuracy of 98.45 ±0.54%. When implemented in real-time, the Pneumatic Bionic Voice prosthesis controller has an average onset/offset delay of 10 milliseconds compared to the PAL. Hence it addresses a major disadvantage of previous electronic voice prostheses, including myoelectric Bionic Voice, in meeting the short time-frames of controlling the onset/offset of the voice in continuous speech.

  11. A pneumatic Bionic Voice prosthesis-Pre-clinical trials of controlling the voice onset and offset.

    Ahmadi, Farzaneh; Noorian, Farzad; Novakovic, Daniel; van Schaik, André

    2018-01-01

    Despite emergent progress in many fields of bionics, a functional Bionic Voice prosthesis for laryngectomy patients (larynx amputees) has not yet been achieved, leading to a lifetime of vocal disability for these patients. This study introduces a novel framework of Pneumatic Bionic Voice Prostheses as an electronic adaptation of the Pneumatic Artificial Larynx (PAL) device. The PAL is a non-invasive mechanical voice source, driven exclusively by respiration with an exceptionally high voice quality, comparable to the existing gold standard of Tracheoesophageal (TE) voice prosthesis. Following PAL design closely as the reference, Pneumatic Bionic Voice Prostheses seem to have a strong potential to substitute the existing gold standard by generating a similar voice quality while remaining non-invasive and non-surgical. This paper designs the first Pneumatic Bionic Voice prosthesis and evaluates its onset and offset control against the PAL device through pre-clinical trials on one laryngectomy patient. The evaluation on a database of more than five hours of continuous/isolated speech recordings shows a close match between the onset/offset control of the Pneumatic Bionic Voice and the PAL with an accuracy of 98.45 ±0.54%. When implemented in real-time, the Pneumatic Bionic Voice prosthesis controller has an average onset/offset delay of 10 milliseconds compared to the PAL. Hence it addresses a major disadvantage of previous electronic voice prostheses, including myoelectric Bionic Voice, in meeting the short time-frames of controlling the onset/offset of the voice in continuous speech.

  12. A pneumatic Bionic Voice prosthesis—Pre-clinical trials of controlling the voice onset and offset

    Noorian, Farzad; Novakovic, Daniel; van Schaik, André

    2018-01-01

    Despite emergent progress in many fields of bionics, a functional Bionic Voice prosthesis for laryngectomy patients (larynx amputees) has not yet been achieved, leading to a lifetime of vocal disability for these patients. This study introduces a novel framework of Pneumatic Bionic Voice Prostheses as an electronic adaptation of the Pneumatic Artificial Larynx (PAL) device. The PAL is a non-invasive mechanical voice source, driven exclusively by respiration with an exceptionally high voice quality, comparable to the existing gold standard of Tracheoesophageal (TE) voice prosthesis. Following PAL design closely as the reference, Pneumatic Bionic Voice Prostheses seem to have a strong potential to substitute the existing gold standard by generating a similar voice quality while remaining non-invasive and non-surgical. This paper designs the first Pneumatic Bionic Voice prosthesis and evaluates its onset and offset control against the PAL device through pre-clinical trials on one laryngectomy patient. The evaluation on a database of more than five hours of continuous/isolated speech recordings shows a close match between the onset/offset control of the Pneumatic Bionic Voice and the PAL with an accuracy of 98.45 ±0.54%. When implemented in real-time, the Pneumatic Bionic Voice prosthesis controller has an average onset/offset delay of 10 milliseconds compared to the PAL. Hence it addresses a major disadvantage of previous electronic voice prostheses, including myoelectric Bionic Voice, in meeting the short time-frames of controlling the onset/offset of the voice in continuous speech. PMID:29466455

  13. Practical pneumatics

    Stacey, Chris

    2012-01-01

    Pneumatic power is ideal for the ever increasing range of 'light' applications in which a cheap, clean, adaptable source of power is needed. Used in conjunction with microprocessor control it forms the basis of manufacturing automation from basic conveying and handling lines to complex robotic assembly systems. Training courses and books aimed at the technician have not kept pace with these developments. This book is written to cover the British Fluid Power Association Pneumatics Certificate, which is also awarded as part of CGLI scheme 2340, and is in the process of NVQ accreditation at level

  14. Synthesis of sequential control algorithms for pneumatic drives controlled by monostable valves

    Ł. Dworzak

    2009-07-01

    Full Text Available Application of the Grafpol method [1] for synthesising sequential control algorithms for pneumatic drives controlled by monostable valves is presented. The developed principles simplify the MTS method of programming production processes in the scope of the memory realisation [2]. Thanks to this, time for synthesising the schematic equation can be significantly reduced in comparison to the network transformation method [3]. The designed schematic equation makes a ground for writing an application program of a PLC using any language defined in IEC 61131-3.

  15. Assessment of Uinta Basin Oil and Natural Gas Well Pad Pneumatic Controller Emissions

    In the fall of 2016, a field study was conducted in the Uinta Basin Utah to improve information on oil and natural gas well pad pneumatic controllers (PCs) and emission measurement methods. A total of 80 PC systems at five oil sites (supporting six wells) and three gas sites (sup...

  16. Model-Based Evolution of a Fast Hybrid Fuzzy Adaptive Controller for a Pneumatic Muscle Actuator

    Alexander Hošovský

    2012-07-01

    Full Text Available Pneumatic artificial muscle-based robotic systems usually necessitate the use of various nonlinear control techniques in order to improve their performance. Their robustness to parameter variation, which is generally difficult to predict, should also be tested. Here a fast hybrid adaptive control is proposed, where a conventional PD controller is placed into the feedforward branch and a fuzzy controller is placed into the adaptation branch. The fuzzy controller compensates for the actions of the PD controller under conditions of inertia moment variation. The fuzzy controller of Takagi-Sugeno type is evolved through a genetic algorithm using the dynamic model of a pneumatic muscle actuator. The results confirm the capability of the designed system to provide robust performance under the conditions of varying inertia.

  17. Position control of a single pneumatic artificial muscle with hysteresis compensation based on modified Prandtl-Ishlinskii model.

    Zang, Xizhe; Liu, Yixiang; Heng, Shuai; Lin, Zhenkun; Zhao, Jie

    2017-01-01

    High-performance position control of pneumatic artificial muscles is limited by their inherent nonlinearity and hysteresis. This study aims to model the length/pressure hysteresis of a single pneumatic artificial muscle and to realize its accurate position tracking control with forward hysteresis compensation. The classical Prandtl-Ishlinskii model is widely used in hysteresis modelling and compensation. But it is only effective for symmetric hysteresis. Therefore, a modified Prandtl-Ishlinskii model is built to characterize the asymmetric length/pressure hysteresis of a single pneumatic artificial muscle, by replacing the classical play operators with two more flexible elementary operators to independently describe the ascending branch and descending branch of hysteresis loops. On the basis, a position tracking controller, which is composed of cascade forward hysteresis compensation and simple proportional pressure controller, is designed for the pneumatic artificial muscle. Experiment results show that the MPI model can reproduce the length/pressure hysteresis of the pneumatic artificial muscle, and the proposed controller for the pneumatic artificial muscle can track the reference position signals with high accuracy. By modelling the length/pressure hysteresis with the modified Prandtl-Ishlinskii model and using its inversion for compensation, precise position control of a single pneumatic artificial muscle is achieved.

  18. Position control of an electro-pneumatic system based on PWM technique and FLC.

    Najjari, Behrouz; Barakati, S Masoud; Mohammadi, Ali; Futohi, Muhammad J; Bostanian, Muhammad

    2014-03-01

    In this paper, modeling and PWM based control of an electro-pneumatic system, including the four 2-2 valves and a double acting cylinder are studied. Dynamic nonlinear behavior of the system, containing fast switching solenoid valves and a pneumatic cylinder, as well as electrical, magnetic, mechanical, and fluid subsystems are modeled. A DC-DC power converter is employed to improve solenoid valve performance and suppress system delay. Among different position control methods, a proportional integrator derivative (PID) controller and fuzzy logic controller (FLC) are evaluated. An experimental setup, using an AVR microcontroller is implemented. Simulation and experimental results verify the effectiveness of the proposed control strategies. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

    Ryan M. Robinson

    2014-04-01

    Full Text Available Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired motions of a manipulator actuated by pneumatic artificial muscles. The manipulator is intended for lifting humans in nursing assistance or casualty extraction scenarios; hence, the control strategy must be capable of responding to large variations in payload over a large range of motion. The present work first investigates the feasibility of two output feedback controllers (proportional-integral-derivative and fuzzy logic, but due to the limitations of pure output feedback control, a model-based feedforward controller is developed and combined with output feedback to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the physical parameters of the pneumatic muscles and the manipulator dynamics. Simulations were performed in order to validate the control algorithms, guide controller design and predict optimal gains. Using real-time interface software and hardware, the controllers were implemented and experimentally tested on the manipulator, demonstrating the improved capability.

  20. Active and Precise Control of Microdroplet Division Using Horizontal Pneumatic Valves in Bifurcating Microchannel

    Shuichi Shoji

    2013-05-01

    Full Text Available This paper presents a microfluidic system for the active and precise control of microdroplet division in a micro device. Using two horizontal pneumatic valves formed at downstream of bifurcating microchannel, flow resistances of downstream channels were variably controlled. With the resistance control, volumetric ratio of downstream flows was changed and water-in-oil microdroplets were divided into two daughter droplets of different volume corresponding to the ratio. The microfluidic channels and pneumatic valves were fabricated by single-step soft lithography process of PDMS (polydimethylsiloxane using SU-8 mold. A wide range control of the daughter droplets’ volume ratio was achieved by the simple channel structure. Volumetric ratio between large and small daughter droplets are ranged from 1 to 70, and the smallest droplet volume of 14 pL was obtained. The proposed microfluidic device is applicable for precise and high throughput droplet based digital synthesis.

  1. Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID

    Syed Najib Syed Salim

    2014-01-01

    Full Text Available The enhancement of nonlinear PID (N-PID controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF, is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self-regulation nonlinear PID (SN-PID controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the characteristic based on a new proposal controller resulting from N-PID controller. The transient response is improved by a factor of 2.2 times greater than previous N-PID technique. Moreover, the performance of pneumatic positioning system is remarkably good under various loads.

  2. Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder

    Qiu, Zhi-cheng; Wang, Bin; Zhang, Xian-min; Han, Jian-da

    2013-04-01

    This study presents a novel translating piezoelectric flexible manipulator driven by a rodless cylinder. Simultaneous positioning control and vibration suppression of the flexible manipulator is accomplished by using a hybrid driving scheme composed of the pneumatic cylinder and a piezoelectric actuator. Pulse code modulation (PCM) method is utilized for the cylinder. First, the system dynamics model is derived, and its standard multiple input multiple output (MIMO) state-space representation is provided. Second, a composite proportional derivative (PD) control algorithms and a direct adaptive fuzzy control method are designed for the MIMO system. Also, a time delay compensation algorithm, bandstop and low-pass filters are utilized, under consideration of the control hysteresis and the caused high-frequency modal vibration due to the long stroke of the cylinder, gas compression and nonlinear factors of the pneumatic system. The convergence of the closed loop system is analyzed. Finally, experimental apparatus is constructed and experiments are conducted. The effectiveness of the designed controllers and the hybrid driving scheme is verified through simulation and experimental comparison studies. The numerical simulation and experimental results demonstrate that the proposed system scheme of employing the pneumatic drive and piezoelectric actuator can suppress the vibration and achieve the desired positioning location simultaneously. Furthermore, the adopted adaptive fuzzy control algorithms can significantly enhance the control performance.

  3. Control of input delayed pneumatic vibration isolation table using adaptive fuzzy sliding mode

    Mostafa Khazaee

    Full Text Available AbstractPneumatic isolators are promising candidates for increasing the quality of accurate instruments. For this purpose, higher performance of such isolators is a prerequisite. In particular, the time-delay due to the air transmission is an inherent issue with pneumatic systems, which needs to be overcome using modern control methods. In this paper an adaptive fuzzy sliding mode controller is proposed to improve the performance of a pneumatic isolator in the low frequency range, i.e., where the passive techniques have obvious shortcomings. The main idea is to combine the adaptive fuzzy controller with adaptive predictor as a new time delay control technique. The adaptive fuzzy sliding mode control and the adaptive fuzzy predictor help to circumvent the input delay and nonlinearities in such isolators. The main advantage of the proposed method is that the closed-loop system stability is guaranteed under certain conditions. Simulation results reveal the effectiveness of the proposed method, compared with other existing time -delay control methods.

  4. Integration of pneumatic fracturing with bioremediation from the enhanced removal of BTX from low permeability gasoline-contaminated soils

    Venkatraman, S.N.; Kosson, D.S.; Schuring, J.R.; Boland, T.M.

    1995-01-01

    A pilot-scale evaluation of the integrated pneumatic fracturing and bioremediation system was carried out to demonstrate the enhanced removal of BTX from a gasoline contaminated, low permeability soil formation. The fracturing enhanced subsurface permeability by an average of over 36 times, and established an extended bioremediation zone supporting aerobic, denitrifying and methanogenic populations. Subsurface amendment injections consisting of phosphate and nitrogen were made periodically over a 50-week period to stimulate microbial activity. Results indicate that 79% of the soil-phase BTX was removed during the field test, with over 85% of the mass removed attributable to bioremediation

  5. The experimental development and performance test of the pneumatic control-rod drive for the THTR

    Lange, G.; Boehlo, D.; Heim, H.; Kleine-Tebbe, A.

    1976-01-01

    Reactor control and shutdown of the THTR is accomplished by two independent systems, the first consisting of 36 absorber rods penetrating the graphite reflector region surrounding the core, the second consisting of 42 absorber rods that insert directly into the pebble bed core. This paper describes the design development and testing of the pneumatic rod drives used for movement of the 42 core control rods. The core control rods have two functions: the first, for reactor safety purposes, provides for adequate safe shutdown of the reactor under cold conditions; the second, for operational purposes, provides for compensation of slow changes in reactivity. The safety and operational functions for each absorber rod are respectively carried out by a long-stroke-piston pneumatic drive and by a stepping-piston pneumatic drive, both of these independent, helium-driven drives being incorporated in the rod drive unit for each control rod. To study the performance of the rod drive, a complete prototype control rod and rod drive unit was built and tested under simulated reactor operational conditions. Operational experience under helium temperatures and pressures was gained and the drives were tested under stress and simulated accident conditions. The reliability of this system has been demonstrated to licensing authorities and to the customer. The programme will be completed with the commissioning tests of drives for the THTR-300 reactor. (author)

  6. Analysis and control of a parallel lower limb based on pneumatic artificial muscles

    Feilong Jiang

    2016-12-01

    Full Text Available Most robots that are actuated by antagonistic pneumatic artificial muscles are controlled by various control algorithms that cannot adequately imitate the actual muscle distribution of human limbs. Other robots in which the distribution of pneumatic artificial muscle is similar to that of human limbs can only analyze the position of the robot using perceptual data instead of rational knowledge. In order to better imitate the movement of a human limb, the article proposes a humanoid lower limb in the form of a parallel mechanism where muscle is unevenly distributed. Next, the kinematic and dynamic movements of bionic hip joint are analyzed, where the joint movement is controlled by an observer-based fuzzy adaptive control algorithm as a whole rather than each individual pneumatic artificial muscle and parameters that are optimized by a neural network. Finally, experimental results are provided to confirm the effectiveness of the proposed method. We also document the role of muscle in trajectory tracking for the piriformis and musculi obturator internus in isobaric processes.

  7. Linear pneumatic actuator

    Avram Mihai

    2017-01-01

    Full Text Available The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber, two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation accomplished.

  8. Linear pneumatic actuator

    Avram Mihai; Niţu Constantin; Bucşan Constantin; Grămescu Bogdan

    2017-01-01

    The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber), two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation) accomplished.

  9. Pressure control of a pneumatic control system with a long transmission line

    Jang, Ji Seong; Lee, Kwang Kuk; Choi, Myung Soo

    2003-01-01

    In this study, a robust controller to control pressure in a pneumatic pressure vessel with a long transmission line is proposed. Frequency response of transmission line using compressible fluid is changed by the flowing state of the fluid. So, if a fixed gain controller designed based on a model supposed the flowing state to a specific state, the performance of the control system could be degraded because of the modelling error. The controller designed in this study is composed of two parts. One is a feedback controller to improve a feedback characteristics and to compensate the influence of the variation of transfer characteristics of a transmission line owing to the change of flowing state and the other is a feed forward controller to regulate command following performance. The experimental results with the designed controller show that the robustness of the control system is achieved regardless of the change of the model of the transmission line. Therefore, the designed controller can be utilized for the performance improvement of a pressure control system with a long transmission line using compressible fluid

  10. [Effect of pneumatic compression in connection with ergotherapeutic treatment of Colles' fracture. A clinical controlled trial].

    Svensson, B H; Frellsen, M B; Basse, P N; Bliddal, H; Caspers, J; Parby, K

    1993-02-15

    We followed forty women with functional deficits in the wrist and hand after sustaining a Colles' fracture. The women participated in occupational therapy three times a week for three weeks. At the initial evaluation, after three weeks, and at a three month evaluation, we measured the following: range of joint movement, grip strength, hand volume (oedema), pain and ADL. There was significant improvement in most of the parameters measured after three weeks of occupational therapy, with a less significant improvement from three weeks to three months. Seventeen of the forty women received twenty minutes of intermittent pneumatic compression before occupational therapy. These patients showed significant improvement in wrist extension, compared with the control group of twenty-three patients. Occupational therapy is recommended for patients showing a functional deficit after Colles' fracture. Intermittent pneumatic compression is recommended as a supplement to occupational therapy.

  11. Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.

    Li, Yanmin; Liu, Hao; Hao, Siwen; Li, Hongyi; Han, Jianda; Yang, Yunsheng

    2017-03-01

    Robot-assisted manipulation is promising for solving problems such as understaffing and the risk of infection in gastro-intestinal endoscopy. However, the commonly used friction rollers in few existing systems have a potential risk of deforming flexible endoscopes for non-uniform clamping. This paper presents a robotic system for a standard flexible endoscope and focuses on a novel gastroscope intervention mechanism (GIM), which provides circumferentially uniform clamping with an airbag. The GIM works with a relay-on mechanism in a way similar to manual operation. The shear stiffness of airbag and the critical slipping force (CSF) were analysed to determine the parameters of the airbag. A fuzzy PID controller was employed to realize a fast response and high accuracy of pneumatic actuation. Experiments were performed to evaluate the accuracy, stiffness and CSF. In vitro and in vivo animal experiments were also carried out. The GIM realized an accuracy of 0.025 ± 0.2 mm and -0.03 ± 0.25° for push-pull and rotation without delivery resistance. Under polynomial could be used to describe the relationship between the CSF and pneumatic pressure. The novel GIM could effectively deliver gastroscopes. The pneumatic-driven clamping method proposed could protect the gastroscope by circumferentially uniform clamping force and the CSF could be properly controlled to guarantee operating safety. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

  12. Modelling and Controller Design of Electro-Pneumatic Actuator Based on PWM

    Behrouz Najjari

    2012-07-01

    Full Text Available In this paper, a nonlinear model associated to the fast switching on-off solenoid valve and pneumatic cylinder was dynamically presented. Furthermore, an investigation into the electrical, magnetic, mechanical and fluid subsystems are made. Two common control policies to track valve position, a Proportional Integrator (PI based on Pulse Width Modulation (PWM and hysteresis controllers, are investigated. To control cylinder position, a Programmable Logic Controller (PLC on a simulated unit and an experimental setup regulated with AVR microcontroller are carried out. Experimental results show effective validation to the simulation results from PLC.

  13. Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

    Jie Zhao

    2015-01-01

    Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.

  14. Practical controller design for ultra-precision positioning of stages with a pneumatic artificial muscle actuator

    Tang, T. F.; Chong, S. H.

    2017-06-01

    This paper presents a practical controller design method for ultra-precision positioning of pneumatic artificial muscle actuator stages. Pneumatic artificial muscle (PAM) actuators are safe to use and have numerous advantages which have brought these actuators to wide applications. However, PAM exhibits strong non-linear characteristics, and these limitations lead to low controllability and limit its application. In practice, the non-linear characteristics of PAM mechanism are difficult to be precisely modeled, and time consuming to model them accurately. The purpose of the present study is to clarify a practical controller design method that emphasizes a simple design procedure that does not acquire plants parameters modeling, and yet is able to demonstrate ultra-precision positioning performance for a PAM driven stage. The practical control approach adopts continuous motion nominal characteristic trajectory following (CM NCTF) control as the feedback controller. The constructed PAM driven stage is in low damping characteristic and causes severe residual vibration that deteriorates motion accuracy of the system. Therefore, the idea to increase the damping characteristic by having an acceleration feedback compensation to the plant has been proposed. The effectiveness of the proposed controller was verified experimentally and compared with a classical PI controller in point-to-point motion. The experiment results proved that the CM NCTF controller demonstrates better positioning performance in smaller motion error than the PI controller. Overall, the CM NCTF controller has successfully to reduce motion error to 3µm, which is 88.7% smaller than the PI controller.

  15. Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

    Chen, Syuan-Yi; Gong, Sheng-Sian

    2017-09-01

    This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

  16. Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

    Mohd Azuwan Mat Dzahir

    2014-04-01

    Full Text Available It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM or pneumatic muscle actuators (PMA. It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

  17. Dynamic environmental control mechanisms for pneumatic foil constructions

    Flor, Jan-Frederik; Wu, Yupeng; Beccarelli, Paolo; Chilton, John

    2017-11-01

    Membrane and foil structures have become over the last decades an attractive alternative to conventional materials and building systems with increasing implementation in different typologies and scale. The development of transparent, light, flexible and resistant materials like Ethylene Tetrafluoroethylene (ETFE) has triggered a rethinking of the building envelope in the building industry towards lightweight systems. ETFE foil cushions have proven to fulfil the design requirements in terms of structural efficiency and aesthetic values. But the strategies to satisfy increasing demands of energy efficiency and comfort conditions are still under development. The prediction and manipulation of the thermo-optical behaviour of ETFE foil cushion structures currently remain as one of the main challenges for designers and manufacturers. This paper reviews ongoing research regarding the control of the thermo-optical performance of ETFE cushion structures and highlights challenges and possible improvements. An overview of different dynamic and responsive environmental control mechanisms for multilayer foil constructions is provided and the state of the art in building application outlined by the discussion of case studies.

  18. Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

    Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

    2013-09-01

    This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

  19. Oxygen consumption of a pneumatically controlled ventilator in a field anesthesia machine.

    Szpisjak, Dale F; Javernick, Elizabeth N; Kyle, Richard R; Austin, Paul N

    2008-12-01

    Field anesthesia machines (FAM) have been developed for remote locations where reliable supplies of compressed medical gases or electricity may be absent. In place of electricity, pneumatically controlled ventilators use compressed gas to power timing circuitry and actuate valves. We sought to determine the total O(2) consumption and ventilator gas consumption (drive gas [DG] plus pneumatic control [PC] gas) of a FAM's pneumatically controlled ventilator in mechanical models of high (HC) and low (LC) total thoracic compliance. The amount of total O(2) consumed by the Magellan-2200 (Oceanic Medical Products, Atchison, KS) FAM with pneumatically controlled ventilator was calculated using the ideal gas law and the measured mass of O(2) consumed from E cylinders. DG to the bellows canister assembly was measured with the Wright Respirometer Mk 8 (Ferraris Respiratory Europe, Hertford, UK). PC gas consumption was calculated by subtracting DG and fresh gas flow (FGF) from the total O(2) consumed from the E cylinder. The delivered tidal volume (V(T)) was measured with a pneumotach (Hans Rudolph, KS City, MO). Three different V(T) were tested (500, 750, and 1000 mL) with two lung models (HC and LC) using the Vent Aid Training Test Lung (MI Instruments, Grand Rapids, MI). Respiratory variables included an I:E of 1:2, FGF of 1 L/min, and respiratory rate of 10 breaths/min. Total O(2) consumption was directly proportional to V(T) and inversely proportional to compliance. The smallest total O(2) consumption rate (including FGF) was 9.3 +/- 0.4 L/min in the HC-500 model and the largest was 15.9 +/- 0.5 L/min in the LC-1000 model (P < 0.001). The mean PC circuitry consumption was 3.9 +/- 0.24 L/min or 390 mL +/- 24 mL/breath. To prepare for loss of central DG supply, patient safety will be improved by estimating cylinder duration for low total thoracic compliance. Using data from the smaller compliance and greatest V(T) model (LC-1000), a full O(2) E cylinder would be depleted in

  20. Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings

    Guanghua Zong

    2008-11-01

    Full Text Available A new kind of pneumatic climbing robot is presented to meet the requirements of glass-wall cleaning for high-rise buildings, which is totally actuated by pneumatic cylinders and attached to the glass wall with vacuum suckers. Using the pneumatic actuators the climbing robot can be made lightweight and dexterous. At the same time the movement driven by pneumatic actuators has the characteristic of passive compliance. In order to solve the problems of high speed movement for the Y cylinder and precise position control of the X cylinder, the applied pneumatic schemes of X and Y cylinders are employed to drive the high-speed on-off solenoid valves and an ordinary valve to adjust the air-flow and pressure to the cylinders. Furthermore a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system for the X cylinder during the sideways movement. Testing results show that the novel approach can effectively improve the control quality. This cleaning robot can meet the requirements of realization.

  1. Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings

    Houxiang Zhang

    2006-06-01

    Full Text Available A new kind of pneumatic climbing robot is presented to meet the requirements of glass-wall cleaning for high-rise buildings, which is totally actuated by pneumatic cylinders and attached to the glass wall with vacuum suckers. Using the pneumatic actuators the climbing robot can be made lightweight and dexterous. At the same time the movement driven by pneumatic actuators has the characteristic of passive compliance. In order to solve the problems of high speed movement for the Y cylinder and precise position control of the X cylinder, the applied pneumatic schemes of X and Y cylinders are employed to drive the high-speed on-off solenoid valves and an ordinary valve to adjust the air-flow and pressure to the cylinders. Furthermore a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system for the X cylinder during the sideways movement. Testing results show that the novel approach can effectively improve the control quality. This cleaning robot can meet the requirements of realization.

  2. BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle.

    Fan, Jizhuang; Zhong, Jun; Zhao, Jie; Zhu, Yanhe

    2015-01-01

    Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due to its highly nonlinear properties. This paper deals with position control of PAM. To describe the hysteresis inside PAM, a polynomial based phenomenological function is developed. Based on the phenomenological model for PAM and analysis of pressure dynamics within PAM, an adaptive cascade controller is proposed. Both outer loop and inner loop employ BP Neural Network tuned PID algorithm. The outer loop is to handle high nonlinearities and unmodeled dynamics of PAM, while the inner loop is responsible for nonlinearities caused by pressure dynamics. Experimental results show high tracking accuracy as compared with a convention PID controller. The proposed controller is effective in improving performance of PAM and will be implemented in a rehabilitation robot.

  3. A Randomized Controlled Trial of Massage and Pneumatic Compression for Ultramarathon Recovery.

    Hoffman, Martin D; Badowski, Natalie; Chin, Joseph; Stuempfle, Kristin J

    2016-05-01

    Study Design Randomized controlled trial. Background Postexercise recovery techniques are widely used, but little research has examined their effectiveness. Objectives To examine the effectiveness of massage and pneumatic compression on recovery from a 161-km ultramarathon. Methods Participants in the 2015 161-km Western States Endurance Run were randomized to a 20-minute postrace intervention of massage, intermittent sequential pneumatic compression, or supine rest. Each subject completed two 400-m runs at maximum speed before the race and on days 3 and 5 after the race, and also provided muscle pain and soreness ratings and overall muscular fatigue scores before and for 7 days after the race. Results Among the 72 runners who finished the race and completed the study, comparison among intervention groups revealed no significant group or interaction effect on 400-m run time, but there was a significant (Pmuscle pain and soreness ratings compared with the supine-rest control condition (Ppneumatic compression (Ppneumatic compression provide some immediate subjective benefit. There is no evidence, however, that such treatments provide extended subjective or functional benefits of clinical importance. The trial was registered at www.clinicaltrials.gov (NCT02530190). Level of Evidence Therapy, level 1b. J Orthop Sports Phys Ther 2016;46(5):320-326. Epub 23 Mar 2016. doi:10.2519/jospt.2016.6455.

  4. Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

    Eduardo Izaguirre

    2011-09-01

    Full Text Available This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiment's results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.

  5. Development of X-Y servo pneumatic-piezoelectric hybrid actuators for position control with high response, large stroke and nanometer accuracy.

    Chiang, Mao-Hsiung

    2010-01-01

    This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO) system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

  6. Development of X-Y Servo Pneumatic-Piezoelectric Hybrid Actuators for Position Control with High Response, Large Stroke and Nanometer Accuracy

    Mao-Hsiung Chiang

    2010-03-01

    Full Text Available This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm and nanometer accuracy (20 nm. In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

  7. Genetic algorithm based active vibration control for a moving flexible smart beam driven by a pneumatic rod cylinder

    Qiu, Zhi-cheng; Shi, Ming-li; Wang, Bin; Xie, Zhuo-wei

    2012-05-01

    A rod cylinder based pneumatic driving scheme is proposed to suppress the vibration of a flexible smart beam. Pulse code modulation (PCM) method is employed to control the motion of the cylinder's piston rod for simultaneous positioning and vibration suppression. Firstly, the system dynamics model is derived using Hamilton principle. Its standard state-space representation is obtained for characteristic analysis, controller design, and simulation. Secondly, a genetic algorithm (GA) is applied to optimize and tune the control gain parameters adaptively based on the specific performance index. Numerical simulations are performed on the pneumatic driving elastic beam system, using the established model and controller with tuned gains by GA optimization process. Finally, an experimental setup for the flexible beam driven by a pneumatic rod cylinder is constructed. Experiments for suppressing vibrations of the flexible beam are conducted. Theoretical analysis, numerical simulation and experimental results demonstrate that the proposed pneumatic drive scheme and the adopted control algorithms are feasible. The large amplitude vibration of the first bending mode can be suppressed effectively.

  8. A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

    Jeremy Krause

    2018-05-01

    Full Text Available Although 3D printing has the potential to provide greater customization and to reduce the costs of creating actuators for industrial applications, the 3D printing of actuators is still a relatively new concept. We have developed a pneumatic actuator with 3D-printed parts and placed sensors for position and force control. So far, 3D printing has been used to create pneumatic actuators of the bellows type, thus having a limited travel distance, utilizing low pressures for actuation and being capable of only limited force production and response rates. In contrast, our actuator is linear with a large travel distance and operating at a relatively higher pressure, thus providing great forces and response rates, and this the main novelty of the work. We demonstrate solutions to key challenges that arise during the design and fabrication of 3D-printed linear actuators. These include: (1 the strategic use of metallic parts in high stress areas (i.e., the piston rod; (2 post-processing of the inner surface of the cylinder for smooth finish; (3 piston head design and seal placement for strong and leak-proof action; and (4 sensor choice and placement for position and force control. A permanent magnet placed in the piston head is detected using Hall effect sensors placed along the length of the cylinder to measure the position, and pressure sensors placed at the supply ports were used for force measurement. We demonstrate the actuator performing position, force and impedance control. Our work has the potential to open new avenues for creating less expensive, customizable and capable actuators for industrial and other applications.

  9. Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures

    Kang, Rongjie; Zheng Tianjiang; Guglielmino, Emanuele; Caldwell, Darwin G; Branson, David T

    2013-01-01

    Biological tentacles, such as octopus arms, have entirely flexible structures and virtually infinite degrees of freedom (DOF) that allow for elongation, shortening and bending at any point along the arm length. The amazing dexterity of biological tentacles has driven the growing implementation of continuum manipulators in robotic systems. This paper presents a pneumatic manipulator inspired by biological continuum structures in some of their key features and functions, such as continuum morphology, intrinsic compliance and stereotyped motions with hyper redundant DOF. The kinematics and dynamics of the manipulator are formulated and identified, and a hierarchical controller taking inspiration from the structure of an octopus nervous system is used to relate desired stereotyped motions to individual actuator inputs. Simulations and experiments are carried out to validate the model and prototype where good agreement was found between the two. (paper)

  10. Efficient control of servo pneumatic actuator system utilizing by-pass ...

    The issue of energy saving nowadays is very crucial. Pneumatic systems, constituting an important segment of almost every industry, represent large energy consumers. Also, a significant problem with servo pneumatic actuators is achieving accuracy in positioning. The higher the positioning accuracy, the higher the ...

  11. Universal machine ''Shtrek'' and the tractor-lifter with pneumatic-equipment control. [Auxiliary multipurpose materials handling equipment

    Bal' bert, B M; Borumenskiy, V A; Lishenko, A P; Mitchenko, G A

    1982-01-01

    The machine ''Shtrek'' is described. It makes it possible to mechanize over 20 auxiliary operations: loading-unloading operations: extraction of old and deformed timbering; dissmantling of obstructions; erection of different types of timbering; making and restoring of drainage channels; laying and straightening of a drift and its leveling; assembly and disassembly of pipelines and mine equipment, etc. Depending on the type of operation, the machine has the corresponding suspended equipment. The elementary variant has a limited area of application at mines of the central region of the Dunbass. Currently a pneumatic variant of the machine ''Shtrek'' has been developed. The electric motor and the starter of the pumping equipment of the machine have been replaced by a pneumatic motor and pneumatically controlled valve KTM-50. In this case there was significant reduction in the weight of the pumping equipment and in its overall dimensions; the electric drive of the hydraulic distributors for controlling the mechanisms were replaced by simpler pneumatic ones; the logical circuit of the control system was constructed on the USEPPA elements. A specialized tractor-lifter designed for moving suspended loads is described for auxiliary operations in the near-face zone of the preparatory drifts. The machine also lifts and lowers the boom, rotates the boom by 270/sup 0/ and additionally lifts and lowers the weight-lifting hook.

  12. Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles.

    Liu, Quan; Liu, Aiming; Meng, Wei; Ai, Qingsong; Xie, Sheng Q

    2017-01-01

    Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient's active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant's assessment. The robot reduces its assistance output when participants contribute more and vice versa , thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.

  13. Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles

    Quan Liu

    2017-12-01

    Full Text Available Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient’s active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant’s assessment. The robot reduces its assistance output when participants contribute more and vice versa, thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.

  14. One Nonlinear PID Control to Improve the Control Performance of a Manipulator Actuated by a Pneumatic Muscle Actuator

    Jun Zhong

    2014-05-01

    Full Text Available Braided pneumatic muscle actuator shows highly nonlinear properties between displacements and forces, which are caused by nonlinearity of pneumatic system and nonlinearity of its geometric construction. In this paper, a new model based on Bouc-Wen differential equation is proposed to describe the hysteretic behavior caused by its structure. The hysteretic loop between contractile force and displacement is dissolved into linear component and hysteretic component. Relationship between pressure within muscle actuator and parameters of the proposed model is discussed. A single degree of freedom manipulator actuated by PMA is designed. On the basis of the proposed model, a novel cascade position controller is designed. Single neuron adaptive PID algorithm is adopted to cope with the nonlinearity and model uncertainties of the manipulator. The outer loop of the controller is to handle position tracking problem and the inner loop is to control pressure. The controller is applied to the manipulator and experiments are conducted. Results demonstrate the effectiveness of the proposed controller.

  15. Tracking control of a leg rehabilitation machine driven by pneumatic artificial muscles using composite fuzzy theory.

    Chang, Ming-Kun

    2014-01-01

    It is difficult to achieve excellent tracking performance for a two-joint leg rehabilitation machine driven by pneumatic artificial muscles (PAMs) because the system has a coupling effect, highly nonlinear and time-varying behavior associated with gas compression, and the nonlinear elasticity of bladder containers. This paper therefore proposes a T-S fuzzy theory with supervisory control in order to overcome the above problems. The T-S fuzzy theory decomposes the model of a nonlinear system into a set of linear subsystems. In this manner, the controller in the T-S fuzzy model is able to use simple linear control techniques to provide a systematic framework for the design of a state feedback controller. Then the LMI Toolbox of MATLAB can be employed to solve linear matrix inequalities (LMIs) in order to determine controller gains based on the Lyapunov direct method. Moreover, the supervisory control can overcome the coupling effect for a leg rehabilitation machine. Experimental results show that the proposed controller can achieve excellent tracking performance, and guarantee robustness to system parameter uncertainties.

  16. Study of a Pneumatic Hybrid aided by a FPGA Controlled Free Valve Technology System

    Trajkovic, Sasa

    2008-01-01

    Urban traffic involves frequent acceleration and deceleration. During deceleration, the energy previously used to accelerate the vehicle is mainly wasted on heat generated by the friction brakes. If this energy that is wasted in traditional IC engines could be saved, the fuel economy would improve. Today there are several solutions to meet the demand for better fuel economy and one of them is the pneumatic hybrids. The idea with pneumatic hybridization is to reduce the fuel con...

  17. Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

    Chang, Ming-Kun; Wu, Jui-Chi

    Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

  18. Dictionary of control technology. Pneumatics, hydraulics, electronics. English-German, German-English. Woerterbuch der Steuerungstechnik. Pneumatik, Hydraulik, Elektronik. Deutsch-Englisch, Englisch-Deutsch

    Budd, F

    1988-01-01

    The English-German/German-English dictionary covers the complete field of control technology present in industry today. The subjects represent appropriate terms from hydraulics, pneumatics, electrical engineering, electronics, data processing, administration, and training. (DG).

  19. Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial muscles.

    Lenz, Alexander; Anderson, Sean R; Pipe, A G; Melhuish, Chris; Dean, Paul; Porrill, John

    2009-12-01

    In this paper, a model of cerebellar function is implemented and evaluated in the control of a robot eye actuated by pneumatic artificial muscles. The investigated control problem is stabilization of the visual image in response to disturbances. This is analogous to the vestibuloocular reflex (VOR) in humans. The cerebellar model is structurally based on the adaptive filter, and the learning rule is computationally analogous to least-mean squares, where parameter adaptation at the parallel fiber/Purkinje cell synapse is driven by the correlation of the sensory error signal (carried by the climbing fiber) and the motor command signal. Convergence of the algorithm is first analyzed in simulation on a model of the robot and then tested online in both one and two degrees of freedom. The results show that this model of neural function successfully works on a real-world problem, providing empirical evidence for validating: 1) the generic cerebellar learning algorithm; 2) the function of the cerebellum in the VOR; and 3) the signal transmission between functional neural components of the VOR.

  20. Servo-controlled pneumatic pressure oscillator for respiratory impedance measurements and high-frequency ventilation.

    Kaczka, David W; Lutchen, Kenneth R

    2004-04-01

    The ability to provide forced oscillatory excitation of the respiratory system can be useful in mechanical impedance measurements as well as high frequency ventilation (HFV). Experimental systems currently used for generating forced oscillations are limited in their ability to provide high amplitude flows or maintain the respiratory system at a constant mean pressure during excitation. This paper presents the design and implementation of a pneumatic pressure oscillator based on a proportional solenoid valve. The device is capable of providing forced oscillatory excitations to the respiratory system over a bandwidth suitable for mechanical impedance measurements and HVF. It delivers high amplitude flows (> 1.4 l/s) and utilizes a servo-control mechanism to maintain a load at a fixed mean pressure during simultaneous oscillation. Under open-loop conditions, the device exhibited a static hysteresis of approximately 7%, while its dynamic magnitude and phase responses were flat out to 10 Hz. Broad-band measurement of total harmonic distortion was approximately 19%. Under closed-loop conditions, the oscillator was able to maintain a mechanical test load at both positive and negative mean pressures during oscillatory excitations from 0.1 to 10.0 Hz. Impedance of the test load agreed closely with theoretical predictions. We conclude that this servo-controlled oscillator can be a useful tool for respiratory impedance measurements as well as HFV.

  1. Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots.

    Umedachi, T; Vikas, V; Trimmer, B A

    2016-03-10

    Robots that can easily interact with humans and move through natural environments are becoming increasingly essential as assistive devices in the home, office and hospital. These machines need to be safe, effective, and easy to control. One strategy towards accomplishing these goals is to build the robots using soft and flexible materials to make them much more approachable and less likely to damage their environment. A major challenge is that comparatively little is known about how best to design, fabricate and control deformable machines. Here we describe the design, fabrication and control of a novel soft robotic platform (Softworms) as a modular device for research, education and public outreach. These robots are inspired by recent neuromechanical studies of crawling and climbing by larval moths and butterflies (Lepidoptera, caterpillars). Unlike most soft robots currently under development, the Softworms do not rely on pneumatic or fluidic actuators but are electrically powered and actuated using either shape-memory alloy microcoils or motor tendons, and they can be modified to accept other muscle-like actuators such as electroactive polymers. The technology is extremely versatile, and different designs can be quickly and cheaply fabricated by casting elastomeric polymers or by direct 3D printing. Softworms can crawl, inch or roll, and they are steerable and even climb steep inclines. Softworms can be made in any shape but here we describe modular and monolithic designs requiring little assembly. These modules can be combined to make multi-limbed devices. We also describe two approaches for controlling such highly deformable structures using either model-free state transition-reward matrices or distributed, mechanically coupled oscillators. In addition to their value as a research platform, these robots can be developed for use in environmental, medical and space applications where cheap, lightweight and shape-changing deformable robots will provide new

  2. An open-source, programmable pneumatic setup for operation and automated control of single- and multi-layer microfluidic devices

    Kara Brower

    2018-04-01

    Full Text Available Microfluidic technologies have been used across diverse disciplines (e.g. high-throughput biological measurement, fluid physics, laboratory fluid manipulation but widespread adoption has been limited in part due to the lack of openly disseminated resources that enable non-specialist labs to make and operate their own devices. Here, we report the open-source build of a pneumatic setup capable of operating both single and multilayer (Quake-style microfluidic devices with programmable scripting automation. This setup can operate both simple and complex devices with 48 device valve control inputs and 18 sample inputs, with modular design for easy expansion, at a fraction of the cost of similar commercial solutions. We present a detailed step-by-step guide to building the pneumatic instrumentation, as well as instructions for custom device operation using our software, Geppetto, through an easy-to-use GUI for live on-chip valve actuation and a scripting system for experiment automation. We show robust valve actuation with near real-time software feedback and demonstrate use of the setup for high-throughput biochemical measurements on-chip. This open-source setup will enable specialists and novices alike to run microfluidic devices easily in their own laboratories. Keywords: Microfluidics, Pneumatics, Laboratory automation, Biochip, BioMEMs, Biohacking, Fluid handling, Micro total analysis systems (μTAS, Quake-style valves

  3. Hydraulics and pneumatics

    Parr, Andrew

    2006-01-01

    Nearly all industrial processes require objects to be moved, manipulated or subjected to some sort of force. This is frequently accomplished by means of electrical equipment (such as motors or solenoids), or via devices driven by air (pneumatics) or liquids (hydraulics).This book has been written by a process control engineer as a guide to the operation of hydraulic and pneumatic systems for all engineers and technicians who wish to have an insight into the components and operation of such a system.This second edition has been fully updated to include all recent developments su

  4. Computer-controlled pneumatic pressure algometry--a new technique for quantitative sensory testing.

    Polianskis, R; Graven-Nielsen, T; Arendt-Nielsen, L

    2001-01-01

    Hand-held pressure algometry usually assesses pressure-pain detection thresholds and provides little information on pressure-pain stimulus-response function. In this article, a cuff pressure algometry for advanced pressure-pain function evaluation is proposed. The experimental set-up consisted of a pneumatic tourniquet cuff, a computer-controlled air compressor and an electronic visual analogue scale (VAS) for constant pain intensity rating. Twelve healthy volunteers were included in the study. In the first part, hand-held algometry and cuff algometry were performed over the gastrocnemius muscle with constant compression rate. In the second part, the cuff algometry was performed with different compression rates to evaluate the influence of the compression rate on pain thresholds and other psychophysical data. Pressure-pain detection threshold (PDT), pain tolerance threshold (PTT), pain intensity, PDT-PTT time and other psychophysical variables were evaluated.Pressure-pain detection thresholds recorded over the gastrocnemius muscle with a hand-held and with a cuff algometer, were 482 +/- 19 kPa and 26 +/- 1.6 kPa, respectively. Pressure and pain intensities were correlated during cuff algometry. During increasing cuff compression, the subjective pain tolerance limit on VAS was 5.6 +/- 0.95 cm. There was a direct correlation between the number of compressions, the compression rate and pain thresholds. The cuff algometry technique is appropriate for pressure-pain stimulus-response studies. Cuff algometry allowed quantification of psychophysical response to the change of stimulus configuration. Copyright 2001 European Federation of Chapters of the International Association for the Study of Pain.

  5. Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise; part II: control development and testing.

    Hall, Kara L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Neidhard-Doll, Amy T

    2015-01-01

    Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. The controller, based on an inverse three-element phenomenological model and adaptive nonlinear control, allows the system to operate as a type of haptic device. A human quadriceps dynamic simulator was developed (as described in Part I of this work) so that control effectiveness and accommodation could be tested prior to human implementation. Tracking error results indicate that the control system is effective at producing PMA displacement and resistance necessary for a scaled, simulated neuromuscular actuator to maintain low-velocity isokinetic movement during simulated concentric and eccentric knee extension.

  6. Clinical, manometric, and ultrasonographic results of pneumatic balloon dilatation vs. lateral internal sphincterotomy for chronic anal fissure: a prospective, randomized, controlled trial.

    Renzi, Adolfo; Izzo, Domenico; Di Sarno, Giandomenico; Talento, Pasquale; Torelli, Francesco; Izzo, Giuseppe; Di Martino, Natale

    2008-01-01

    This prospective, randomized, controlled trial was designed to compare the clinical, functional, and morphologic results of pneumatic balloon dilatation with lateral internal sphincterotomy for the treatment of chronic anal fissure. All patients with symptomatic chronic anal fissure were randomly assigned to pneumatic balloon dilatation or lateral internal sphincterotomy and invited to complete a standardized questionnaire inquiring about their symptoms. Anal ultrasonography and anal manometry were performed before and six months after surgery. A proctologic examination was performed between the fifth and sixth postoperative weeks. Anal continence, scored by using a validated continence grading scale, was evaluated preoperatively at 1 and 6 weeks and at 12 and 24 months. Fifty-three patients, who satisfied selection criteria, were enrolled in the trial. Four patients (7.5 percent) were lost to follow-up. Twenty-four patients (11 males; mean age, 42 +/- 8.2 years) underwent pneumatic balloon dilatation and 25 patients (10 males; mean age, 44 +/- 7.3 years) underwent lateral internal sphincterotomy. Fissure-healing rates were 83.3 percent in the pneumatic balloon dilatation and 92 percent in the lateral internal sphincterotomy group. Recurrent anal fissure was observed in one patient (4 percent) after lateral internal sphincterotomy. At anal manometry, mean resting pressure decrements obtained after pneumatic balloon dilatation and lateral internal sphincterotomy were 30.5 and 34.3 percent, respectively. After pneumatic balloon dilatation, anal ultrasonography did not show any significant sphincter damage. At 24-month follow-up, the incidence of incontinence, irrespective of severity, was 0 percent in the pneumatic balloon dilatation group and 16 percent in the lateral internal sphincterotomy group (P < 0.0001). As lateral internal sphincterotomy, pneumatic balloon dilatation grants a high anal fissure-healing rate but with a statistically significant reduction in

  7. Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

    Quy-Thinh Dao

    2018-03-01

    Full Text Available Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects’ lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system.

  8. Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

    Qingsong Ai

    2017-12-01

    Full Text Available A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs. To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

  9. Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

    Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Sheng Q; Yang, Ming

    2017-12-28

    A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM's nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

  10. Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

    Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

    2014-07-01

    Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This

  11. Pneumatic Artificial Muscles Force Modelling and the Position and Stiffness Control on the Knee Joint of the Musculoskeletal Leg

    Jingtao Lei

    2017-03-01

    Full Text Available Pneumatic artificial muscles (PAMs have properties similar to biological muscle and are widely used in robotics as actuators. A musculoskeletal leg mechanism driven by PAMs is presented in this paper. The joint stiffness of the musculoskeletal bionic leg for jumping movement needs to be analysed. The synchronous control on the position and stiffness of the joint is important to improve the flexibility of leg. The accurate force model of PAM is the foundation to achieving better control and dynamic jumping performance. The experimental platform of PAM is conducted, and the static equal pressure experiments are performed to obtain the PAM force model. According to the testing data, parameter identification method is adopted to determine the force model of PAM. A simulation on the position and stiffness control of the knee joint is performed, and the simulation results show the effectiveness of the presented method.

  12. Pneumatic automation systems in coal mines

    Shmatkov, N.A.; Kiklevich, Yu.N.

    1981-04-01

    Giprougleavtomatizatsiya, Avtomatgormash, Dongiprouglemash, VNIIGD and other plants develop 30 new pneumatic systems for mine machines and equipment control each year. The plants produce about 200 types of pneumatic systems. Major pneumatic systems for face systems, machines and equipment are reviewed: Sirena system for remote control of ANShch and AShchM face systems for steep coal seams, UPS control systems for pump stations, PAUZA control system for stowing machines, remote control system of B100-200 drilling machines, PUSK control system for coal cutter loaders with pneumatic drive (A-70, Temp), PUVSh control system for ventilation barriers activated from moving electric locomotives, PAZ control system for skip hoist loading. Specifications of the systems are given. Economic benefit produced by the pneumatic control systems are evaluated (from 1,500 to 40,000 rubles/year). Using the systems increases productivity of face machines and other machines used in black coal mines by 5 to 30%.

  13. A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups.

    Lilly, John H; Quesada, Peter M

    2004-09-01

    Multiple-input sliding-mode techniques are applied to a planar arm actuated by four groups of pneumatic muscle (PM) actuators in opposing pair configuration. The control objective is end-effector tracking of a desired path in Cartesian space. The inputs to the system are commanded input pressure differentials for the two opposing PM groups. An existing model for the muscle is incorporated into the arm equations of motion to arrive at a two-input, two-output nonlinear model of the planar arm that is affine in the input and, therefore, suitable for sliding-mode techniques. Relationships between static input pressures are derived for suitable arm behavior in the absence of a control signal. Simulation studies are reported.

  14. A pneumatic bellows-driven setup for controlled-distance electrochemical impedance measurements of Zircaloy-2 in simulated BWR conditions

    Arilahti, E.; Bojinov, M.; Hansson-Lyyra, L.

    2004-01-01

    This paper describes a novel pneumatic bellows-driven arrangement designed for controlled distance electrochemistry (CDE) measurements. The feasibility of the new arrangement has been verified by performing contact electric impedance measurements to study corrosion of Zircaloy-2 in a re-circulation loop simulating the BWR conditions. Until now, the measurements have been carried out using a step-motor driven controlled-distance electrochemistry (CDE) arrangement. The electrical and electrochemical properties of the pre transition oxide on Zircaloy-2 determined from these measurements were in good agreement with those estimated from measurements with a step-motor driven CDE. Furthermore, the results indicate that the bellows-driven CDE device is less sensitive to the contact pressure variation than the step-motor driven arrangement. This property combined with the bellows driven displacement mechanism provides a clear advantage for future in-core corrosion studies of fuel cladding materials. (Author)

  15. A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads

    Hao-Ting Lin

    2017-06-01

    Full Text Available This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

  16. A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads.

    Lin, Hao-Ting

    2017-06-04

    This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

  17. Laparoscopic esophageal myotomy versus pneumatic dilation in the treatment of idiopathic achalasia: a meta-analysis of randomized controlled trials

    Baniya R

    2017-09-01

    Full Text Available Ramkaji Baniya, Sunil Upadhaya, Jahangir Khan, Suresh Kumar Subedi, Tabrez Shaik Mohammed, Balvant K Ganatra, Ghassan Bachuwa Department of Internal Medicine, Hurley Medical Center, Michigan State University, Flint, MI, USA Background: Achalasia is a primary esophageal motility disorder of unknown etiology associated with abnormalities in peristalsis and lower esophageal sphincter relaxation. The disease is incurable; however, definitive treatment procedures like pneumatic dilation (PD/balloon dilation and laparoscopic esophageal myotomy (LEM are performed to relieve dysphagia and related symptoms. Currently, there is paucity of data comparing the outcomes of these procedures. The aim of this meta-analysis is to compare the short- and long-term success rates of PD and LEM. Methods: A thorough systematic search of PubMed, Scopus, clinicaltrials.gov, and Cochrane library was conducted for randomized controlled trials (RCTs comparing the outcomes of PD versus LEM in the treatment of achalasia. The Mantel-Haenszel method and random effect model were used to analyze the data. RCTs with outcome data at 3-month, 1-year, and 5-year intervals were analyzed. Results: A total of 437,378 and 254 patients at 3-month, 1-year, and 5-year intervals were analyzed for outcome data. At 3 months and 1 year, PD was not as effective as LEM (odds ratio [OR]: 0.50; confidence interval [CI] 0.31–0.82; P = 0.009 and OR: 0.47; CI 0.22–0.99; P = 0.21 but at 5 years, one procedure was non-inferior to the other (OR: 0.62; 0.33–1.19; P = 0.34. Conclusion: PD was as effective as LEM in relieving symptoms of achalasia in the long-term. Keywords: achalasia, balloon dilation, pneumatic dilation, laparoscopic myotomy, Heller’s myotomy

  18. Accelerometer-based estimation and modal velocity feedback vibration control of a stress-ribbon bridge with pneumatic muscles

    Liu, Xiaohan; Schauer, Thomas; Goldack, Arndt; Bleicher, Achim; Schlaich, Mike

    2016-09-01

    Lightweight footbridges are very elegant but also prone to vibration. By employing active vibration control, smart footbridges could accomplish not only the architectural concept but also the required serviceability and comfort. Inertial sensors such as accelerometers allow the estimation of nodal velocities and displacements. A Kalman filter together with a band-limited multiple Fourier linear combiner (BMFLC) is applied to enable a drift-free estimation of these signals for the quasi-periodic motion under pedestrian excitation without extra information from other kinds of auxiliary sensors. The modal velocities of the structure are determined by using a second Kalman filter with the known applied actuator forces as inputs and the estimated nodal displacement and velocities as measurements. The obtained multi-modal velocities are then used for feedback control. An ultra-lightweight stress-ribbon footbridge built in the Peter-Behrens- Halle at the Technische Universitat Berlin served as the research object. Using two inertial sensors in optimal points we can estimate the dominant modal characteristics of this bridge. Real-time implementation and evaluation results of the proposed estimator will be presented in comparison to signals derived from classical displacement encoders. The real-time estimated modal velocities were applied in a multi-modal velocity feedback vibration control scheme with lightweight pneumatic muscle actuators. Experimental results demonstrate the feasibility of using inertial sensors for active vibration control of lightweight footbridges.

  19. Accelerometer-based estimation and modal velocity feedback vibration control of a stress-ribbon bridge with pneumatic muscles

    Liu, Xiaohan; Goldack, Arndt; Schlaich, Mike; Schauer, Thomas; Bleicher, Achim

    2016-01-01

    Lightweight footbridges are very elegant but also prone to vibration. By employing active vibration control, smart footbridges could accomplish not only the architectural concept but also the required serviceability and comfort. Inertial sensors such as accelerometers allow the estimation of nodal velocities and displacements. A Kalman filter together with a band-limited multiple Fourier linear combiner (BMFLC) is applied to enable a drift-free estimation of these signals for the quasi-periodic motion under pedestrian excitation without extra information from other kinds of auxiliary sensors. The modal velocities of the structure are determined by using a second Kalman filter with the known applied actuator forces as inputs and the estimated nodal displacement and velocities as measurements. The obtained multi-modal velocities are then used for feedback control. An ultra-lightweight stress-ribbon footbridge built in the Peter-Behrens- Halle at the Technische Universitat Berlin served as the research object. Using two inertial sensors in optimal points we can estimate the dominant modal characteristics of this bridge. Real-time implementation and evaluation results of the proposed estimator will be presented in comparison to signals derived from classical displacement encoders. The real-time estimated modal velocities were applied in a multi-modal velocity feedback vibration control scheme with lightweight pneumatic muscle actuators. Experimental results demonstrate the feasibility of using inertial sensors for active vibration control of lightweight footbridges. (paper)

  20. Development of body weight support gait training system using pneumatic Mckibben actuators -control of lower extremity orthosis.

    Mat Dzahir, M A; Nobutomo, T; Yamamoto, S I

    2013-01-01

    Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, the control system of lower extremity orthosis for the body weight support gait training system which implements pneumatic artificial muscle (PAM) is proposed. The hip and knee joint angles of the gait orthosis system are controlled based on the PAM coordinates information from the simulation. This information provides the contraction data for the mono- and bi-articular PAMs that are arranged as posterior and anterior actuators to simulate the human walking motion. The proposed control system estimates the actuators' contraction as a function of hip and knee joint angles. Based on the contraction model obtained, input pressures for each actuators are measured. The control system are performed at different gait cycles and two PMA settings for the mono- and bi-articular actuators are evaluated in this research. The results showed that the system was able to achieve the maximum muscle moment at the joints, and able to perform the heel contact movement. This explained that the antagonistic mono- and bi-articular actuators worked effectively.

  1. Numerical simulation on flow field of nuclear safety grade 2 single-seat pneumatic diaphragm control valve

    Zhong Yun; Zhang Jige; Wang Dezhong; Shi Jianzhong

    2010-01-01

    The Computational Fluid Dynamics (CFD) method is employed to simulate numerically the steady flow and transient flow under variable openings of the nuclear safety grade 2 single-seat pneumatic diaphragm control valve, which is a sleeve valve. The steady simulations under rated condition tells that there is a large amount of vortex in the valve seat necking and around the valve cone, which leads to a much greater flow impact on the head of the valve cone and uneven pressure distribution on spool face. More consideration should be taken on the characteristics of the valve cone accordingly, when designing a valve of this kind. Then the transient flow under 100% and 40% openings is simulated numerically on the basis of steady simulations. The pulsation of the pressure magnitude at the points with large vorticity, in the valve seat necking and around the valve cone, is monitored. The main pulsation frequencies differ from the low natural frequencies of the model, which means that it is safe from leading to structural resonance. (authors)

  2. A randomized controlled trial of manual therapy and pneumatic compression for recovery from prolonged running - an extended study.

    Heapy, Amanda M; Hoffman, Martin D; Verhagen, Heidie H; Thompson, Samuel W; Dhamija, Pavitra; Sandford, Fiona J; Cooper, Mary C

    2018-03-07

    Manual therapy (MT) and intermittent pneumatic compression (IPC) are recovery methods used by endurance athletes with little evidence supporting effectiveness. This randomized controlled trial evaluated effectiveness of four daily post-race treatments of a specific MT protocol and IPC compared with supine rest on recovery following an ultramarathon among 56 ultramarathoners. Groups were comparable across all characteristics examined, including post-race plasma creatine kinase concentration. Subject completed timed 400 m runs before the race and on days three, five, seven and 14 post- race, and also provided muscle pain and soreness ratings and fatigue scores immediately before and after treatments, and during the 14 days post- race. Daily subjective measures and 400 m run times were not improved by either treatment, but both treatments reduced (p < .05) muscular fatigue scores acutely after treatment following the race and on post-race day 1, and MT improved (p < .05) muscle pain and soreness acutely following the race.

  3. Automated facility for analysis of soil samples by neutron activation, counting, and data control

    Voegele, A.L.; Jesse, R.H.; Russell, W.L.; Baker, J.

    1978-01-01

    An automated facility remotely and automatically analyzes soil, water, and sediment samples for uranium. The samples travel through pneumatic tubes and switches to be first irradiated by neutrons and then counted for resulting neutron and gamma emission. Samples are loaded into special carriers, or rabbits, which are then automatically loaded into the pneumatic transfer system. The sample carriers have been previously coded with an identification number, which can be automatically read in the system. This number is used for correlating and filing data about the samples. The transfer system, counters, and identification system are controlled by a network of microprocessors. A master microprocessor initiates routines in other microprocessors assigned to specific tasks. The software in the microprocessors is unique for this type of application and lends flexibility to the system

  4. Laser-cutting pneumatics

    Groenhuis, Vincent; Stramigioli, Stefano

    2016-01-01

    Pneumatic devices require tight tolerances to keep them leak-free. Specialized companies offer various off-the-shelf devices, while these work well for many applications, there are also situations where custom design and production of pneumatic parts are desired. Cost efficiency, design flexibility, rapid prototyping, and MRI compatibility requirements are reasons why we investigated a method to design and produce different pneumatic devices using a laser cutter from acrylic, acetal, and rubb...

  5. A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis.

    Gerschutz, Maria J; Phillips, Chandler A; Reynolds, David B; Repperger, Daniel W

    2009-04-01

    High-force pneumatic muscle actuators (PMAs) are used for force assistance with minimal displacement applications. However, poor control due to dynamic nonlinearities has limited PMA applications. A simulated control system is developed consisting of: (1) a controller relating an input position angle to an output proportional pressure regulator voltage, (2) a phenomenological model of the PMA with an internal dynamic force loop (system time constant information), (3) a physical model of a human sit-to-stand task and (4) an external position angle feed-back loop. The results indicate that PMA assistance regarding the human sit-to-stand task is feasible within a specified PMA operational pressure range.

  6. State observer-based sliding mode control for semi-active hydro-pneumatic suspension

    Ren, Hongbin; Chen, Sizhong; Zhao, Yuzhuang; Liu, Gang; Yang, Lin

    2016-02-01

    This paper proposes an improved virtual reference model for semi-active suspension to coordinate the vehicle ride comfort and handling stability. The reference model combines the virtues of sky-hook with ground-hook control logic, and the hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high-speed condition. Suspension state observer based on unscented Kalman filter is designed. A sliding mode controller (SMC) is developed to track the states of the reference model. The stability of the SMC strategy is proven by means of Lyapunov function taking into account the nonlinear damper characteristics and sprung mass variation of the vehicle. Finally, the performance of the controller is demonstrated under three typical working conditions: the random road excitation, speed bump road and sharp acceleration and braking. The simulation results indicated that, compared with the traditional passive suspension, the proposed control algorithm can offer a better coordination between vehicle ride comfort and handling stability. This approach provides a viable alternative to costlier active suspension control systems for commercial vehicles.

  7. Improvement of a Pneumatic Control Valve with Self-Holding Function

    Dohta, Shujiro; Akagi, Tetsuya; Kobayashi, Wataru; Shimooka, So; Masago, Yusuke

    2017-10-01

    The purpose of this study is to develop a small-sized, lightweight and low-cost control valve with low energy consumption and to apply it to the assistive system. We have developed some control valves; a tiny on/off valve using a vibration motor, and an on/off valve with self-holding function. We have also proposed and tested the digital servo valve with self-holding function using permanent magnets and a small-sized servo motor. In this paper, in order to improve the valve, an analytical model of the digital servo valve is proposed. And the simulated results by using the analytical model and identified parameters were compared with the experimental results. Then, the improved digital servo valve was designed based on the calculated results and tested. As a result, we realized the digital servo valve that can control the flow rate more precisely while maintaining its volume and weight compared with the previous valve. As an application of the improved valve, a position control system of rubber artificial muscle was built and the position control was performed successfully.

  8. Fuzzy sliding mode controller of a pneumatic active isolating system using negative stiffness structure

    Le, Thanh Danh; Ahn, Kyoung Kwan

    2012-01-01

    A novel active vibration isolation system using negative stiffness structure (active system with NSS) for low excitation frequency ranges (< 5 Hz) is developed successfully. Here, the negative stiffness structure (NSS) is used to minimize the attraction of vibration. Then, the fuzzy sliding mode controller (FSMC) is designed to improve the vibration isolation performance of the active system with NSS. Based on Lyapunov stability theorem, the fuzzy control rules are constructed. Next, the experimental apparatus is built for evaluating the isolation efficiency of the proposed system controlled by the FSMC corresponding to various excitation conditions. In addition, the isolation performance of the active system with NSS, the active system without NSS and the passive the system with NSS is compared. The experimental results confirmed that the active system with NSS gives better isolation efficiency than the active system without NSS and the passive system with NSS in low excitation frequency areas

  9. Rotary pneumatic valve

    Hardee, Harry C.

    1991-01-01

    A rotary pneumatic valve which is thrust balanced and the pneumatic pressure developed produces only radial loads on the valve cylinder producing negligible resistance and thus minimal torque on the bearings of the valve. The valve is multiplexed such that at least two complete switching cycles occur for each revolution of the cylinder spindle.

  10. Laser-cutting pneumatics

    Groenhuis, Vincent; Stramigioli, Stefano

    Pneumatic devices require tight tolerances to keep them leak-free. Specialized companies offer various off-the-shelf devices, while these work well for many applications, there are also situations where custom design and production of pneumatic parts are desired. Cost efficiency, design flexibility,

  11. A cluster randomized controlled trial of the non-pneumatic anti ...

    In the early NASG group eligible women were given the standard management for OH and had the NASG applied at the clinic level before transport to RH. In the control group, eligible women were given the standard management for OH at the clinic level, transferred to the RH, and received the NASG at the RH. All women ...

  12. Synthesis of Servo Pneumatic/Hydraulic Drive

    K D. Efremova

    2017-01-01

    Full Text Available Servo pneumatic and / or hydraulic drives are widely used in modern engineering and process control. The efficiency of using pneumatic / hydraulic drives depends on their parameters and characteristics. To select the optimal drive parameters, various methods are used, based on finding the minimum of the target (target or criteria function.The objective of this paper was to apply one crucial criterion (target function that provides determination of optimal parameters of the pneumatic / hydraulic drive with the translational motion of the end-effector as well as its use in the synthesis of the servo pneumatic cylinder. The article shows the form of the target function representing a set of drive parameters that do not have direct relationships with each other in a dimensionless form for the pneumatic / hydraulic drive with the translational motion of the end-effector. To calculate the parameters of the servo drive close to the optimal ones, a two-criteria LPτ search was used. As criteria, were used the decisive criterion - the proposed target function, and the power developed by the actuator of the pneumatic / hydraulic drive, which were presented in a dimensionless form. It is shown that the criterion for solution optimality is the minimum distance of the selected point in the space of the normalized criteria from the origin. This point was determined. In addition to the proposed criteria, non-formalised requirements were taken into account: actual and mass-produced components of drive, in terms of which its parameters close to the optimal ones were determined, and the maximum relative error of the obtained useful power value of the servo pneumatic drive was estimated. The paper presents design features of two types of the servo pneumatic drive created, taking into account the proposed target function, implemented according to the schemes "hidden" and "spaced apart". The experimental static characteristic of the servo pneumatic drive is

  13. Pressure Control of a Pneumatic Actuator Using On/O Solenoid Valves

    Jeddi Tehrani, Maisam

    2008-01-01

    Nowadays a very important aspect in heavy duty vehicles is the braking system. The braking system can be divided into EBS brakes, exhaust brake and retarder, where the latter is of interest in the present Master's Thesis. This thesis presents an investigation whether it is possible to substitute today's concept, i.e. controlling the air pressure to the retarder using a proportional-valve, with two so-called on/o®-valves and a pressure sensor, which will reduce expenses and contingently hyster...

  14. Reduced-impact sliding pressure control valve for pneumatic hammer drill

    Polsky, Yarom [Oak Ridge, TN; Grubelich, Mark C [Albuquerque, NM; Vaughn, Mark R [Albuquerque, NM

    2012-05-15

    A method and means of minimizing the effect of elastic valve recoil in impact applications, such as percussive drilling, where sliding spool valves used inside the percussive device are subject to poor positioning control due to elastic recoil effects experienced when the valve impacts a stroke limiting surface. The improved valve design reduces the reflected velocity of the valve by using either an energy damping material, or a valve assembly with internal damping built-in, to dissipate the compression stress wave produced during impact.

  15. Wheel slide protection control using a command map and Smith predictor for the pneumatic brake system of a railway vehicle

    Lee, Nam-Jin; Kang, Chul-Goo

    2016-10-01

    In railway vehicles, excessive sliding or wheel locking can occur while braking because of a temporarily degraded adhesion between the wheel and the rail caused by the contaminated or wet surface of the rail. It can damage the wheel tread and affect the performance of the brake system and the safety of the railway vehicle. To safeguard the wheelset from these phenomena, almost all railway vehicles are equipped with wheel slide protection (WSP) systems. In this study, a new WSP algorithm is proposed. The features of the proposed algorithm are the use of the target sliding speed, the determination of a command for WSP valves using command maps, and compensation for the time delay in pneumatic brake systems using the Smith predictor. The proposed WSP algorithm was verified using experiments with a hardware-in-the-loop simulation system including the hardware of the pneumatic brake system.

  16. Pneumatic conveying design guide

    Mills, David

    1990-01-01

    Pneumatic Conveying Design Guide is a guide for the design of pneumatic conveying systems and includes detailed data and information on the conveying characteristics of a number of materials with a wide range of properties. This book includes logic diagrams for design procedures and scaling parameters for the conveying line configuration. It also explains how to improve the performance of pneumatic conveyors by optimizing, uprating, and extending the system or adapting it for a change of material. This book consists of 15 chapters divided into three sections and opens with an overview of the s

  17. Thromboprophylaxis using combined intermittent pneumatic compression and pharmacologic prophylaxis versus pharmacologic prophylaxis alone in critically ill patients: study protocol for a randomized controlled trial.

    Arabi, Yaseen M; Alsolamy, Sami; Al-Dawood, Abdulaziz; Al-Omari, Awad; Al-Hameed, Fahad; Burns, Karen E A; Almaani, Mohammed; Lababidi, Hani; Al Bshabshe, Ali; Mehta, Sangeeta; Al-Aithan, Abdulsalam M; Mandourah, Yasser; Almekhlafi, Ghaleb; Finfer, Simon; Abdukahil, Sheryl Ann I; Afesh, Lara Y; Dbsawy, Maamoun; Sadat, Musharaf

    2016-08-03

    Venous thromboembolism (VTE) remains a common problem in critically ill patients. Pharmacologic prophylaxis is currently the standard of care based on high-level evidence from randomized controlled trials. However, limited evidence exists regarding the effectiveness of intermittent pneumatic compression (IPC) devices. The Pneumatic compREssion for preventing VENous Thromboembolism (PREVENT trial) aims to determine whether the adjunct use of IPC with pharmacologic prophylaxis compared to pharmacologic prophylaxis alone in critically ill patients reduces the risk of VTE. The PREVENT trial is a multicenter randomized controlled trial, which will recruit 2000 critically ill patients from over 20 hospitals in three countries. The primary outcome is the incidence of proximal lower extremity deep vein thrombosis (DVT) within 28 days after randomization. Radiologists interpreting the scans are blinded to intervention allocation, whereas the patients and caregivers are unblinded. The trial has 80 % power to detect a 3 % absolute risk reduction in proximal DVT from 7 to 4 %. The first patient was enrolled in July 2014. As of May 2015, a total of 650 patients have been enrolled from 13 centers in Saudi Arabia, Canada and Australia. The first interim analysis is anticipated in July 2016. We expect to complete recruitment by 2018. Clinicaltrials.gov: NCT02040103 (registered on 3 November 2013). Current controlled trials: ISRCTN44653506 (registered on 30 October 2013).

  18. Pneumatic transfer systems

    Bichler, H.; Boeck, H.; Hammer, J.; Buchtela, K.

    1988-11-01

    A pneumatic transfer system for research reactors, including a sample changer system and to be used for neutron activation analysis, is described. The system can be obtained commercially from the Atominstitut. 2 figs. (qui)

  19. Statistical analysis plan for the Pneumatic CompREssion for PreVENting Venous Thromboembolism (PREVENT) trial: a study protocol for a randomized controlled trial.

    Arabi, Yaseen; Al-Hameed, Fahad; Burns, Karen E A; Mehta, Sangeeta; Alsolamy, Sami; Almaani, Mohammed; Mandourah, Yasser; Almekhlafi, Ghaleb A; Al Bshabshe, Ali; Finfer, Simon; Alshahrani, Mohammed; Khalid, Imran; Mehta, Yatin; Gaur, Atul; Hawa, Hassan; Buscher, Hergen; Arshad, Zia; Lababidi, Hani; Al Aithan, Abdulsalam; Jose, Jesna; Abdukahil, Sheryl Ann I; Afesh, Lara Y; Dbsawy, Maamoun; Al-Dawood, Abdulaziz

    2018-03-15

    The Pneumatic CompREssion for Preventing VENous Thromboembolism (PREVENT) trial evaluates the effect of adjunctive intermittent pneumatic compression (IPC) with pharmacologic thromboprophylaxis compared to pharmacologic thromboprophylaxis alone on venous thromboembolism (VTE) in critically ill adults. In this multicenter randomized trial, critically ill patients receiving pharmacologic thromboprophylaxis will be randomized to an IPC or a no IPC (control) group. The primary outcome is "incident" proximal lower-extremity deep vein thrombosis (DVT) within 28 days after randomization. Radiologists interpreting the lower-extremity ultrasonography will be blinded to intervention allocation, whereas the patients and treating team will be unblinded. The trial has 80% power to detect a 3% absolute risk reduction in the rate of proximal DVT from 7% to 4%. Consistent with international guidelines, we have developed a detailed plan to guide the analysis of the PREVENT trial. This plan specifies the statistical methods for the evaluation of primary and secondary outcomes, and defines covariates for adjusted analyses a priori. Application of this statistical analysis plan to the PREVENT trial will facilitate unbiased analyses of clinical data. ClinicalTrials.gov , ID: NCT02040103 . Registered on 3 November 2013; Current controlled trials, ID: ISRCTN44653506 . Registered on 30 October 2013.

  20. Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit.

    Taghizadeh, Mostafa; Ghaffari, Ali; Najafi, Farid

    2009-10-01

    In this paper, the effect of pneumatic circuit design on the input-output behavior of PWM-driven servo-pneumatic systems is investigated and their control performances are improved using linear controllers instead of complex and costly nonlinear ones. Generally, servo-pneumatic systems are well known for their nonlinear behavior. However, PWM-driven servo-pneumatic systems have the advantage of flexibility in the design of pneumatic circuits which affects the input-output linearity of the whole system. A simple pneumatic circuit with only one fast switching valve is designed which leads to a quasi-linear input-output relation. The quasi-linear behavior of the proposed circuit is verified both experimentally and by simulations. Closed loop position control experiments are then carried out using linear P- and PD-controllers. Since the output position is noisy and cannot be directly differentiated, a Kalman filter is designed to estimate the velocity of the cylinder. Highly improved tracking performances are obtained using these linear controllers, compared to previous works with nonlinear controllers.

  1. Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise: Part I--dynamic test station and human quadriceps dynamic simulator.

    Hall, Kara L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Neidhard-Doll, Amy T

    2014-01-01

    Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. A human quadriceps dynamic simulator (HQDS) was developed so that control effectiveness and accommodation could be tested prior to human implementation. The experimental set-up and HQDS are discussed in Part I of this work. The development of a PMA haptic controller and its interaction with the HQDS are discussed in Part II.

  2. Pneumatic Variable Series Elastic Actuator.

    Zheng, Hao; Wu, Molei; Shen, Xiangrong

    2016-08-01

    Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on-off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator.

  3. Enhancing in situ bioremediation with pneumatic fracturing

    Anderson, D.B.; Peyton, B.M.; Liskowitz, J.L.; Fitzgerald, C.; Schuring, J.R.

    1994-04-01

    A major technical obstacle affecting the application of in situ bioremediation is the effective distribution of nutrients to the subsurface media. Pneumatic fracturing can increase the permeability of subsurface formations through the injection of high pressure air to create horizontal fracture planes, thus enhancing macro-scale mass-transfer processes. Pneumatic fracturing technology was demonstrated at two field sites at Tinker Air Force Base, Oklahoma City, Oklahoma. Tests were performed to increase the permeability for more effective bioventing, and evaluated the potential to increase permeability and recovery of free product in low permeability soils consisting of fine grain silts, clays, and sedimentary rock. Pneumatic fracturing significantly improved formation permeability by enhancing secondary permeability and by promoting removal of excess soil moisture from the unsaturated zone. Postfracture airflows were 500% to 1,700% higher than prefracture airflows for specific fractured intervals in the formation. This corresponds to an average prefracturing permeability of 0.017 Darcy, increasing to an average of 0.32 Darcy after fracturing. Pneumatic fracturing also increased free-product recovery rates of number 2 fuel from an average of 587 L (155 gal) per month before fracturing to 1,647 L (435 gal) per month after fracturing

  4. Modeling and Analysis of a Novel Pneumatic Artificial Muscle and Pneumatic Arm Exoskeleton

    Yang, Hee Doo

    2017-01-01

    The soft robotics field is developing rapidly and is poised to have a wide impact in a variety of applications. Soft robots have intrinsic compliance, offering a number of benefits as compared to traditional rigid robots. Compliance can provide compatibility with biological systems such as the human body and can provide some benefits for human safety and control. Further research into soft robots can be advanced by further development of pneumatic actuators. Pneumatic actuators are a ...

  5. The relationship between presbycusis and mastoid pneumatization.

    Pata, Yavuz Selim; Akbaş, Yucel; Unal, Murat; Duce, Meltem Nass; Akbaş, Tugana; Micozkadioğlu, Deniz

    2004-02-29

    Presbycusis is defined as the natural hearing loss accompanying aging, caused by degenerative changes in the inner ear. The etiology of presbycusis is uncertain. However, it would appear that a complex genetic cause is most likely. The determinants of mastoid size continue to be controversial. One of the pneumatization theories is the hereditary theory. In this study, the possible relationship between presbycusis and the extent of mastoid pneumatization was investigated. This study was carried out on 21 patients with presbycusis and 21 normal subjects of similar ages. The pneumatized volume was measured by computerized tomography. The temporal bone was scanned at 2 mm thickness intervals. Exposure (kV 130, mA105). The scan plane was parallel to the orbitomeatal line and the CT images covered the entire mastoid region. The average mastoid pneumatization in presbycusis group was 6.08 +/- 2.52 cm(3) in the right ear and 6.19 +/- 2.93 cm(3) in the left ear. However, in the control group it was 4.69 +/- 3.17 cm(3) in the right ear (p=0.12) and 5.10 +/- 3.49 cm(3) in the left ear (p=0.28). No significant difference was found between the presbycusis patients and normal subjects in terms of the volume of mastoid pneumatization.

  6. Pneumatic pellet injector for JET

    Andelfinger, C.; Buechl, K.; Jacobi, D.; Sandmann, W.; Schiedeck, J.; Schilling, H.B.; Weber, G.

    1983-07-01

    Pellet injection is a useful tool for plasma diagnostics of tokamaks. Pellets can be applied for investigation of particle, energy and impurity transport, fueling efficiency and magnetic surfaces. Design, operation and control of a single shot pneumatic pellet gun is described in detail including all supplies, the vacuum system and the diagnostics of the pellet. The arrangement of this injector in the torus hall and the interfaces to the JET system and CODAS are considered. A guide tube system for pellet injection is discussed but it will not be recommended for JET. (orig.)

  7. Development of the pneumatic service robot with a hybrid type

    Choi, Cheol U; Choi, Hyeun Seok; Han, Chang Soo

    2001-01-01

    In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weight and payload-to-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, the pneumatic service robot is evaluated and verified

  8. Pneumatic devices in isotope technology. Pt. 1

    Egri, B.; Csoeke, A.

    1974-01-01

    A detailed survey has been given about the following pneumatic devices used in the isotope technology: working cylinders, membrane motors, valves, detectors, hydropneumatic units. The characteristics of the units of various control systems have been described in tables. (K.A.)

  9. Randomized controlled trial of enoxaparin versus intermittent pneumatic compression for venous thromboembolism prevention in Japanese surgical patients with gynecologic malignancy.

    Nagata, Chie; Tanabe, Hiroshi; Takakura, Satoshi; Narui, Chikage; Saito, Motoaki; Yanaihara, Nozomu; Okamoto, Aikou

    2015-09-01

    The aim of this study was to compare the efficacy and safety of enoxaparin and intermittent pneumatic compression (IPC) for venous thromboembolism (VTE) prevention in Japanese surgical patients with gynecologic malignancy. Patients ≥ 40 years old undergoing major surgery for gynecologic malignancy without preoperative VTE were included. Written informed consent was obtained. Enrolled patients received IPC immediately before surgery. After surgery, they were randomly assigned to either an enoxaparin group or an IPC-alone group. The enoxaparin group received enoxaparin injection (20 mg, subcutaneous, every 12 h) from postoperative day 2 to 8. IPC was discontinued after the first injection. In the IPC-alone group, IPC was continued until full ambulation. The primary end-point was incidence of VTE, including pulmonary embolism and deep vein thrombosis, regardless of symptoms. An interim analysis was to be conducted when the first 30 patients had completed the study protocol. A Data and Safety Monitoring Board was established for making recommendation on the continuation or termination of the study based on the interim results. At the time of the interim analysis, six cases of VTE were found: five in the IPC-alone group and one in the enoxaparin group (Fisher's exact test, P = 0.08). Three patients in the IPC-alone group developed pulmonary embolism, but none in the enoxaparin group did so (Fisher's exact test, P = 0.10). The study was terminated following the Data and Safety Monitoring Board's recommendation. Enoxaparin might have lowered the risk of VTE among surgical patients with gynecologic malignancy. Further studies are necessary to confirm this. © 2015 Japan Society of Obstetrics and Gynecology.

  10. WEED CONTROL EFFECTS ON SOIL CHEMICAL CHARACTERISTICS

    Paulo Sérgio Lima e Silva

    2008-01-01

    Full Text Available The weed control procedures are known to affect the soil physical attributes and the nutrient amount taken up by weed roots. This work hypothesis is that weed control methods might also affect soil chemical attributes. Four experiments were carried out, three with maize (E-1, E-2 and E-3 and one with cotton (E-4, in randomized complete blocks design arranged in split-plots, with five replications. In E-1 experiment, the plots consisted of two weed control treatments: no-weed control and weed shovel-digging at 20 and 40 days after sowing; and the subplots consisted of six maize cultivars. In the three other experiments, the plots consisted of plant cultivars: four maize cultivars (E-2 and E-3 and four cotton cultivars (E-4. And, the subplots consisted of three weed control treatments: (1 no-weed control; (2 weed shovel-digging at 20 and 40 days after sowing; and (3 intercropping with cowpea (E-2 or Gliricidia sepium (Jacq. Walp. (E-3 and E-4. In all experiments, after harvest, eight soil samples were collected from each subplot (0-20 cm depth and composed in one sample. Soil chemical analysis results indicated that the weed control by shovel-digging or intercropping may increase or decrease some soil element concentrations and the alterations depend on the element and experiment considered. In E-2, the weed shovel-dug plots showed intermediate soil pH, lower S (sum of bases values and higher soil P concentrations than the other plots. In E-4, soil K and Na concentrations in plots without weed control did not differ from plots with intercropping, and in both, K and Na values were higher than in weed shovel-dug plots. Maize and cotton cultivars did not affect soil chemical characteristics.

  11. Spot-Welding Gun With Adjustable Pneumatic Spring

    Burley, Richard K.

    1990-01-01

    Proposed spot-welding gun equipped with pneumatic spring, which could be bellows or piston and cylinder, exerts force independent of position along stroke. Applies accurate controlled force to joint welded, without precise positioning at critical position within stroke.

  12. Prevention of deep vein thrombosis in potential neurosurgical patients. A randomized trial comparing graduated compression stockings alone or graduated compression stockings plus intermittent pneumatic compression with control

    Turpie, A.G.; Hirsh, J.; Gent, M.; Julian, D.; Johnson, J.

    1989-01-01

    In a randomized trial of neurosurgical patients, groups wearing graduated compression stockings alone (group 1) or graduated compression stockings plus intermittent pneumatic compression (IPC) (group 2) were compared with an untreated control group in the prevention of deep vein thrombosis (DVT). In both active treatment groups, the graduated compression stockings were continued for 14 days or until hospital discharge, if earlier. In group 2, IPC was continued for seven days. All patients underwent DVT surveillance with iodine 125-labeled fibrinogen leg scanning and impedance plethysmography. Venography was carried out if either test became abnormal. Deep vein thrombosis occurred in seven (8.8%) of 80 patients in group 1, in seven (9.0%) of 78 patients in group 2, and in 16 (19.8%) of 81 patients in the control group. The observed differences among these rates are statistically significant. The results of this study indicate that graduated compression stockings alone or in combination with IPC are effective methods of preventing DVT in neurosurgical patients

  13. Hydraulics and pneumatics a technician's and engineer's guide

    Parr, Andrew

    1991-01-01

    Hydraulics and Pneumatics: A Technician's and Engineer's Guide provides an introduction to the components and operation of a hydraulic or pneumatic system. This book discusses the main advantages and disadvantages of pneumatic or hydraulic systems.Organized into eight chapters, this book begins with an overview of industrial prime movers. This text then examines the three different types of positive displacement pump used in hydraulic systems, namely, gear pumps, vane pumps, and piston pumps. Other chapters consider the pressure in a hydraulic system, which can be quickly and easily controlled

  14. Hydraulics and pneumatics a technician's and engineer's guide

    Parr, Andrew

    2011-01-01

    Nearly all industrial processes require objects to be moved, manipulated or subjected to some sort of force. Such movements and manipulations are frequently accomplished by means of devices driven by liquids (hydraulics) or air (pneumatics), the subject of this book. Hydraulics and Pneumatics is written by a practicing process control engineer as a guide to the successful operation of hydraulic and pneumatic systems for all engineers and technicians working with them. Keeping mathematics and theory to a minimum, this practical guide is thorough but accessible to technicians without a

  15. Revisiting the Closed-Loop Pneumatic Drive Design

    K D. Efremova

    2017-01-01

    Full Text Available Compressibility of air used as a working medium in pneumatic control systems raise certain difficulties in calculating dynamic characteristics of the pneumatic drive and solving problems of its regulation. These difficulties are due to a number of factors:   - flow of compressed air through the narrow working splits of distributive and throttling devices of pneumatic control;   - filling in and discharging the pneumatic actuator cavities of variable volume (piston and rod cavities of the air-cylinder under conditions of heat and mass transfer;   - simultaneous filling in and discharging a pneumatic cavity of permanent volume (receiver;   - pneumatic cylinder piston end positioning alteration under variable loading and at the moment of shutdown;A number of factors have a significant impact on the piston end positioning alteration value, namely an initial positioning of the piston at the moment of its shutdown, which determines the volume of the pneumatic cylinder cavity; a value of the permanent component of the load at the moment the piston shuts down and its change during keeping time period; transmission coefficient of the positioning component of the load; a working area of the air-cylinder piston and also an atmospheric pressure reduction, which can significantly affect the operation of control systems of a small aircraft at high altitudes.With a view to deepening the problem of calculation and design of pneumatic actuators, it is shown that the relationship between the parameters of compressed air and their changes is determined by the properties of thermodynamic processes under conditions of heat and mass transfer. In pneumatic actuators for general industrial use, the pressure of compressed air does not exceed a value equal to 1 MPa. In this case, the working medium can be regarded as an ideal gas in simplified calculations.Based on the general equation of thermodynamics, the paper considers the particular cases of a changing gas

  16. Design and experiment of pneumatic EPB test platform

    Jianshi GONG

    2017-02-01

    Full Text Available In order to verify the accuracy and reliability of the function and control strategy of the pneumatic electronic parking brake(EPB system, a test platform of the pneumatic EPB system is designed. The working principle of the air pressure type EPB test platform is introduced, the composition of the platform is confirmed, including air press storage module, braking module, man-machine interaction module, signal imitation module, data collection module, and fault diagnosis module, and the function of rapid charging and discharging of the pneumatic EPB system is carried out. The results show that, compared with manual control valve, the air pressure EPB braking process is more sensitive, and the test platform can meet the test requirements of the pneumatic electronic brake system.

  17. Rigidified pneumatic composites

    van Dessel, Steven

    2000-10-01

    The overall objective of the research presented in this dissertation was to address global issues of adequate housing for all and the need for more sustainable human settlement. In order to address these, the emerging technology of rigidified pneumatic composites was investigated. Rigidified pneumatic composites (RPC) are defined as thin flexible membrane structures that are pneumatically deployed. After deployment, these structures harden due to chemical or physical change of the membrane. Because of this change, these structures do no longer require pneumatic pressure to maintain their shape. For the first time, a systematic listing of the various means available to develop polymeric materials useful in RPC technology is presented. With the aim to reduce the cost of RPC structures, a new material was proposed, developed, and evaluated. This material involved the formation of a semi-interpenetrating polymer network based on poly vinyl chloride and an acrylate based reactive plasticizer. The economical and environmental performances of RPC structures using this new material were assessed by means of a case study. In this study, the performance of RPC technology was compared with that of a typical wood light frame structure in the application of a small single-family house. The study indicated that the cost of ownership in present day value for the RPC structure was approximately 33% less than the cost of a comparable wood light frame structure. The study also indicated that significant environmental benefits exist with the use of RPC structures. It was found that the RPC structure used significantly less resources compared to the wood light frame structure. About 3.5 times less materials coming from non-renewable fossil resources, about 2.5 times less materials coming from trees, and about 19 times less materials coming from inorganic resources was used in the RPC structure relative to the wood light frame structure. The study concluded with pointing out various

  18. A high resolution pneumatic stepping actuator for harsh reactor environments

    Tippetts, Thomas B.; Evans, Paul S.; Riffle, George K.

    1993-01-01

    A reactivity control actuator for a high-power density nuclear propulsion reactor must be installed in close proximity to the reactor core. The energy input from radiation to the actuator structure could exceed hundreds of W/cc unless low-cross section, low-absorptivity materials are chosen. Also, for post-test handling and subsequent storage, materials should not be used that are activated into long half-life isotopes. Pneumatic actuators can be constructed from various reactor-compatible materials, but conventional pneumatic piston actuators generally lack the stiffness required for high resolution reactivity control unless electrical position sensors and compensated electronic control systems are used. To overcome these limitations, a pneumatic actuator is under development that positions an output shaft in response to a series of pneumatic pulses, comprising a pneumatic analog of an electrical stepping motor. The pneumatic pulses are generated remotely, beyond the strong radiation environment, and transmitted to the actuator through tubing. The mechanically simple actuator uses a nutating gear harmonic drive to convert motion of small pistons directly to high-resolution angular motion of the output shaft. The digital nature of this actuator is suitable for various reactor control algorithms but is especially compatible with the three bean salad algorithm discussed by Ball et al. (1991).

  19. A pneumatic cylinder driving polyhedron mobile mechanism

    Ding, Wan; Kim, Sung-Chan; Yao, Yan-An

    2012-03-01

    A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper. The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge. It locomotes by rolling and the rolling principle refers to the center of mass (CM) of the mechanism moved out of the supporting area and let it tip over through the controlling of the motion sequence of these cylinders. Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism. Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism. After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits. At last, a prototype is fabricated to achieve the rolling successfully to demonstrate the proposed concept.

  20. Design and experiment of pneumatic EPB test platform

    Jianshi GONG; Tianle JIA; Dali TIAN; Hongliang WANG; Di HUANG

    2017-01-01

    In order to verify the accuracy and reliability of the function and control strategy of the pneumatic electronic parking brake(EPB) system, a test platform of the pneumatic EPB system is designed. The working principle of the air pressure type EPB test platform is introduced, the composition of the platform is confirmed, including air press storage module, braking module, man-machine interaction module, signal imitation module, data collection module, and fault diagnosis module, and the funct...

  1. Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

    Fan, Ji-Zhuang; Zhang, Wei; Kong, Peng-Cheng; Cai, He-Gao; Liu, Gang-Feng

    2017-09-01

    Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. However, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the independent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the simulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

  2. Effects of plyometric and pneumatic explosive strength training on neuromuscular function and dynamic balance control in 60-70year old males.

    Piirainen, Jarmo M; Cronin, Neil J; Avela, Janne; Linnamo, Vesa

    2014-04-01

    The present study compared neuromuscular adaptations to 12weeks of plyometric (PLY) or pneumatic (PNE) power training and their effects on dynamic balance control. Twenty-two older adults aged 60-70 (PLY n=9, PNE n=11) participated in the study. Measurements were conducted at Pre, 4, 8 and 12weeks. Dynamic balance was assessed as anterior-posterior center of pressure (COP) displacement in response to sudden perturbations. Explosive isometric knee extension and plantar flexion maximal voluntary contractions (MVCs) were performed. Maximal drop jump performance from optimal dropping height was measured in a sledge ergometer. Increases in knee extensor and ankle plantar flexor torque and muscle activity were higher and occurred sooner in PNE, whereas in drop jumping, PLY showed a clearer increase in optimal drop height (24%, pmuscle activity after 12weeks of training. In spite of these training mode specific adaptations, both groups showed similar improvements in dynamic balance control after 4weeks of training (PLY 38%, p<0.001; PNE 31%, p<0.001) and no change thereafter. These results show that although power and plyometric training may involve different neural adaptation mechanisms, both training modes can produce similar improvements in dynamic balance control in older individuals. As COP displacement was negatively correlated with rapid knee extension torque in both groups (PLY r=-0.775, p<0.05; PNE r=-0.734, p<0.05) after training, the results also highlight the importance of targeting rapid force production when training older adults to improve dynamic balance. Copyright © 2014 Elsevier Ltd. All rights reserved.

  3. Effects of air jet duration and timing on the combustion characteristics of high-pressure air jet controlled compression ignition combustion mode in a hybrid pneumatic engine

    Long, Wuqiang; Meng, Xiangyu; Tian, Jiangping; Tian, Hua; Cui, Jingchen; Feng, Liyan

    2016-01-01

    Highlights: • A 3-D CFD model of the power cylinder in HPE was developed. • High-pressure air JCCI combustion mode includes two-stage high-temperature reaction. • The combustion phasing of the pre-mixture is controllable via the SOJ timing. • There exists an optimum SOJ timing for obtaining the highest combustion efficiency and shortest burning duration. - Abstract: The high-pressure air jet controlled compression ignition (JCCI) combustion mode was employed to control the premixed diesel compression ignition combustion phasing by using the compound thermodynamic cycle under all operating conditions, which is accomplished in a hybrid pneumatic engine (HPE). A three-dimensional computational fluid dynamics (CFD) numerical simulation coupled with reduced n-heptane chemical kinetics mechanism has been applied to investigate the effects of high-pressure air jet duration and the start of jet (SOJ) timing on the combustion characteristics in the power cylinder of HPE. By sweeping the high-pressure air jet durations from 6 to 14 °CA and SOJ timings from −12 °CA ATDC to the top dead center (TDC) under the air jet temperatures of 400 and 500 K, respectively, the low- and high-temperature reactions, combustion efficiency, as well as the combustion phasing and burning duration have been analyzed in detail. The results illustrated that a longer air jet duration results in a higher peak in the first-stage high-temperature reaction, and the short air jet duration of 6 °CA can lead to a higher combustion efficiency. The SOJ timing sweep results showed that there exists an optimum timing for obtaining the highest combustion efficiency and shortest burning duration.

  4. Slit Tubes for Semisoft Pneumatic Actuators.

    Belding, Lee; Baytekin, Bilge; Baytekin, Hasan Tarik; Rothemund, Philipp; Verma, Mohit S; Nemiroski, Alex; Sameoto, Dan; Grzybowski, Bartosz A; Whitesides, George M

    2018-03-01

    This article describes a new principle for designing soft or 'semisoft' pneumatic actuators: SLiT (for SLit-in-Tube) actuators. Inflating an elastomeric balloon, when enclosed by an external shell (a material with higher Young's modulus) containing slits of different directions and lengths, produces a variety of motions, including bending, twisting, contraction, and elongation. The requisite pressure for actuation depends on the length of the slits, and this dependence allows sequential actuation by controlling the applied pressure. Different actuators can also be controlled using external "sliders" that act as reprogrammable "on-off" switches. A pneumatic arm and a walker constructed from SLiT actuators demonstrate their ease of fabrication and the range of motions they can achieve. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  5. Design of the Modular Pneumatic Valve Terminal

    Jakub E. TAKOSOGLU

    2015-11-01

    Full Text Available The paper presents design of the modular pneumatic valve terminal, which was made on the basis of the patent application No A1 402905 „A valve for controlling fluid power drives, specially for pneumatic actuators, and the control system for fluid power drives valves”. The authors describe a method of operation of the system with double-acting valve and 5/2 (five ways and two position valve. Functions of the valve, and an example of application of the valve terminal in the production process were presented. 3D solid models of all the components of the valve were made. The paper presents a complete 3D model of the valve in various configurations. Using CAD-embedded SOLIDWORKS Flow Simulation computational fluid dynamics CFD analysis was also carried out of compressed air flow in the ways of the valve elements

  6. Soil solarization for weed control in carrot

    MARENCO RICARDO ANTONIO

    2000-01-01

    Full Text Available Soil solarization is a technique used for weed and plant disease control in regions with high levels of solar radiation. The effect of solarization (0, 3, 6, and 9 weeks upon weed populations, carrot (Daucus carota L. cv. Brasília yield and nematode infestation in carrot roots was studied in São Luís (2º35' S; 44º10' W, MA, Brazil, using transparent polyethylene films (100 and 150 mm of thickness. The maximum temperature at 5 cm of depth was about 10ºC warmer in solarized soil than in control plots. In the study 20 weed types were recorded. Solarization reduced weed biomass and density in about 50% of weed species, including Cyperus spp., Chamaecrista nictans var. paraguariensis (Chod & Hassl. Irwin & Barneby, Marsypianthes chamaedrys (Vahl O. Kuntze, Mitracarpus sp., Mollugo verticillata L., Sebastiania corniculata M. Arg., and Spigelia anthelmia L. Approximately 40% of species in the weed flora were not affected by soil mulching. Furthermore, seed germination of Commelina benghalensis L. was increased by soil solarization. Marketable yield of carrots was greater in solarized soil than in the unsolarized one. It was concluded that solarization for nine weeks increases carrot yield and is effective for controlling more than half of the weed species recorded. Mulching was not effective for controlling root-knot nematodes in carrot.

  7. Observer agreement of lower limb venous reflux assessed by duplex ultrasound scanning using manual and pneumatic cuff compression in patients with chronic venous disease and controls

    Broholm, R; Kreiner, S; Bækgaard, Niels

    2011-01-01

    The study aimed to evaluate observer agreement between two experienced ultrasound operators examining deep venous reflux assessed by duplex ultrasound (DU) using either manual or pneumatic cuff compression. In addition, the two methods were compared with each other with regard to immediate "eyeba...... "eyeballing" and direct measurements of reflux time from Doppler flow curves....

  8. Hydrological controls on heterotrophic soil respiration across an agricultural landscape

    Water availability is an important determinant of variation in soil respiration, but a consistent relationship between soil water and the relative flux rate of carbon dioxide across different soil types remains elusive. Using large undisturbed soil columns (N = 12), we evaluated soil water controls...

  9. Soft, Rotating Pneumatic Actuator.

    Ainla, Alar; Verma, Mohit S; Yang, Dian; Whitesides, George M

    2017-09-01

    This article describes a soft pneumatic actuator that generates cyclical motion. The actuator consists of several (three, four, or five) chambers (arranged around the circumference of a circle surrounding a central rod) that can be actuated independently using negative pressure (or partial vacuum). Sequential actuation of the four-chamber device using reduced pressure moves the central rod cyclically in an approximately square path. We characterize the trajectory of the actuator and the force exerted by it, as we vary the material used for fabrication, the number of chambers, and the size of the actuator. We demonstrate two applications of this actuator: to deliver fluid while stirring (by replacing the central rod with a needle) and for locomotion that mimics a reptilian gait (by combining four actuators together).

  10. Soft Pneumatic Actuators for Rehabilitation

    Guido Belforte

    2014-05-01

    Full Text Available Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments

  11. An artificial flexible robot arm based on pneumatic muscle actuators

    Renn Jyh-Chyang

    2017-01-01

    Full Text Available The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs. The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.

  12. Plant parasite control and soil fauna diversity.

    Lavelle, Patrick; Blouin, Manuel; Boyer, Johnny; Cadet, Patrice; Laffray, Daniel; Pham-Thi, Anh-Thu; Reversat, Georges; Settle, William; Zuily, Yasmine

    2004-07-01

    The use of pesticides to control plant parasites and diseases has generated serious problems of public health and environmental quality, leading to the promotion of alternative Integrated Pest Management strategies that tend to rely more on natural processes and the active participation of farmers as observers and experimenters in their own fields. We present three case studies that point at different options provided by locally available populations of soil organisms, the maintenance of diverse populations of pests or increased resistance of plants to pest attacks by their interactions with earthworms and other useful soil organisms. These examples demonstrate the diversity of options offered by the non-planned agro-ecosystem diversity in pest control and the need to identify management options that maintain this biodiversity.

  13. Automated Greenhouse : Temperature and soil moisture control

    Attalla, Daniela; Tannfelt Wu, Jennifer

    2015-01-01

    In this thesis an automated greenhouse was built with the purpose of investigating the watering system’s reliability and if a desired range of temperatures can be maintained. The microcontroller used to create the automated greenhouse was an Arduino UNO. This project utilizes two different sensors, a soil moisture sensor and a temperature sensor. The sensors are controlling the two actuators which are a heating fan and a pump. The heating fan is used to change the temperature and the pump is ...

  14. Controle automático de registros de descarga com acionamento pneumático em unidades de armazenagem agrícola Automatic control of slide gate valves with pneumatic drive in agricultural storage facilities

    Pedro Luís Andrighetto

    2008-12-01

    Full Text Available Este trabalho apresenta os resultados dos testes de um sistema de posicionamento pneumático usado no controle automático da abertura da gaveta dos registros de descarga. Esses registros são empregados para controlar o carregamento dos grãos por gravidade nos equipamentos de transporte nas unidades de beneficiamento e armazenagem de grãos, tais como os elevadores de caçamba e as correias transportadoras. Os experimentos permitiram avaliar o desempenho do posicionamento da gaveta de um protótipo de registro de descarga, acionada por um cilindro pneumático cuja posição é controlada por um controlador eletrônico do tipo ON-OFF. Nos testes mediu-se a resposta transitória da posição da gaveta a uma mudança em degrau no sinal de referência e foram avaliados o erro de posição, o sobrepassado e a velocidade. Os resultados mostraram a viabilidade do sistema no desempenho do controle da posição, na simplicidade do acionamento e no baixo custo, sendo uma alternativa para automação de instalações agroindustriais.This paper shows the results obtained from tests of a pneumatic positioning system used in the automatic control of the drawer opening in slide gate valves. They are used to control the grain loading by gravity in transport equipments as bucket elevators and belt conveyors in agricultural storage facilities. Experimental tests were carried out to evaluate the performance of drawer positioning in a prototype of slide gate valve that is driven by a pneumatic cylinder with position control carried out by an ON-OFF electronic controller. In the experiments was measured the step response of drawer position, allowing the evaluation of the position error, the overshoot and the velocity. The results show the viability of this solution considering its performance in position control, drive simplicity and low cost. It represents an alternative to automation of agricultural storage facilities.

  15. A Pneumatic Actuated Microfluidic Beads-Trapping Device

    Shao, Guocheng; Cai, Ziliang; Wang, Jun; Wang, Wanjun; Lin, Yuehe

    2011-08-20

    The development of a polydimethylsiloxane (PDMS) microfluidic microbeads trapping device is reported in this paper. Besides fluid channels, the proposed device includes a pneumatic control chamber and a beads-trapping chamber with a filter array structure. The pneumatic flow control chamber and the beads-trapping chamber are vertically stacked and separated by a thin membrane. By adjusting the pressure in the pneumatic control chamber, the membrane can either be pushed against the filter array to set the device in trapping mode or be released to set the device in releasing mode. In this paper, a computational fluid dynamics simulation was conducted to optimize the geometry design of the filter array structure; the device fabrication was also carried out. The prototype device was tested and the preliminary experimental results showed that it can be used as a beads-trapping unit for various biochemistry and analytical chemistry applications, especially for flow injection analysis systems.

  16. Introducing PneuAct: Parametrically-Designed MRI-Compatible Pneumatic Stepper Actuator

    Sojoodi Farimani, F.; Misra, Sarthak

    2018-01-01

    Pneumatic stepper motors are one of the promising alternative actuation methods for motion control in environments where electromagnetic (EM) motors cannot be used. Due to the lack of commercial off-the-shelf products, researchers working on MR compatible robotics have to develop their own pneumatic

  17. The characteristics of a pneumatic muscle

    Pietrala Dawid

    2017-01-01

    The article presents static and dynamic characteristics of pneumatic muscles. It presents the structure of the laboratory stand used to test pneumatic muscles. It discusses the methodology for determination of static and dynamic characteristics. The paper also illustrates characteristics showing the relationship of pneumatic muscles length and operating pressure, at a constant loading force (isotonic characteristics). It presents characteristics showing the relationship of pneumatic muscles s...

  18. Deep Compaction Control of Sandy Soils

    Bałachowski Lech

    2015-02-01

    Full Text Available Vibroflotation, vibratory compaction, micro-blasting or heavy tamping are typical improvement methods for the cohesionless deposits of high thickness. The complex mechanism of deep soil compaction is related to void ratio decrease with grain rearrangements, lateral stress increase, prestressing effect of certain number of load cycles, water pressure dissipation, aging and other effects. Calibration chamber based interpretation of CPTU/DMT can be used to take into account vertical and horizontal stress and void ratio effects. Some examples of interpretation of soundings in pre-treated and compacted sands are given. Some acceptance criteria for compaction control are discussed. The improvement factors are analysed including the normalised approach based on the soil behaviour type index.

  19. Repeating pneumatic pellet injector in JAERI

    Kasai, Satoshi; Hasegawa, Kouichi; Suzuki, Sadaaki; Miura, Yukitoshi; Oda, Yasushi; Onozuka, Masanori; Tsujimura, Seiichi.

    1992-09-01

    A repeating pneumatic pellet injector has been developed and constructed at Japan Atomic Energy Research Institute. This injector can provide repetitive pellet injection to fuel tokamak plasmas for an extended period of time, aiming at the improvement of plasma performance. The pellets with nearly identical speed and mass can be repeatedly injected with a repetition rate of 2-3.3 Hz and a speed of up to 1.7 km/s by controlling the temperature of the cryogenic system, the piston speed and the pressure of the propellant gas. (author)

  20. Development of repeating pneumatic pellet injector

    Oda, Y.; Onozuka, M.; Shimomura, T. (Mitsubishi Heavy Industries Ltd., Kobe (Japan)) (and others)

    1990-01-01

    A repeating pneumatic pellet injector has been constructed to experiment with the technique of continuous injection for fueling fusion reactors. This device is composed of a cryogenic extruder and a gun assembly in (among others) a high-vacuum vessel, diagnostic vessels, LHe, fuel-gas and propellant-gas supply systems, control and data acquisition systems, etc. The performance tests, using hydrogen, have proved that the device provides the function of extruding frozen hydrogen ribbons at the speed of 6 mm s{sup -1}, chambering pellet at the rate of 5 Hz, and injecting pellet at the speed of 900 m s{sup -1}, as planned. (author).

  1. Development of repeating pneumatic pellet injector

    Oda, Y.; Onozuka, M.; Shimomura, T.

    1990-01-01

    A repeating pneumatic pellet injector has been constructed to experiment with the technique of continuous injection for fueling fusion reactors. This device is composed of a cryogenic extruder and a gun assembly in (among others) a high-vacuum vessel, diagnostic vessels, LHe, fuel-gas and propellant-gas supply systems, control and data acquisition systems, etc. The performance tests, using hydrogen, have proved that the device provides the function of extruding frozen hydrogen ribbons at the speed of 6 mm s -1 , chambering pellet at the rate of 5 Hz, and injecting pellet at the speed of 900 m s -1 , as planned. (author)

  2. Repeating pneumatic pellet injector in JAERI

    Kasai, Satoshi; Hasegawa, Kouichi; Suzuki, Sadaaki; Miura, Yukitoshi (Japan Atomic Energy Research Inst., Naka, Ibaraki (Japan). Naka Fusion Research Establishment); Oda, Yasushi; Onozuka, Masanori; Tsujimura, Seiichi.

    1992-09-01

    A repeating pneumatic pellet injector has been developed and constructed at Japan Atomic Energy Research Institute. This injector can provide repetitive pellet injection to fuel tokamak plasmas for an extended period of time, aiming at the improvement of plasma performance. The pellets with nearly identical speed and mass can be repeatedly injected with a repetition rate of 2-3.3 Hz and a speed of up to 1.7 km/s by controlling the temperature of the cryogenic system, the piston speed and the pressure of the propellant gas. (author).

  3. An ankle-foot orthosis powered by artificial pneumatic muscles.

    Ferris, Daniel P; Czerniecki, Joseph M; Hannaford, Blake

    2005-05-01

    We developed a pneumatically powered orthosis for the human ankle joint. The orthosis consisted of a carbon fiber shell, hinge joint, and two artificial pneumatic muscles. One artificial pneumatic muscle provided plantar flexion torque and the second one provided dorsiflexion torque. Computer software adjusted air pressure in each artificial muscle independently so that artificial muscle force was proportional to rectified low-pass-filtered electromyography (EMG) amplitude (i.e., proportional myoelectric control). Tibialis anterior EMG activated the artificial dorsiflexor and soleus EMG activated the artificial plantar flexor. We collected joint kinematic and artificial muscle force data as one healthy participant walked on a treadmill with the orthosis. Peak plantar flexor torque provided by the orthosis was 70 Nm, and peak dorsiflexor torque provided by the orthosis was 38 Nm. The orthosis could be useful for basic science studies on human locomotion or possibly for gait rehabilitation after neurological injury.

  4. Complications of occipital bone pneumatization

    Moss, Mary; Roche, Jim; Biggs, Michael; Forer, Martin; Fagan, Paul; Davis, Martin

    2004-01-01

    Four cases of occipital bone pneumatization and subsequent complications are described, which include a pathological fracture of C 1 and the occipital bone, spontaneous subcutaneous emphysema and pneumatocele formation. Reviews of the published literature and possible aetiological factors have been discussed Copyright (2004) Blackwell Publishing Asia Pty Ltd

  5. Soil solid-phase controls lead activity in soil solution.

    Badawy, S H; Helal, M I D; Chaudri, A M; Lawlor, K; McGrath, S P

    2002-01-01

    Lead pollution of the environment is synonymous with civilization. It has no known biological function, and is naturally present in soil, but its presence in food crops is deemed undesirable. The concern regarding Pb is mostly due to chronic human and animal health effects, rather then phytotoxicity. However, not much is known about the chemistry and speciation of Pb in soils. We determined the activity of Pb2+, in near neutral and alkaline soils, representative of alluvial, desertic and calcareous soils of Egypt, using the competitive chelation method. Lead activity ranged from 10(-6.73) to 10(-4.83) M, and was negatively correlated with soil and soil solution pH (R2 = -0.92, P soil solution from the equation: log(Pb2+) = 9.9 - 2pH. A solubility diagram for the various Pb minerals found in soil was constructed using published thermodynamic data obtained from the literature, and our measured Pb2+ activities compared with this information. The measured Pb2+ activities were undersaturated with regard to the solubility of PbSiO3 in equilibrium with SiO2 (soil). However, they were supersaturated with regard to the solubilities of the Pb carbonate minerals PbCO3 (cerussite) and Pb3(CO3)2(OH)2 in equilibrium with atmospheric CO2 and hydroxide Pb(OH)2. They were also supersaturated with regard to the solubilities of the Pb phosphate minerals Pb3(PO4)2, Pb5(PO4)3OH, and Pb4O(PO4)2 in equilibrium with tricalcium phosphate and CaCO3. The activity of Pb2+ was not regulated by any mineral of known solubility in our soils, but possibly by a mixture of Pb carbonate and phosphate minerals.

  6. Control of lead solubility in soil contaminated with lead shot: Effect of soil pH

    Rooney, Corinne P.; McLaren, Ronald G.; Condron, Leo M.

    2007-01-01

    An incubation experiment was carried out to assess the rate of oxidation of Pb shot and subsequent transfer of Pb to the soil under a range of soil pH conditions. Lead shot corrosion was rapid, so that soil solution and fine earth ( 3 (CO 3 ) 2 (OH) 2 ), developed in crusts surrounding individual Pb pellets. However, irrespective of pH, Pb 2+ activities in the soil solutions, modelled using WHAM 6, were much lower than would be the case if they were controlled by the solubility of the dominant Pb compounds present in the Pb shot crust material. In contrast, modelling of soil solid-solution phase distribution of Pb, again using WHAM 6, suggested that, at least during the 24 months of the study, soil solution Pb concentrations were more likely to be controlled by sorption of Pb by the soil solid phase. - Sorption processes control Pb 2+ ion activity in soils contaminated with Pb shot

  7. The characteristics of a pneumatic muscle

    Pietrala Dawid

    2017-01-01

    Full Text Available The article presents static and dynamic characteristics of pneumatic muscles. It presents the structure of the laboratory stand used to test pneumatic muscles. It discusses the methodology for determination of static and dynamic characteristics. The paper also illustrates characteristics showing the relationship of pneumatic muscles length and operating pressure, at a constant loading force (isotonic characteristics. It presents characteristics showing the relationship of pneumatic muscles shortening and values of loading forces, at a constant operational pressure (isobaric characteristics. It also shows the dependence of force generated by the muscle on the operating pressure, at a constant value of pneumatic muscles shortening (isometric characteristics. The paper also presents dynamic characteristics of a pneumatic muscle showing the response of an object to a gradual change in the operating pressure, at a constant loading force acting on the pneumatic muscle.

  8. The characteristics of a pneumatic muscle

    Pietrala, Dawid

    The article presents static and dynamic characteristics of pneumatic muscles. It presents the structure of the laboratory stand used to test pneumatic muscles. It discusses the methodology for determination of static and dynamic characteristics. The paper also illustrates characteristics showing the relationship of pneumatic muscles length and operating pressure, at a constant loading force (isotonic characteristics). It presents characteristics showing the relationship of pneumatic muscles shortening and values of loading forces, at a constant operational pressure (isobaric characteristics). It also shows the dependence of force generated by the muscle on the operating pressure, at a constant value of pneumatic muscles shortening (isometric characteristics). The paper also presents dynamic characteristics of a pneumatic muscle showing the response of an object to a gradual change in the operating pressure, at a constant loading force acting on the pneumatic muscle.

  9. Does intermittent pneumatic compression reduce the risk of post stroke deep vein thrombosis? The CLOTS 3 trial: study protocol for a randomized controlled trial

    Dennis Martin

    2012-03-01

    Full Text Available Abstract Background Approximately 80,000 patients each year are admitted to UK hospitals with an acute stroke and are immobile. At least 10% will develop a proximal Deep Vein Thrombosis in the first month and 1.5% a pulmonary embolus. Although hydration, antiplatelet treatment and early mobilisation may reduce the risk of deep vein thrombosis, there are currently no preventive strategies which have been clearly shown to be both effective and safe. Anticoagulation increases the risks of bleeding and compression stockings are ineffective. Systematic reviews of small randomized trials of intermittent pneumatic compression have shown that this reduces the risk of deep vein thrombosis in patients undergoing surgery, but that there are few data concerning its use after stroke. The CLOTS trial 3 aims to determine whether, compared with best medical care, best medical care plus intermittent pneumatic compression in immobile stroke patients reduces the risk of proximal deep vein thrombosis. Methods/Design CLOTS Trial 3 is a parallel group multicentre trial; with centralized randomisation (minimisation to ensure allocation concealment. Over 80 centres in the UK will recruit 2800 immobile stroke patients within the first 3 days of their hospital admission. Patients will be allocated to best medical care or best medical care plus intermittent pneumatic compression. Ultrasonographers will perform a Compression Duplex Ultrasound Scan to detect deep vein thrombosis in each treatment group at about 7-10 days and 25-30 days. The primary outcome cluster includes symptomatic or asymptomatic deep vein thrombosis in the popliteal or femoral veins detected on either scan. Patients are then followed up by postal or telephone questionnaire at 6 months from randomisation to detect later symptomatic deep vein thrombosis and pulmonary emboli and to establish their functional outcome (Oxford handicap scale and quality of life (EQ5D-3 L. The ultrasonographers performing the

  10. Mechanisms controlling radionuclide mobility in forest soils

    Delvaux, B.; Kruyts, N.; Maes, E.; Agapkina, G.I.; Kliashtorin, A.; Bunzl, K.; Rafferty, B.

    1996-01-01

    Soil processes strongly influence the radionuclide mobility in soils. The mobility of radionuclides in forest soils is governed by several processes involving both abiotic and biotic factors. The sorption-desorption process chiefly governs the activity of radionuclides in the soil solution, hence thereby their mobility and biological availability. Radiocaesium exhibits a very low mobility in mineral soils. Both mobility and bioavailability however increase as the thickness of organic layers and their content in organic matter increases. Clay minerals of micaceous origin strongly act as slinks for radiocaesium in forest soils. The magnitude of cesium mineral fixation in topsoils is expected to be the highest in mineral soils of Eutric cambisol type, and, to a lesser extent, of type of Distric cambisol and Podzoluvisol. A low mobility of radiocaesium in the surface horizons of forest soils may also be partially explained by a biological mobilization: fungi absorb radiocaesium and transport it to upper layers, thereby contributing to constantly recycle the radioelement in the organic horizons. This mechanism is probably important in soils with thick organic layers (Podsol, Histosol, and, to a lesser extent, Distric cambisol and Podzoluvisol). Radionuclides can be associated with soluble organic anions in the soil solution of forest acid soils. Such associations are highly mobile: they are stable in conditions of poor biological activity (low temperatures, acid soil infertility, water excess, etc.). Their magnitude is expected to be the highest in thick acid organic layers (soils of type Podzol and Histosol)

  11. [Research progress on photosynthesis regulating and controlling soil respiration].

    Jing, Yan-Li; Guan, De-Xin; Wu, Jia-Bing; Wang, An-Zhi; Yuan, Feng-Hui

    2013-01-01

    To understand the mechanisms of soil respiration and accurately estimate its magnitude are the crucial basis of evaluating global carbon balance. However, the previously built soil respiration forecast models usually neglect the physiological processes that photosynthesis supplies substrates for rhizospheric respiration, leading to the defect in evaluating the mechanisms of soil respiration. This paper summarized the research progress on the mechanisms of photosynthetic regulation and control of soil respiration, introduced the related main research methods, and discussed the existing problems and research hotspots.

  12. Flowfield Analysis of a Pneumatic Solenoid Valve

    Sheam-Chyun Lin

    2018-07-01

    Full Text Available Pneumatic solenoid valve has been widely used in the vehicle control systems for meeting the rapid-reaction demand triggered by the dynamic conditions encountered during the driving course of vehicle. For ensuring the safety of human being, the reliable and effective solenoid valve is in great demand to shorten the reaction time and thus becomes the topic of this research. This numerical study chooses a commercial 3/2-way solenoid valve as the reference valve for analysing its performance. At first, CFD software Fluent is adopted to simulate the flow field associated with the valve configuration. Then, the comprehensive flow visualization is implemented to identify the locations of adverse flow patterns. Accordingly, it is found that a high-pressure region exists in the zone between the nozzle exit and the top of iron core. Thereafter, the nozzle diameter and the distance between nozzle and spool are identified as the important design parameters for improving the pressure response characteristics of valve. In conclusion, this work establishes a rigorous and systematic CFD scheme to evaluate the performance of pneumatic solenoid valve.

  13. Dreams of pneumatic servo and rail way cars in 2010; 2010 nen noyume kukiatsu servo to tetsudo sharyo

    Sasaki, K. [Tokyo Precision Instruments Co. Ltd., Kanagawa (Japan)

    2000-01-15

    This paper describes pneumatic servo and railway cars. The comfort of railway cars is improved by reducing excess transverse centrifugal force, and longitudinal, transverse and vertical vibration. Pneumatic system plays a large role in the comfort. Pneumatic system is used for doors because of certain open/shut operation and protecting a hand caught in a door from excess tightening pressure. Pneumatic system is also used for mechanical brakes. Pneumatic spring for car suspensions improves the comfort considerably. The orifice and auxiliary tank of a pneumatic spring reduce a spring constant, and give damping to the vibration system of car bodies and springs. To reduce an outward excess centrifugal force by tilting a car body inward at curve, a body tilting equipment is used which is adopted for a pendulum car with pneumatic servo control, and a tilting car with height control of both side pneumatic springs. For transverse damping, semi-active equipment using oil damper is in wide use, while that using pneumatic servo is also in rial use. (NEDO)

  14. Pneumatic tourniquets in extremity surgery.

    Wakai, A

    2012-02-03

    Pneumatic tourniquets maintain a relatively bloodless field during extremity surgery, minimize blood loss, aid identification of vital structures, and expedite the procedure. However, they may induce an ischemia-reperfusion injury with potentially harmful local and systemic consequences. Modern pneumatic tourniquets are designed with mechanisms to regulate and maintain pressure. Routine maintenance helps ensure that these systems are working properly. The complications of tourniquet use include postoperative swelling, delay of recovery of muscle power, compression neurapraxia, wound hematoma with the potential for infection, vascular injury, tissue necrosis, and compartment syndrome. Systemic complications can also occur. The incidence of complications can be minimized by use of wider tourniquets, careful preoperative patient evaluation, and adherence to accepted principles of tourniquet use.

  15. Pneumatic transport systems for TRIGA reactors

    Bolton, John A.

    1970-01-01

    Main parameters and advantages of pneumatically operated systems, primarily those operated by gas pressure are discussed. The special irradiation ends for the TRIGA reactor are described. To give some idea of the complexity of some modern systems, the author presents the large system currently operating at the National Bureau of Standards in Washington. In this system, 13 stations are located throughout the radiochemistry laboratories and three irradiation ends are located in the reactor, which is a 14-megawatt unit. The system incorporates practically every fail-safe device possible, including ball valves located on all capsule lines entering the reactor area, designed to close automatically in the event of a reactor scram, and at that time capsules within the reactor would be diverted by means of switches located on the inside of the reactor wall. The whole system is under final control of a permission control panel located in the reactor control room. Many other safety accessories of the system are described

  16. Model for pneumatic pellet injection

    Hogan, J.T.; Milora, S.L.; Schuresko, D.D.

    1983-07-01

    A hydrodynamic code has been developed to model the performance of pneumatic pellet injection systems. The code describes one dimensional, unsteady compressible gas dynamics, including gas friction and heat transfer to the walls in a system with variable area. The mass, momentum, and energy equations are solved with an iterated Lax-Wendroff scheme with additional numerical viscosity. The code is described and comparisons with experimental data are presented

  17. Pneumatic pressure wave generator provides economical, simple testing of pressure transducers

    Gaal, A. E.; Weldon, T. P.

    1967-01-01

    Testing device utilizes the change in pressure about a bias or reference pressure level produced by displacement of a center-driven piston in a closed cylinder. Closely controlled pneumatic pressure waves allow testing under dynamic conditions.

  18. Linear pneumatic motors – a comparative study

    Deaconescu Tudor

    2017-01-01

    Full Text Available The paper presents a comparative study of the performance of single-acting cylinders, diaphragm cylinders and pneumatic muscles, and offers users information that allows the selection of an optimum technical solution. Such a study was necessary, in view of the numerous papers on pneumatic muscle applications found in literature, that assert the superiority of pneumatic muscles over other pneumatic linear motors in relation to quantities like dimensions, mass, developed force or energy-to-mass ratios, however without offering concrete data.

  19. Anaerobic soil disinfestation for controlling Fusarium wilt in strawberies

    A strategy to apply a high rate of carbon resource in the conduct of a fall bed anaerobic soil disinfestation (ASD) treatment did not provide effective control of Fusarium wilt in California strawberries. The lack of disease control efficacy resulted from an increase in soil populations of the caus...

  20. Soil Carbon Dioxide Production and Surface Fluxes: Subsurface Physical Controls

    Risk, D.; Kellman, L.; Beltrami, H.

    Soil respiration is a critical determinant of landscape carbon balance. Variations in soil temperature and moisture patterns are important physical processes controlling soil respiration which need to be better understood. Relationships between soil respi- ration and physical controls are typically addressed using only surface flux data but other methods also exist which permit more rigorous interpretation of soil respira- tion processes. Here we use a combination of subsurface CO_{2} concentrations, surface CO_{2} fluxes and detailed physical monitoring of the subsurface envi- ronment to examine physical controls on soil CO_{2} production at four climate observatories in Eastern Canada. Results indicate that subsurface CO_{2} produc- tion is more strongly correlated to the subsurface thermal environment than the surface CO_{2} flux. Soil moisture was also found to have an important influence on sub- surface CO_{2} production, particularly in relation to the soil moisture - soil profile diffusivity relationship. Non-diffusive profile CO_{2} transport appears to be im- portant at these sites, resulting in a de-coupling of summertime surface fluxes from subsurface processes and violating assumptions that surface CO_{2} emissions are the result solely of diffusion. These results have implications for the study of soil respiration across a broad range of terrestrial environments.

  1. Hydrologic controls on equilibrium soil depths

    Nicótina, L.; Tarboton, D. G.; Tesfa, T. K.; Rinaldo, A.

    2011-04-01

    This paper deals with modeling the mutual feedbacks between runoff production and geomorphological processes and attributes that lead to patterns of equilibrium soil depth. Our primary goal is an attempt to describe spatial patterns of soil depth resulting from long-term interactions between hydrologic forcings and soil production, erosion, and sediment transport processes under the framework of landscape dynamic equilibrium. Another goal is to set the premises for exploiting the role of soil depths in shaping the hydrologic response of a catchment. The relevance of the study stems from the massive improvement in hydrologic predictions for ungauged basins that would be achieved by using directly soil depths derived from geomorphic features remotely measured and objectively manipulated. Hydrological processes are here described by explicitly accounting for local soil depths and detailed catchment topography. Geomorphological processes are described by means of well-studied geomorphic transport laws. The modeling approach is applied to the semiarid Dry Creek Experimental Watershed, located near Boise, Idaho. Modeled soil depths are compared with field data obtained from an extensive survey of the catchment. Our results show the ability of the model to describe properly the mean soil depth and the broad features of the distribution of measured data. However, local comparisons show significant scatter whose origins are discussed.

  2. Soil erosion and its control in Chile - An overview

    Ellies, A.

    2000-01-01

    Accelerate erosion in Chile is a consequence from land use that degrade soil such as compaction, loss of organic matter and soil structure. The erosion is favored by the very hilly landscape of the country that increases erosivity index and the high erodibility given by an elevated annual rate of rainfall with irregular distribution. Several experiences have demonstrated that adequate crop management and crop rotations can minimize erosion. The most effective control is achieved conserving and improving soil structure with management systems that include regular use of soil-improving crops, return of crop residues and tillage practices, thus avoiding unnecessary breakdown soil or compacted soil structure. Conservation tillage increased organic matter levels improving stabile soil structure, aeration and infiltration. (author) [es

  3. A fluidic/pneumatic interface amplifier

    Limbert, D. E.; Kegel, T. M.

    The development of a low cost, reliable, linear pressure amplifier to interface Laminar Proportional Amplifiers (LPA) to pneumatic controllers is presented. The amplifier consists of an LPA input stage and an output stage consisting of a venturi in series with a bellows nozzle valve. The LPA output drives the bellows nozzle valve thereby altering the flowrate through the venturi. The pressure within the venturi throat region, which is the amplifier output, changes with the flowrate. Non-linear characteristics, due to supersonic flow within the venturi, are altered through the use of feedback to the LPA input. A computer based model, to aid in optimizing the amplifier design, is developed. This model incorporates the effects of shock waves and boundary layers within the venturi. Good correspondence between the model and an experimental prototype is shown.

  4. Integration of Pneumatic Technology in Powered Mobility Devices.

    Daveler, Brandon; Wang, Hongwu; Gebrosky, Benjamin; Grindle, Garrett G; Schneider, Urs; Cooper, Rory A

    2017-01-01

    Advances in electric motors, electronics, and control systems have enhanced the capability and drivability of electric power mobility devices over the last 60 years. Yet, battery technologies used in powered mobility devices (PMDs) have not kept pace. Recent advances in pneumatic technology, primarily the high torque, low speed design of rotary piston air motors, directly align with the needs of PMD. Pneumatic technology has advantages over battery-powered technology, including lighter weight, lower operating costs, decreased environmental impact, better reliability, and increased safety. Two prototypes were created that incorporated rotary piston air motors, high-pressure air tanks, and air-pressure regulators. Prototype 1 was created by modifying an existing electric PMD. Range tests were performed to determine the feasibility of pneumatic technology and the optimal combination of components to allow the longest range possible at acceptable speeds over ideal conditions. Using a 1.44 L air tank for feasibility testing, prototype 1 was capable of traveling 800 m, which confirmed the feasibility of pneumatic technology usage in PMDs. Prototype 2 was designed based on the testing results from prototype 1. After further optimization of prototype 2, the average maximum range was 3,150 m. Prototype 2 is up to 28.3% lighter than an equivalent size electric PMD and can be fully recharged in approximately 2 minutes. It decreases the cost of PMDs by approximately $1,500, because batteries do not need to be replaced over the lifetime of the device. The results provide justification for the use of pneumatic technology in PMDs.

  5. Buckling Pneumatic Linear Actuators Inspired by Muscle

    Yang, Dian; Verma, Mohit Singh; So, Ju-Hee; Mosadegh, Bobak; Keplinger, Christoph; Lee, Benjamin; Khashai, Fatemeh; Lossner, Elton Garret; Suo, Zhigang; Whitesides, George McClelland

    2016-01-01

    The mechanical features of biological muscles are difficult to reproduce completely in synthetic systems. A new class of soft pneumatic structures (vacuum-actuated muscle-inspired pneumatic structures) is described that combines actuation by negative pressure (vacuum), with cooperative buckling of beams fabricated in a slab of elastomer, to achieve motion and demonstrate many features that are similar to that of mammalian muscle.

  6. Use of the PZK system for pneumatic stowing along mine workings

    Makarevich, Yu S; Buzhin, N K; Churakov, V N

    1983-07-01

    The utilization of waste rock for pneumatic stowing in the Komsomolets Donbassa mine with coal seams to 1 m thick and dip angles from 3 to 11/sup 0/ is evaluated. Gate roads used for mine haulage by belt conveyors are controlled by cribbings made of timber and of concrete blocks, particularly at junction of working facese by belt conveyors are controlled by cribbings made of timber and of concrete blocks, particularly at junction of working faces with gate goads. Effects of pneumatic stowing on strata control cost and environmental protection are analyzed. Waste rock which has been dumped at spoil banks on the ground surface is crushed by the PZK system developed by Dongiproshakht. The PZK system is installed underground close to haulage roadways. Crushed rock material with size from 0 to 80 mm and compression strength coefficient from 3 to 5 degrees on the Protod'yakonov scale is hauled by mine cars to working faces and stowed by the DZM-2 pneumatic system. Strips of pneumatic stowing at each side of a gate road are from 12 to 15 m wide. Design of the PZM system and of a rock hopper used for accumulation of crushed rock as well as design of the DZM-2 system are shown in schemes. Economic analysis shows that use of pneumatic stowing reduces roof subsidence in the haulage gate road to 20% and eliminates cribbings. Use of pneumatic stowing for strata control in haulage gate roads economizes 65 rubles per 1 m of gate road.

  7. A Study of Gas Economizing Pneumatic Cylinder

    Li, T C; Wu, H W; Kuo, M J

    2006-01-01

    The pneumatic cylinder is the most typical actuator in the pneumatic equipment, and its mechanism is so simple that it is often used to operate point to point driving without the feedback loop in various automatic machines. But, the energy efficiency of pneumatic system is very poor compared with electrical systems and hydraulic systems. So, it is very important to discuss the energy saving for the pneumatic cylinder systems. In this thesis, we proposed three methods to apply the reduction in the air consumed for pneumatic cylinder systems. An air charge accumulator is used to absorb the exhausted compress air and a boost valve boosted the air to the higher pressure for used again. From the experiments, the direct used cylinder exhaust air may save about 40% of compress air

  8. Pneumatic Compression, But Not Exercise, Can Avoid Intradialytic Hypotension: A Randomized Trial.

    Álvares, Valeria R C; Ramos, Camila D; Pereira, Benedito J; Pinto, Ana Lucia; Moysés, Rosa M A; Gualano, Bruno; Elias, Rosilene M

    2017-01-01

    Conventional hemodialysis (HD) is associated with dialysis-induced hypotension (DIH) and ineffective phosphate removal. As the main source of extracellular fluid removed during HD are the legs, we sought to reduce DIH and increase phosphate removal by using cycling and pneumatic compression, which would potentially provide higher venous return, preserving central blood flow and also offering more phosphate to the dialyzer. We evaluated 21 patients in a randomized crossover fashion in which each patient underwent 3 different HD: control; cycling exercise during the first 60 min; and pneumatic compression during the first 60 min. Data obtained included bioelectrical impedance, hourly blood pressure measurement, biochemical parameters, and direct quantification of phosphate through the dialysate. DIH was defined as a drop in mean arterial pressure (MAP) ≥20 mm Hg. There was no difference in the ultrafiltration rate (p = 0.628), delta weight (p = 0.415), delta of total, intra and extracellular body water among the control, cycling, and pneumatic compression (p = 0.209, p = 0.348, and p = 0.467 respectively). Delta MAP was less changed by pneumatic compression when compared to control, cycling, and pneumatic compression respectively (-4.7 [-17.2, 8.2], -4.7 [-20.5, -0.2], and -2.3 [-8.1, 9.0] mm Hg; p = 0.021). DIH occurred in 43, 38, and 24% of patients in control, cycling, and pneumatic compression respectively (p = 0.014). Phosphate removal did not increase in any intervention (p = 0.486). Higher phosphate removal was dependent on ultrafiltration, pre dialysis serum phosphate, and higher parathyroid hormone. Pneumatic compression during the first hour of dialysis was associated with less DIH, albeit there was no effect on fluid parameters. Neither exercise nor pneumatic compression increased phosphate removal. © 2017 S. Karger AG, Basel.

  9. Diurnal hysteresis between soil CO2 and soil temperature is controlled by soil water content

    Diego A. Riveros-Iregui; Ryan E. Emanuel; Daniel J. Muth; L. McGlynn Brian; Howard E. Epstein; Daniel L. Welsch; Vincent J. Pacific; Jon M. Wraith

    2007-01-01

    Recent years have seen a growing interest in measuring and modeling soil CO2 efflux, as this flux represents a large component of ecosystem respiration and is a key determinant of ecosystem carbon balance. Process-based models of soil CO2 production and efflux, commonly based on soil temperature, are limited by nonlinearities such as the observed diurnal hysteresis...

  10. Multicentre randomised controlled trial to investigate the usefulness of continuous pneumatic regulation of tracheal cuff pressure for reducing ventilator-associated pneumonia in mechanically ventilated severe trauma patients: the AGATE study protocol.

    Marjanovic, Nicolas; Frasca, Denis; Asehnoune, Karim; Paugam, Catherine; Lasocki, Sigismond; Ichai, Carole; Lefrant, Jean-Yves; Leone, Marc; Dahyot-Fizelier, Claire; Pottecher, Julien; Falcon, Dominique; Veber, Benoit; Constantin, Jean-Michel; Seguin, Sabrina; Guénézan, Jérémy; Mimoz, Olivier

    2017-08-07

    Severe trauma represents the leading cause of mortality worldwide. While 80% of deaths occur within the first 24 hours after trauma, 20% occur later and are mainly due to healthcare-associated infections, including ventilator-associated pneumonia (VAP). Preventing underinflation of the tracheal cuff is recommended to reduce microaspiration, which plays a major role in the pathogenesis of VAP. Automatic devices facilitate the regulation of tracheal cuff pressure, and their implementation has the potential to reduce VAP. The objective of this work is to determine whether continuous regulation of tracheal cuff pressure using a pneumatic device reduces the incidence of VAP compared with intermittent control in severe trauma patients. This multicentre randomised controlled and open-label trial will include patients suffering from severe trauma who are admitted within the first 24 hours, who require invasive mechanical ventilation to longer than 48 hours. Their tracheal cuff pressure will be monitored either once every 8 hours (control group) or continuously using a pneumatic device (intervention group). The primary end point is the proportion of patients that develop VAP in the intensive care unit (ICU) at day 28. The secondary end points include the proportion of patients that develop VAP in the ICU, early (≤7 days) or late (>7 days) VAP, time until the first VAP diagnosis, the number of ventilator-free days and antibiotic-free days, the length of stay in the ICU, the proportion of patients with ventilator-associated events and that die during their ICU stay. This protocol has been approved by the ethics committee of Poitiers University Hospital, and will be carried out according to the principles of the Declaration of Helsinki and the Good Clinical Practice guidelines. The results of this study will be disseminated through presentation at scientific conferences and publication in peer-reviewed journals. Clinical Trials NCT02534974. © Article author(s) (or

  11. Caudal pneumaticity and pneumatic hiatuses in the sauropod dinosaurs Giraffatitan and Apatosaurus.

    Mathew J Wedel

    Full Text Available Skeletal pneumaticity is found in the presacral vertebrae of most sauropod dinosaurs, but pneumaticity is much less common in the vertebrae of the tail. We describe previously unrecognized pneumatic fossae in the mid-caudal vertebrae of specimens of Giraffatitan and Apatosaurus. In both taxa, the most distal pneumatic vertebrae are separated from other pneumatic vertebrae by sequences of three to seven apneumatic vertebrae. Caudal pneumaticity is not prominent in most individuals of either of these taxa, and its unpredictable development means that it may be more widespread than previously recognised within Sauropoda and elsewhere in Saurischia. The erratic patterns of caudal pneumatization in Giraffatitan and Apatosaurus, including the pneumatic hiatuses, show that pneumatic diverticula were more broadly distributed in the bodies of the living animals than are their traces in the skeleton. Together with recently published evidence of cryptic diverticula--those that leave few or no skeletal traces--in basal sauropodomorphs and in pterosaurs, this is further evidence that pneumatic diverticula were widespread in ornithodirans, both across phylogeny and throughout anatomy.

  12. Principles of control automation of soil compacting machine operating mechanism

    Anatoly Fedorovich, Tikhonov; Drozdov, Anatoly

    2018-03-01

    The relevance of the qualitative compaction of soil bases in the erection of embankment and foundations in building and structure construction is given.The quality of the compactible gravel and sandy soils provides the bearing capability and, accordingly, the strength and durability of constructed buildings.It has been established that the compaction quality depends on many external actions, such as surface roughness and soil moisture; granulometry, chemical composition and degree of elasticity of originalfilled soil for compaction.The analysis of technological processes of soil bases compaction of foreign and domestic information sources showed that the solution of such important problem as a continuous monitoring of soil compaction actual degree in the process of machine operation carry out only with the use of modern means of automation. An effective vibrodynamic method of gravel and sand material sealing for the building structure foundations for various applications was justified and suggested.The method of continuous monitoring the soil compaction by measurement of the amplitudes and frequencies of harmonic oscillations on the compactible surface was determined, which allowed to determine the basic elements of facilities of soil compacting machine monitoring system of operating, etc. mechanisms: an accelerometer, a bandpass filter, a vibro-harmonics, an on-board microcontroller. Adjustable parameters have been established to improve the soil compaction degree and the soil compacting machine performance, and the adjustable parameter dependences on the overall indexhave been experimentally determined, which is the soil compaction degree.A structural scheme of automatic control of the soil compacting machine control mechanism and theoperation algorithm has been developed.

  13. Analysis of vibroprotection characteristics of pneumatic relaxation seat suspension with capability of vibration energy recuperation

    Lyashenko Mikhail

    2017-01-01

    Full Text Available This paper proposes mechanism and control algorithm for pneumatic relaxation system of suspension with vibration energy recuperation applied to standard vehicle operator seat (“Sibeko” company. Mathematical model of the seat pneumatic relaxation suspension with two additional air volumes was created. Pneumatic motor – recuperator activated by means of air flow from the one additional volume to another is installed in air piping between additional volumes. Computational research was made in Matlab/Simulink. Amplitude-frequency characteristics of transmission coefficient for standard and proposed suspensions were plotted for preliminary evaluation of vibration protection properties of seat suspension. Performed comparative analysis of amplitude-frequency characteristics shows that noticeable improvement of vibration protection properties of pneumatic relaxation suspension system with vibration energy recuperation in comparison with standard system both in region of resonance disturbances and in above-resonance region. Main ways for further improvement of vibration protection properties of proposed system were marked out.

  14. Basic Aspects of Deep Soil Mixing Technology Control

    Egorova, Alexandra A.; Rybak, Jarosław; Stefaniuk, Damian; Zajączkowski, Przemysław

    2017-10-01

    Improving a soil is a process of increasing its physical/mechanical properties without changing its natural structure. Improvement of soil subbase is reached by means of the knitted materials, or other methods when strong connection between soil particles is established. The method of DSM (Deep Soil Mixing) columns has been invented in Japan in 1970s. The main reason of designing cement-soil columns is to improve properties of local soils (such as strength and stiffness) by mixing them with various cementing materials. Cement and calcium are the most commonly used binders. However new research undertaken worldwide proves that apart from these materials, also gypsum or fly ashes can also be successfully implemented. As the Deep Soil Mixing is still being under development, anticipating mechanical properties of columns in particular soils and the usage of cementing materials in formed columns is very difficult and often inappropriate to predict. That is why a research is carried out in order to find out what binders and mixing technology should be used. The paper presents several remarks on the testing procedures related to quality and capacity control of Deep Soil Mixing columns. Soil improvement methods, their advantages and limitations are briefly described. The authors analyse the suitability of selected testing methods on subsequent stages of design and execution of special foundations works. Chosen examples from engineering practice form the basis for recommendations for the control procedures. Presented case studies concerning testing the on capacity field samples and laboratory procedures on various categories of soil-cement samples were picked from R&D and consulting works offered by Wroclaw University of Science and Technology. Special emphasis is paid to climate conditions which may affect the availability of performing and controlling of DSM techniques in polar zones, with a special regard to sample curing.

  15. Soil bioengineering applied to the environmental rehabilitation of controlled landfills

    Luria, P.

    2005-01-01

    Soil bioengineering is a discipline characterised by the capability of associating geo-technical approaches (e.g. soil stabilisation) with naturalistic rehabilitation and creation of biotopes. It is extremely suitable for the environmental rehabilitation of controlled landfills, especially of area and depression landfills, mainly through soil protection and stabilisation measures. Its increasing notoriety is mainly due to the great variety and specificity of its techniques, to the capability of joining technical matters with naturalistic aspects, and to the reduced cost of some interventions. Nevertheless, its application to environmental rehabilitation of controlled landfills is still scarce in Italy. Only 3% of 87 closed landfills analysed, whose rehabilitation projects adopt natural techniques for soil stabilisation and protection, explicitly refers to Soil Bioengineering [it

  16. profitability of soil erosion control technologies in eastern uganda

    Prof. Adipala Ekwamu

    The lack of farmer awareness of costs and benefits associated with the use of sustainable land management (SLM) .... land under soil erosion control technologies, cost of labour and ..... and promotion of quality protein maize hybrids in Ghana.

  17. Dynamic Analysis of Sounding Rocket Pneumatic System Revision

    Armen, Jerald

    2010-01-01

    The recent fusion of decades of advancements in mathematical models, numerical algorithms and curve fitting techniques marked the beginning of a new era in the science of simulation. It is becoming indispensable to the study of rockets and aerospace analysis. In pneumatic system, which is the main focus of this paper, particular emphasis will be placed on the efforts of compressible flow in Attitude Control System of sounding rocket.

  18. Development of Pneumatic Robot Hand and Construction of Master-Slave System

    Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

    Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

  19. How soil organic matter composition controls hexachlorobenzene-soil-interactions: adsorption isotherms and quantum chemical modeling.

    Ahmed, Ashour A; Kühn, Oliver; Aziz, Saadullah G; Hilal, Rifaat H; Leinweber, Peter

    2014-04-01

    Hazardous persistent organic pollutants (POPs) interact in soil with the soil organic matter (SOM) but this interaction is insufficiently understood at the molecular level. We investigated the adsorption of hexachlorobenzene (HCB) on soil samples with systematically modified SOM. These samples included the original soil, the soil modified by adding a hot water extract (HWE) fraction (soil+3 HWE and soil+6 HWE), and the pyrolyzed soil. The SOM contents increased in the order pyrolyzed soilsoilsoil+3 HWEsoil+6 HWE. For the latter three samples this order was also valid for the HCB adsorption. The pyrolyzed soil adsorbed more HCB than the other samples at low initial concentrations, but at higher concentrations the HCB adsorption became weaker than in the samples with HWE addition. This adsorption combined with the differences in the chemical composition between the soil samples suggested that alkylated aromatic, phenol, and lignin monomer compounds contributed most to the HCB adsorption. To obtain a molecular level understanding, a test set has been developed on the basis of elemental analysis which comprises 32 representative soil constituents. The calculated binding energy for HCB with each representative system shows that HCB binds to SOM stronger than to soil minerals. For SOM, HCB binds to alkylated aromatic, phenols, lignin monomers, and hydrophobic aliphatic compounds stronger than to polar aliphatic compounds confirming the above adsorption isotherms. Moreover, quantitative structure-activity relationship (QSAR) of the binding energy with independent physical properties of the test set systems for the first time indicated that the polarizability, the partial charge on the carbon atoms, and the molar volume are the most important properties controlling HCB-SOM interactions. Copyright © 2013 Elsevier B.V. All rights reserved.

  20. Wind erosion control of soils using polymeric materials

    Mohammad Movahedan

    2012-07-01

    Full Text Available Wind erosion of soils is one of the most important problems in environment and agriculture which could affects several fields. Agricultural lands, water reservoires, irrigation canals, drains and etc. may be affected by wind erosion and suspended particles. As a result wind erosion control needs attention in arid and semi-arid regions. In recent years, some polymeric materials have been used for improvement of structural stability, increasing aggregate stability and soil stabilization, though kind of polymer, quantity of polymer, field efficiency and durability and environmental impacts are some important parameters which should be taken into consideration. In this study, a Polyvinil Acetate-based polymer was used to treat different soils. Then polymer-added soil samples were investigated experimentally in a wind tunnel to verify the effecte of polymer on wind erosion control of the soils and the results were compared with water treated soil samples. The results of wind tunnel experiments with a maximum 26 m/s wind velocity showed that there was a significat difference between the erosion of polymer treated and water treated soil samples. Application of 25g/m2 polymer to Aeolian sands reduced the erosion of Aeolian sands samples to zero related to water treated samples. For silty and calyey soils treated by polymer, the wind erosion reduced minimum 90% in relation to water treated samples.

  1. Soil organic carbon dynamics jointly controlled by climate, carbon inputs, soil properties and soil carbon fractions.

    Luo, Zhongkui; Feng, Wenting; Luo, Yiqi; Baldock, Jeff; Wang, Enli

    2017-10-01

    Soil organic carbon (SOC) dynamics are regulated by the complex interplay of climatic, edaphic and biotic conditions. However, the interrelation of SOC and these drivers and their potential connection networks are rarely assessed quantitatively. Using observations of SOC dynamics with detailed soil properties from 90 field trials at 28 sites under different agroecosystems across the Australian cropping regions, we investigated the direct and indirect effects of climate, soil properties, carbon (C) inputs and soil C pools (a total of 17 variables) on SOC change rate (r C , Mg C ha -1  yr -1 ). Among these variables, we found that the most influential variables on r C were the average C input amount and annual precipitation, and the total SOC stock at the beginning of the trials. Overall, C inputs (including C input amount and pasture frequency in the crop rotation system) accounted for 27% of the relative influence on r C , followed by climate 25% (including precipitation and temperature), soil C pools 24% (including pool size and composition) and soil properties (such as cation exchange capacity, clay content, bulk density) 24%. Path analysis identified a network of intercorrelations of climate, soil properties, C inputs and soil C pools in determining r C . The direct correlation of r C with climate was significantly weakened if removing the effects of soil properties and C pools, and vice versa. These results reveal the relative importance of climate, soil properties, C inputs and C pools and their complex interconnections in regulating SOC dynamics. Ignorance of the impact of changes in soil properties, C pool composition and C input (quantity and quality) on SOC dynamics is likely one of the main sources of uncertainty in SOC predictions from the process-based SOC models. © 2017 John Wiley & Sons Ltd.

  2. Salinity controls on plant transpiration and soil water balance

    Perri, S.; Molini, A.; Suweis, S. S.; Viola, F.; Entekhabi, D.

    2017-12-01

    Soil salinization and aridification represent a major threat for the food security and sustainable development of drylands. The two problems are deeply connected, and their interplay is expected to be further enhanced by climate change and projected population growth. Salt-affected land is currently estimated to cover around 1.1 Gha, and is particularly widespread in semi-arid to hyper-arid climates. Over 900 Mha of these saline/sodic soils are potentially available for crop or biomass production. Salt-tolerant plants have been recently proposed as valid solution to exploit or even remediate salinized soils. However the effects of salinity on evapotranspiration, soil water balance and the long-term salt mass balance in the soil, are still largely unexplored. In this contribution we analyze the feedback of evapotranspiration on soil salinization, with particular emphasis on the role of vegetation and plant salt-tolerance. The goal is to introduce a simple modeling framework able to shed some light on how (a) soil salinity controls plant transpiration, and (b) salinization itself is favored/impeded by different vegetation feedback. We introduce at this goal a spatially lumped stochastic model of soil moisture and salt mass dynamics averaged over the active soil depth, and accounting for the effect of salinity on evapotranspiration. Here, the limiting effect of salinity on ET is modeled through a simple plant response function depending on both salt concentration in the soil and plant salt-tolerance. The coupled soil moisture and salt mass balance is hence used to obtain the conditional steady-state probability density function (pdf) of soil moisture for given salt tolerance and salinization level, Our results show that salinity imposes a limit in the soil water balance and this limit depends on plant salt-tolerance mainly through the control of the leaching occurrence (tolerant plants exploit water more efficiently than the sensitive ones). We also analyzed the

  3. Can we manipulate root system architecture to control soil erosion?

    Ola, A.; Dodd, I. C.; Quinton, J. N.

    2015-09-01

    Soil erosion is a major threat to soil functioning. The use of vegetation to control erosion has long been a topic for research. Much of this research has focused on the above-ground properties of plants, demonstrating the important role that canopy structure and cover plays in the reduction of water erosion processes. Less attention has been paid to plant roots. Plant roots are a crucial yet under-researched factor for reducing water erosion through their ability to alter soil properties, such as aggregate stability, hydraulic function and shear strength. However, there have been few attempts to specifically manipulate plant root system properties to reduce soil erosion. Therefore, this review aims to explore the effects that plant roots have on soil erosion and hydrological processes, and how plant root architecture might be manipulated to enhance its erosion control properties. We demonstrate the importance of root system architecture for the control of soil erosion. We also show that some plant species respond to nutrient-enriched patches by increasing lateral root proliferation. The erosional response to root proliferation will depend upon its location: at the soil surface dense mats of roots may reduce soil erodibility but block soil pores thereby limiting infiltration, enhancing runoff. Additionally, in nutrient-deprived regions, root hair development may be stimulated and larger amounts of root exudates released, thereby improving aggregate stability and decreasing erodibility. Utilizing nutrient placement at specific depths may represent a potentially new, easily implemented, management strategy on nutrient-poor agricultural land or constructed slopes to control erosion, and further research in this area is needed.

  4. Does vivianite control phosphate solubility in anoxic meadow soils?

    Walpersdorf, Eva Christine; Bender Koch, Christian; Heiberg, Lisa

    2013-01-01

    Vivianite (Fe3(PO4)2·8H2O) may precipitate in anoxic wetland soils where it may control orthophosphate (Pi) equilibrium solution concentrations at micromolar levels, and thus be of key importance in reducing excessive P from agricultural sources and eutrophication. However, vivianite equilibria...... and kinetics under in situ conditions are not fully understood and the occurrence of vivianite in wetland soils is rarely documented. In the present investigation we have monitored the temporal (November to June) variation in the pore water chemistry of a wet meadow soil (Sapric Medihemist) including...... restored. Even after 120 days following perturbation the supersaturation was still high (SIviv~6). It seems that vivianite does contribute to Pi immobilization in anoxic soil horizons, but due to slow precipitation kinetics such soils cannot maintain Pi concentrations at levels below critical thresholds...

  5. Evaluation of Models of Pneumatic Tourniquet in Simulated Out-of-Hospital Use.

    Kragh, John F; Aden, James K; Dubick, Michael A

    2016-01-01

    Pneumatic field tourniquets have been recommended for Military medics to stop bleeding from limb wounds, but no comparison of commercially available pneumatic models of tourniquet has been reported. The purpose of this study is to provide laboratory data on the differential performance of models of pneumatic tourniquets to inform decision-making of potential field assessment by military users. Models included the Emergency and Military Tourniquet (EMT), Tactical Pneumatic Tourniquet 2-inch (TPT2), and Tactical Pneumatic Tourniquet 3-inch (TPT3). One user tested the three tourniquet models 30 times each on a manikin to collect data on effectiveness (yes-no bleeding control), pulse cessation, time to stop bleeding, total time of application, after time (after bleeding was stopped), pressure applied, blood loss volume, composite outcome (whether all individual outcomes were good or not), and pump count of the bulb used to inflate the tourniquet. Neither tourniquet effectiveness nor pulse cessation (ρ = 1; likelihood ratio, 0 for both) differed among tourniquet models: all three models had 100% (30 of 30 tests) for both outcomes. The EMT had the best or tied for best performance in time to stop bleeding, total time, after time, pressure blood loss, composite outcome, and pump count. Each of the three models of pneumatic field tourniquet was 100% effective in stopping simulated bleeding. Among the three models, the EMT showed the best or tied for best performance in time to stop bleeding, blood loss, and composite outcomes. All models are suitable for future field assessment among military users. 2016.

  6. Development of myopia as a hazard for workers in pneumatic caissons

    Onoo, A; Kiyosawa, M; Takase, H; Mano, Y

    2002-01-01

    Background/aim: Pneumatic caisson engineering has been developed for large civil engineering constructions. Because of complaints of blurred vision by personnel working in pneumatic caissons, the development of myopia was suspected. The aim of this study was to determine the cause of the blurred vision and the mechanism underlying the changes. Methods: 12 caisson workers underwent a complete ophthalmological examination after completing up to 11 weeks of work (4 days/week) in a pneumatic caisson. Six months later, nine of the workers were examined again. Results: Nine subjects were myopic at the initial examination, and seven of these were considered to have developed the myopia after starting to work in the pneumatic caisson. Six months after completion of the work, the mean refractive change was significantly towards hyperopia. Conclusions: The blurred vision in pneumatic caisson workers was in all likelihood due to the development of myopia. The refractive shift towards hyperopia after completion of work in the pneumatic caisson supports this and demonstrates that the changes were temporary. The myopia is similar to the myopia seen in patients treated by hyperbaric oxygen. Careful monitoring of the refraction of caisson workers should be performed for industrial health control. PMID:12386088

  7. Electric-Pneumatic Actuator: A New Muscle for Locomotion

    Maziar Ahmad Sharbafi

    2017-10-01

    Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

  8. Soft Pneumatic Bending Actuator with Integrated Carbon Nanotube Displacement Sensor

    Tim Giffney

    2016-02-01

    Full Text Available The excellent compliance and large range of motion of soft actuators controlled by fluid pressure has lead to strong interest in applying devices of this type for biomimetic and human-robot interaction applications. However, in contrast to soft actuators fabricated from stretchable silicone materials, conventional technologies for position sensing are typically rigid or bulky and are not ideal for integration into soft robotic devices. Therefore, in order to facilitate the use of soft pneumatic actuators in applications where position sensing or closed loop control is required, a soft pneumatic bending actuator with an integrated carbon nanotube position sensor has been developed. The integrated carbon nanotube position sensor presented in this work is flexible and well suited to measuring the large displacements frequently encountered in soft robotics. The sensor is produced by a simple soft lithography process during the fabrication of the soft pneumatic actuator, with a greater than 30% resistance change between the relaxed state and the maximum displacement position. It is anticipated that integrated resistive position sensors using a similar design will be useful in a wide range of soft robotic systems.

  9. Pneumatic and hydraulic microactuators: a review

    De Volder, Michaël; Reynaerts, Dominiek

    2010-01-01

    The development of MEMS actuators is rapidly evolving and continuously new progress in terms of efficiency, power and force output is reported. Pneumatic and hydraulic are an interesting class of microactuators that are easily overlooked. Despite the 20 years of research, and hundreds of publications on this topic, these actuators are only popular in microfluidic systems. In other MEMS applications, pneumatic and hydraulic actuators are rare in comparison with electrostatic, thermal or piezo-electric actuators. However, several studies have shown that hydraulic and pneumatic actuators deliver among the highest force and power densities at microscale. It is believed that this asset is particularly important in modern industrial and medical microsystems, and therefore, pneumatic and hydraulic actuators could start playing an increasingly important role. This paper shows an in-depth overview of the developments in this field ranging from the classic inflatable membrane actuators to more complex piston–cylinder and drag-based microdevices. (topical review)

  10. Impact of Soil Conservation Measures on Erosion Control and Soil Quality

    2011-10-01

    This publication summarises the lessons learnt from a FAO/IAEA coordinated research project on the impact of soil conservation measures on erosion control and soil quality over a five-year period across a wide geographic area and range of environments. It demonstrates the new trends in the use of fallout radionuclide-based techniques as powerful tools to assess the effectiveness of soil conservation measures. As a comprehensive reference material it will support IAEA Member States in the use of these techniques to identify practices that can enhance sustainable agriculture and minimize land degradation.

  11. A survey on pneumatic muscle actuators modeling

    Kelasidi, Eleni; Andrikopoulos, Georgios; Nikolakopoulos, George; Manesis, Stamatis

    2012-01-01

    The aim of this article is to provide a survey on the most popular modeling approaches for Pneumatic Muscle Actuators (PMAs). PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have been appeared in...

  12. Dust emissions eliminated in pneumatic harvesting

    Kallio, M.

    1998-01-01

    Pneumatic harvesting is the most efficient milled peat production method in unsteady weather conditions. In good summers, the best contractors harvest more than 1 000 m 3 /ha milled peat from suitable production fields. The greatest problem of the method is caused by dust emissions, in particular in fields close to settled areas. About 15 % of Finland's present peat production is collected using pneumatic harvesters. A pneumatic harvester with smaller dust emissions has been developed by VTT Energy and Vapo Oy. The wagon is based on two-stage separation of peat. The main part of the coarser milled peat is first separated, e.g. in a settling chamber, and fine dry peat dust in correctly dimensioned side by side cyclones. The first series of pneumatic harvesters based on the new separation technology was employed in summer 1996. Besides decreasing the dust emissions the harvesting capacity of the new equipment was increased. The collection capacity of the pneumatic harvester can be made more effective by enlarging the container size, be decreasing the weight, by increasing the driving speed and by developing the suction capacity. Using lighter and durable construction materials combined with advanced design lighter and stronger pneumatic harvesters have been constructed. Nozzles and their mounting have also been developed. In the improvement of nozzles, the former studies with pneumatic simulator of VTT Energy, have been of great help. Studies with the pneumatic simulator and field conditions have been made in collaboration with Turveruukki Oy, Turvemetalli Oy, Raussin Metalli Oy and Vapo Oy, as well as VNIITP of St. Petersburg, Russia

  13. High-pressure portable pneumatic drive unit.

    Hete, B F; Savage, M; Batur, C; Smith, W A; Golding, L A; Nosé, Y

    1989-12-01

    The left ventricular assist device (LVAD) of the Cleveland Clinic Foundation (CCF) is a single-chamber assist pump, driven by a high-pressure pneumatic cylinder. A low-cost, portable driver that will allow cardiac care patients, with a high-pressure pneumatic ventricle assist, more freedom of movement has been developed. The compact and light-weight configuration can provide periods of 2 h of freedom from a fixed position driver and does not use exotic technology.

  14. Pneumatic pellet injectors for TFTR and JET

    Combs, S.K.; Milora, S.L.

    1986-01-01

    This paper describes the development of pneumatic hydrogen pellet injectors for plasma fueling applications on the Tokamak Fusion Test Reactor (TFTR) and the Joint European Torus (JET). The performance parameters of these injectors represent an extension of previous experience and include pellet sizes in the range 2-6 mm in diameter and speeds approaching 2 km/s. Design features and operating characteristics of these pneumatic injectors are presented

  15. Preliminary Experimental Analysis of Soil Stabilizers for Contamination Control

    Lagos, L.; Varona, J.; Zidan, A.; Gudavalli, R.; Wu, Kuang-His

    2006-01-01

    A major focus of Department of Energy's (DOE's) environmental management mission at the Hanford site involves characterizing and remediating contaminated soil and groundwater; stabilizing contaminated soil; remediating disposal sites; decontaminating and decommissioning structures, and demolishing former plutonium production process buildings, nuclear reactors, and separation plants; maintaining inactive waste sites; transitioning facilities into the surveillance and maintenance program; and mitigating effects to biological and cultural resources from site development and environmental cleanup and restoration activities. For example, a total of 470,914 metric tons of contaminated soil from 100 Areas remediation activities were disposed at the Environmental Restoration Disposal Facility (ERDF) during 2004. The Applied Research Center (ARC) at Florida International University (FIU) is supporting the Hanford's site remediation program by analyzing the effectiveness of several soil stabilizers (fixatives) for contamination control during excavation activities. The study is focusing on determining the effects of varying soil conditions, temperature, humidity and wind velocity on the effectiveness of the candidate stabilizers. The test matrix consists of a soil penetration-depth study, wind tunnel experiments for determination of threshold velocity, and temperature and moisture-controlled drying/curing experiments. These three set of experiments are designed to verify performance metrics, as well as provide insight into what fundamental forces are altered by the use of the stabilizer. This paper only presents the preliminary results obtained during wind tunnel experiments using dry Hanford soil samples (with 2.7% moisture by weight). These dry soil samples were exposed to varying wind speeds from 2.22 m/sec to 8.88 m/sec. Furthermore, airborne particulate data was collected for the dry Hanford soil experiments using an aerosol analyzer instrument. (authors)

  16. Weathering controls on mechanisms of carbon storage in grassland soils

    Masiello, C.A.; Chadwick, O.A.; Southon, J.; Torn, M.S.; Harden, J.W.

    2004-01-01

    On a sequence of soils developed under similar vegetation, temperature, and precipitation conditions, but with variations in mineralogical properties, we use organic carbon and 14C inventories to examine mineral protection of soil organic carbon. In these soils, 14C data indicate that the creation of slow-cycling carbon can be modeled as occurring through reaction of organic ligands with Al3+ and Fe3+ cations in the upper horizons, followed by sorption to amorphous inorganic Al compounds at depth. Only one of these processes, the chelation Al3+ and Fe3+ by organic ligands, is linked to large carbon stocks. Organic ligands stabilized by this process traverse the soil column as dissolved organic carbon (both from surface horizons and root exudates). At our moist grassland site, this chelation and transport process is very strongly correlated with the storage and long-term stabilization of soil organic carbon. Our 14C results show that the mechanisms of organic carbon transport and storage at this site follow a classic model previously believed to only be significant in a single soil order (Spodosols), and closely related to the presence of forests. The presence of this process in the grassland Alfisol, Inceptisol, and Mollisol soils of this chronosequence suggests that this process is a more significant control on organic carbon storage than previously thought. Copyright 2004 by the American Geophysical Union.

  17. Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation.

    Low, Jin-Huat; Yeow, Chen-Hua

    2016-08-02

    Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

  18. A randomized trial of pneumatic reduction versus hydrostatic reduction for intussusception in pediatric patients.

    Xie, Xiaolong; Wu, Yang; Wang, Qi; Zhao, Yiyang; Chen, Guobin; Xiang, Bo

    2017-08-08

    Data of randomly controlled trials comparing the hydrostatic and pneumatic reduction for intussusception in pediatric patients as initial therapy are lacking. The aim of this study was to conduct a randomly controlled trial to compare the effectiveness and safety of the hydrostatic and pneumatic reduction techniques. All intussusception patients who visited West China Hospital of Sichuan University from January 2014 to December 2015 were enrolled in this study in which they underwent pneumatic reduction or hydrostatic reduction. Patients were randomized into ultrasound-guided hydrostatic or X-ray-guided pneumatic reduction group. The data collected includes demographic data, symptoms, signs, and investigations. The primary outcome of the study was the success rate of reduction. And the secondary outcomes of the study were the rates of intestinal perforations and recurrence. A total of 124 children with intussusception who had met the inclusion criteria were enrolled. The overall success rate of this study was 90.32%. Univariable analysis showed that the success rate of hydrostatic reduction with normal saline (96.77%) was significantly higher than that of pneumatic reduction with air (83.87%) (p=0.015). Perforation after reduction was found in only one of the pneumatic reduction group. The recurrence rate of intussusception in the hydrostatic reduction group was 4.84% compared with 3.23% of pneumatic reduction group. Our study found that ultrasound-guided hydrostatic reduction is a simple, safe and effective nonoperative treatment for pediatric patients suffering from intussusceptions, and should be firstly adopted in the treatment of qualified patients. Therapeutic study TYPE OF STUDY: Prospective study. Copyright © 2017 Elsevier Inc. All rights reserved.

  19. Study of Pneumatic Servo Loading System in Double-Sided Polishing

    Qian, N; Ruan, J; Li, W

    2006-01-01

    The precise double-sided polishing process is one of the main methods to get the ultra-smooth surface of workpiece. In double-sided polishing machine, a loading system is required to be able to precisely control the load superimposed on the workpiece, while the polishing is being carried out. A pneumatic servo loading system is proposed for this purpose. In the pneumatic servo system, the servo valve, which acts both the electrical to mechanical converter and the power amplifier, has a substantial influence on the performance of the loading system. Therefore a specially designed pneumatic digital servo valve is applied in the control system. In this paper, the construction of the pneumatic servo loading system in double-sided polishing machine and control strategy associated with the digital servo valve are first addressed. The mathematical model of the system established and the hardware of the pneumatic servo system is designed. Finally, the experiments are carried out by measuring the practical load on the workpiece and the quality of the surface finish. It is demonstrated that the error rate of load is less than 5% and a super-smooth surface of silicon wafer with roughness Ra 0.401 nm can be obtained

  20. Design of flat pneumatic artificial muscles

    Wirekoh, Jackson; Park, Yong-Lae

    2017-03-01

    Pneumatic artificial muscles (PAMs) have gained wide use in the field of robotics due to their ability to generate linear forces and motions with a simple mechanism, while remaining lightweight and compact. However, PAMs are limited by their traditional cylindrical form factors, which must increase radially to improve contraction force generation. Additionally, this form factor results in overly complicated fabrication processes when embedded fibers and sensor elements are required to provide efficient actuation and control of the PAMs while minimizing the bulkiness of the overall robotic system. In order to overcome these limitations, a flat two-dimensional PAM capable of being fabricated using a simple layered manufacturing process was created. Furthermore, a theoretical model was developed using Von Karman’s formulation for large deformations and the energy methods. Experimental characterizations of two different types of PAMs, a single-cell unit and a multi-cell unit, were performed to measure the maximum contraction lengths and forces at input pressures ranging from 0 to 150 kPa. Experimental data were then used to verify the fidelity of the theoretical model.

  1. DETERMINATION OF CHARACTERISTICS OF THROTTLING DEVICE FOR PNEUMATIC SPRING

    O. H. Reidemeister

    2018-02-01

    Full Text Available Purpose. This paper focuses on determination of the dependence of the working medium flow on the capacity of the throttling device, its geometric features and the pressure difference in the pneumatic spring cylinder and in the auxiliary reservoir. Methodology. Calculation of the dependence of the working medium and pressure drop is performed in two ways: 1 by numerical simulation of a stationary gas flow through a throttling element; 2 its analytical calculation expression using empirical relationships (control calculation to evaluate the reliability of numerical simulation results. For the calculation, three models of throttling devices were chosen. Dependence of the flow rate of the working medium on the capacity of the throttling device and its geometric features was determined based on the approximation of the dependency graphs of the pressure drop against the mass flow rate of the working medium. Findings. We obtained graphical dependencies between the pressure drop and the mass flow rate of the working medium from the two calculation options. Based on the results of calculations performed with the help of a software package with visualization of the results, we calculated a proportionality coefficient that describes the dependence of the working medium flow on the throttling device capacity and its geometric features for each of the throttling elements considered, with three degrees of closure. The air flow values, obtained by numerical simulation, are greater than the flow rates obtained from semi-empirical formulas. At the same time, they are in good qualitative agreement, and the quantitative difference averages 25%, which can be regarded as confirmation of the reliability of the nu-merical model. Based on the calculation results, we plotted the proportionality coefficient graphs against the degree of closure of the throttling device. Originality. The work allows determining the degree of influence of the frictio-nal component on the

  2. Pneumatic wrench retains or discharges nuts or bolts as desired

    Bouille, J. R.

    1966-01-01

    Pneumatic wrench grips, screws or unscrews, and discharges a nut or bolt as desired. The device consists of a standard pneumatic wrench modified with a special hex bolt head socket assembly and a diaphragm air cylinder.

  3. A Gusseted Thermogradient Table to Control Soil Temperatures for Evaluating Plant Growth and Monitoring Soil Processes.

    Welbaum, Gregory E; Khan, Osamah S; Samarah, Nezar H

    2016-10-22

    Thermogradient tables were first developed in the 1950s primarily to test seed germination over a range of temperatures simultaneously without using a series of incubators. A temperature gradient is passively established across the surface of the table between the heated and cooled ends and is lost quickly at distances above the surface. Since temperature is only controlled on the table surface, experiments are restricted to shallow containers, such as Petri dishes, placed on the table. Welding continuous aluminum vertical strips or gussets perpendicular to the surface of a table enables temperature control in depth via convective heat flow. Soil in the channels between gussets was maintained across a gradient of temperatures allowing a greater diversity of experimentation. The gusseted design was evaluated by germinating oat, lettuce, tomato, and melon seeds. Soil temperatures were monitored using individual, battery-powered dataloggers positioned across the table. LED lights installed in the lids or along the sides of the gradient table create a controlled temperature chamber where seedlings can be grown over a range of temperatures. The gusseted design enabled accurate determination of optimum temperatures for fastest germination rate and the highest percentage germination for each species. Germination information from gradient table experiments can help predict seed germination and seedling growth under the adverse soil conditions often encountered during field crop production. Temperature effects on seed germination, seedling growth, and soil ecology can be tested under controlled conditions in a laboratory using a gusseted thermogradient table.

  4. MarsVac: Pneumatic Sampling System for Planetary Exploration

    Zacny, K.; Mungas, G.; Chu, P.; Craft, J.; Davis, K.

    2008-12-01

    We are proposing a Mars Sample Return scheme whereby a sample of regolith is acquired directly into a Mars Ascent Vehicle using a pneumatic system. Unlike prior developments that used suction to collect fines, the proposed system uses positive pressure to move the regolith. We envisage 3 pneumatic tubes to be embedded inside the 3 legs of the lander. Upon landing, the legs will burry themselves into the regolith and the tubes will fill up with regolith. With one puff of gas, the regolith can be lifted into a sampling chamber onboard of the Mars Ascent Vehicle. An additional chamber can be opened to acquire atmospheric gas and dust. The entire MSR will require 1) an actuator to open/close sampling chamber and 2) a valve to open gas cylinder. In the most recent study related to lunar excavation and funded under the NASA SBIR program we have shown that it is possible lift over 3000 grams of soil with only 1 gram of gas at 1atm. Tests conducted under Mars atmospheric pressure conditions (5 torr). In September of 2008, we will be performing tests at 1/6thg (Moon) and 1/3g (Mars) to determine mass lifting efficiencies in reduced gravities.

  5. Effects of soil solarization and some amendments to control ...

    SCM) (1 kg m-2), solarization + olive processing waste (SOPW) (2 kg m-2), solarization + urea (SU) (100 g m-2) and an untreated control (C). Maximum soil temperatures reached in solarized plots were 54.7 and 43.9°C and in the ...

  6. Response of maize and cucumber intercrop to soil moisture control ...

    Replicate field plots were used in experiments aimed at evaluating the yield potentials of maize and cucumber intercrop resulting from the control of soil moisture through irrigation and mulching, for a period of eleven weeks. Three irrigation depths, 2.5, 3.5 and 4.5 mm; and two mulch levels, zero mulch and 10 ton/ha of oil ...

  7. Expediency of using pneumatic balloons at the junction of a working face and gate roads

    Kolokolov, O V; Litvinov, Yu G; Ozerova, A S

    1983-02-01

    The paper discusses strata control at longwall faces in thin coal seams. Use of pneumatic balloons instead of timber cribbing at the junction of the face and ventilation road is evaluated. The seam is 0.68 m thick at a depth of 980 m and has gradients from 60 to 63 degrees. The face mined by the Poisk coal cutter is 126 m long. The ventilation road is protected by strips of stowing. Use of pneumatic balloons with an initial pressure of 150 kN instead of timber cribbing with an initial pressure of 30 kN reduces convergence of the roof and the floor at the working face by 39%. Damage to hydraulic props at the working face caused by roof subsidence decreases by 10 to 15%. Convergence rate (measured in mm/d) decreases by 41%. Use of pneumatic balloons for strata control at working faces in thin coal seams is recommended.

  8. 21 CFR 882.4370 - Pneumatic cranial drill motor.

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Pneumatic cranial drill motor. 882.4370 Section 882.4370 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES... drill motor. (a) Identification. A pneumatic cranial drill motor is a pneumatically operated power...

  9. Will PM control undermine China's efforts to reduce soil acidification?

    Zhao Yu; Duan Lei; Lei Yu; Xing Jia; Nielsen, Chris P.; Hao Jiming

    2011-01-01

    China's strategies to control acidifying pollutants and particulate matter (PM) may be in conflict for soil acidification abatement. Acidifying pollutant emissions are estimated for 2005 and 2020 with anticipated control policies. PM emissions including base cations (BCs) are evaluated with two scenarios, a base case applying existing policy to 2020, and a control case including anticipated tightened measures. Depositions of sulfur (S), nitrogen (N) and BCs are simulated and their acidification risks are evaluated with critical load (CL). In 2005, the area exceeding CL covered 15.6% of mainland China, with total exceedance of 2.2 Mt S. These values decrease in the base scenario 2020, implying partial recovery from acidification. Under more realistic PM control, the respective estimates are 17.9% and 2.4 Mt S, indicating increased acidification risks due to abatement of acid-neutralizing BCs. China's anthropogenic PM abatement will have potentially stronger chemical implications for acidification than developed countries. - Highlights: → We model the emission and deposition of base cations and acid precursors in China. → Soil acidification in China is analyzed with exceedance of critical load. → China's PM control increases the acidification risk even with reduced SO 2 emission. → The impact of PM for acidification is stronger than that in developed countries. - The control of anthropogenic PM emission in China will increase the risk of soil acidification even with reduced SO 2 emission. Such implication is stronger than that in developed countries.

  10. Controls of Soil Spatial Variability in a Dry Tropical Forest.

    Sandeep Pulla

    Full Text Available We examined the roles of lithology, topography, vegetation and fire in generating local-scale (<1 km2 soil spatial variability in a seasonally dry tropical forest (SDTF in southern India. For this, we mapped soil (available nutrients, Al, total C, pH, moisture and texture in the top 10 cm, rock outcrops, topography, all native woody plants ≥1 cm diameter at breast height (DBH, and spatial variation in fire frequency (times burnt during the 17 years preceding soil sampling in a permanent 50-ha plot. Unlike classic catenas, lower elevation soils had lesser moisture, plant-available Ca, Cu, Mn, Mg, Zn, B, clay and total C. The distribution of plant-available Ca, Cu, Mn and Mg appeared to largely be determined by the whole-rock chemical composition differences between amphibolites and hornblende-biotite gneisses. Amphibolites were associated with summit positions, while gneisses dominated lower elevations, an observation that concurs with other studies in the region which suggest that hillslope-scale topography has been shaped by differential weathering of lithologies. Neither NO3(--N nor NH4(+-N was explained by the basal area of trees belonging to Fabaceae, a family associated with N-fixing species, and no long-term effects of fire on soil parameters were detected. Local-scale lithological variation is an important first-order control over soil variability at the hillslope scale in this SDTF, by both direct influence on nutrient stocks and indirect influence via control of local relief.

  11. Comparison of contractile and extensile pneumatic artificial muscles

    Pillsbury, Thomas E.; Wereley, Norman M.; Guan, Qinghua

    2017-09-01

    Pneumatic artificial muscles (PAMs) are used in robotic and prosthetic applications due to their high power to weight ratio, controllable compliance, and simple design. Contractile PAMs are typically used in traditional hard robotics in place of heavy electric motors. As the field of soft robotics grows, extensile PAMs are beginning to have increased usage. This work experimentally tests, models, and compares contractile and extensile PAMs to demonstrate the advantages and disadvantages of each type of PAM and applications for which they are best suited.

  12. Soil organic carbon stocks assessment in Mediterranean natural areas: a comparison of entire soil profiles and soil control sections.

    Parras-Alcántara, L; Lozano-García, B; Brevik, E C; Cerdá, A

    2015-05-15

    Soil organic carbon (SOC) is an important part of the global carbon (C) cycle. In addition, SOC is a soil property subject to changes and highly variable in space and time. Over time, some researches have analyzed entire soil profile (ESP) by pedogenetic horizons and other researches have analyzed soil control sections (SCS) to different thickness. However, very few studies compare both methods (ESP versus SCS). This research sought to analyze the SOC stock (SOCS) variability using both methods (ESP and SCS) in The Despeñaperros Natural Park, a nature reserve that consists of a 76.8 km(2) forested area in southern Spain. Thirty-four sampling points were selected in the study zone. Each sampling point was analyzed in two different ways, as ESP (by horizons) and as SCS with different depth increments (0-25, 25-50, 50-75 and 75-100 cm). The major goal of this research was to study the SOCS variability at regional scale. The soils investigated in this study included Phaeozems, Cambisols, Regosols and Leptosols. Total SOCS in the Despeñaperros Natural Park was over 28.2% greater when SCS were used compared to ESP, ranging from 0.8144 Tg C (10,604.2 Mg km(-2)) to 0.6353 Tg C (8272.1 Mg km(-2)) respectively (1 Tg = 10(12) g). However, when the topsoil (surface horizon and superficial section control) was analyzed, this difference increased to 59.8% in SCS compared to ESP. The comparison between ESP and SCS showed the effect of mixing pedogenetic horizons when depth increments were analyzed. This indicates an overestimate of T-SOCS when sampling by SCS. Copyright © 2015 Elsevier Ltd. All rights reserved.

  13. Dosing Accuracy of Insulin Aspart FlexPens After Transport Through the Pneumatic Tube System.

    Ward, Leah G; Heckman, Michael G; Warren, Amy I; Tran, Kimberly

    2013-01-01

    The purpose of this study was to evaluate whether transporting insulin aspart FlexPens via a pneumatic tube system affects the dosing accuracy of the pens. A total of 115 Novo Nordisk FlexPens containing insulin aspart were randomly assigned to be transported via a pneumatic tube system (n = 92) or to serve as the control (n = 23). Each pen was then randomized to 10 international unit (IU) doses (n = 25) or 30 IU doses (n = 67), providing 600 and 603 doses, respectively, for the pneumatic tube group. The control group also received random assignment to 10 IU doses (n = 6) or 30 IU doses (n = 17), providing 144 and 153 doses, respectively. Each dose was expelled using manufacturer instructions. Weights were recorded, corrected for specific gravity, and evaluated based on acceptable International Organization for Standardization (ISO) dosing limits. In the group of pens transported through the pneumatic tube system, none of the 600 doses of 10 IU (0.0%; 95% CI, 0.0 to 0.6) and none of the 603 doses of 30 IU (0.0%; 95% CI, 0.0 to 0.6) fell outside of the range of acceptable weights. Correspondingly, in the control group, none of the 144 doses at 10 IU (0.0%; 95% CI, 0.0 to 2.5) and none of the 153 doses at 30 IU (0.0%; 95% CI, 0.0 to 2.4) were outside of acceptable ISO limits. Transportation via pneumatic tube system does not appear to compromise dosing accuracy. Hospital pharmacies may rely on the pneumatic tube system for timely and accurate transport of insulin aspart FlexPens.

  14. The use of automation with the new pneumatic irradiation facility of the ORNL HFIR

    Dyer, F.F.; Robinson, L.; Emery, J.F.

    1988-01-01

    The High Flux Isotope Reactor at Oak Ridge National Laboratory has two pneumatic irradiation systems: PT-1 installed in 1970 and PT-2 installed in 1987, which are used for neutron activation analysis. Both systems have been described in the literature. By means of a Gould programmable controller, considerable progress has been made in a cost-effective manner to operate and automate the features of the new facility. A neutron counter is an integral part of the new pneumatic tube, and all of the hardware is present to enable automated delayed neutron counting. Some automation of the old system has also been accomplished by the use of a Zymark general purpose programmable robot. This paper describes the automated features of both systems. The reactor has been shut down for safety evaluation since November 1986, so that no irradiations have been made in the new pneumatic tube

  15. Design and use of the ORNL HFIR [High Flux Isotope Reactor] pneumatic tube irradiation systems

    Dyer, F.F.; Emery, J.F.; Robinson, L.; Teasley, N.A.

    1987-01-01

    A second pneumatic tube that was recently installed in the High Flux Isotope Reactor for neutron activation analysis is described. Although not yet tested, the system is expected to have a thermal neutron flux of about 1.5 x 10 14 cm -2 s -1 . A delayed neutron counter is an integral part of the pneumatic tube, and all of the hardware is present to enable automated use of the counter. The system is operated with a Gould programmable controller that is programmed with an IBM personal computer. Automation of any mode of operation, including the delayed neutron counter, will only require a nominal amount of software development. Except for the lack of a hot cell, the irradiation facility has all of the advantageous features of an older pneumatic tube that has been in operation for 17 years. The design of the system and some applications and methods of operation are described

  16. Development of Hybrid Type Flexible Pneumatic Cylinder for Considering Less Air Consumption

    Tamaki Hiroaki

    2016-01-01

    Full Text Available Inexpensive rehabilitation devices that can be used at home are required because of a lack of PT and welfare workers. In the previous study, the low-cost portable rehabilitation device using a flexible spherical actuator that consists of flexible pneumatic cylinder was proposed and tested. However, a compact and high power compressor that supplies air pressure to pneumatic actuator has not been developed yet. In particular, the heat generated by compressing air prevents to miniaturize it. To realize a home rehabilitation, the small-sized compressors or less air consuming flexible actuators are required. In this study, a hybrid type flexible pneumatic cylinder driven by electric motors and air pressure is proposed and tested. The concept, the construction and the operating principle of the proposed actuator were described. The position control using the tested actuator is also carried out.

  17. Education for hydraulics and pneumatics in Nihon University; Nihon Daigaku ni okeru yukuatsu kyoiku

    Ouchi, M. [Nihon Univ., Chiba (Japan). Coll. of Industrial Technology

    2000-03-15

    Described herein is education of hydraulics and pneumatics in Nihon University. Department of Mechanical Engineering of Faculty of Production Engineering has been holding up the educational aims of bringing up engineers and researchers who have ability and intelligence to cope with internationalization and contribute to society, and of bringing about creativity, among others. Control equipment is an optional subject for the sophomore class in the second semester, and is centered by mechatronics, including hydraulic and pneumatic control systems and equipment. The related subjects include fluid dynamics, control engineering, system controlling, hydraulic machines, robotics and automobile engineering. The drill course includes disassembling and assembling gear pumps, drills on pneumatic devices, system behavior and mechatronics, experiments on fan and hydraulic control circuits and on servo mechanisms, and machinery designs and drawings. Seminars are led by full-time or part-time lecturers for the themes related to hydraulic power. Many students are interested in hydraulic and pneumatic themes for their graduation theses, because of their relations with control, environments, energy saving and so on. We are now in the age of composite technologies, and hydraulic power basics are prerequisite for engineers, and important for education of students. (NEDO)

  18. Can control of soil erosion mitigate water pollution by sediments?

    Rickson, R J

    2014-01-15

    The detrimental impact of sediment and associated pollutants on water quality is widely acknowledged, with many watercourses in the UK failing to meet the standard of 'good ecological status'. Catchment sediment budgets show that hill slope erosion processes can be significant sources of waterborne sediment, with rates of erosion likely to increase given predicted future weather patterns. However, linking on-site erosion rates with off-site impacts is complicated because of the limited data on soil erosion rates in the UK and the dynamic nature of the source-pathway-receptor continuum over space and time. Even so, soil erosion control measures are designed to reduce sediment production (source) and mobilisation/transport (pathway) on hill slopes, with consequent mitigation of pollution incidents in watercourses (receptors). The purpose of this paper is to review the scientific evidence of the effectiveness of erosion control measures used in the UK to reduce sediment loads of hill slope origin in watercourses. Although over 73 soil erosion mitigation measures have been identified from the literature, empirical data on erosion control effectiveness are limited. Baseline comparisons for the 18 measures where data do exist reveal erosion control effectiveness is highly variable over time and between study locations. Given the limitations of the evidence base in terms of geographical coverage and duration of monitoring, performance of the different measures cannot be extrapolated to other areas. This uncertainty in effectiveness has implications for implementing erosion/sediment risk reduction policies, where quantified targets are stipulated, as is the case in the EU Freshwater Fish and draft Soil Framework Directives. Also, demonstrating technical effectiveness of erosion control measures alone will not encourage uptake by land managers: quantifying the costs and benefits of adopting erosion mitigation is equally important, but these are uncertain and difficult to

  19. Vertebral Pneumaticity in the Ornithomimosaur Archaeornithomimus (Dinosauria: Theropoda Revealed by Computed Tomography Imaging and Reappraisal of Axial Pneumaticity in Ornithomimosauria.

    Akinobu Watanabe

    Full Text Available Among extant vertebrates, pneumatization of postcranial bones is unique to birds, with few known exceptions in other groups. Through reduction in bone mass, this feature is thought to benefit flight capacity in modern birds, but its prevalence in non-avian dinosaurs of variable sizes has generated competing hypotheses on the initial adaptive significance of postcranial pneumaticity. To better understand the evolutionary history of postcranial pneumaticity, studies have surveyed its distribution among non-avian dinosaurs. Nevertheless, the degree of pneumaticity in the basal coelurosaurian group Ornithomimosauria remains poorly known, despite their potential to greatly enhance our understanding of the early evolution of pneumatic bones along the lineage leading to birds. Historically, the identification of postcranial pneumaticity in non-avian dinosaurs has been based on examination of external morphology, and few studies thus far have focused on the internal architecture of pneumatic structures inside the bones. Here, we describe the vertebral pneumaticity of the ornithomimosaur Archaeornithomimus with the aid of X-ray computed tomography (CT imaging. Complementary examination of external and internal osteology reveals (1 highly pneumatized cervical vertebrae with an elaborate configuration of interconnected chambers within the neural arch and the centrum; (2 anterior dorsal vertebrae with pneumatic chambers inside the neural arch; (3 apneumatic sacral vertebrae; and (4 a subset of proximal caudal vertebrae with limited pneumatic invasion into the neural arch. Comparisons with other theropod dinosaurs suggest that ornithomimosaurs primitively exhibited a plesiomorphic theropod condition for axial pneumaticity that was extended among later taxa, such as Archaeornithomimus and large bodied Deinocheirus. This finding corroborates the notion that evolutionary increases in vertebral pneumaticity occurred in parallel among independent lineages of bird

  20. An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator

    Pawel A. LASKI

    2014-12-01

    Full Text Available The main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg manipulator kinematic models was determined. On the basis of developed solid model simulation studies were conducted and the shape and size of the workspace determined. On the basis of 3D models prototype of the manipulator was constructed. Experimental studies were performed to select the regulators settings P, PI, PID for one of the pair of BMDS (Bi-Muscular Driving System muscle-type drives. Based on integral quality indicators the used types of regulators were compared and proposed final controller. Performed experimental studies confirm the possibility of muscle control in the BMDS (Bi-Muscular Driving System type system drives and tuning controller settings using the Ziegler-Nichols method.

  1. Endoscopic Pneumatic Dilation for Esophageal Achalasia.

    Markar, Sheraz; Zaninotto, Giovanni

    2018-04-01

    Pneumatic dilation is a well-established treatment modality that has withstood the test of time. Prospective and randomized trials have shown that in expert hands, it provides results similar to a laparoscopic Heller myotomy with fundoplication. In addition, it should be considered the primary form of treatment in patients who experience recurrence of symptoms after a surgical myotomy.

  2. Pneumatic pellet injector for JT-60

    Onozuka, Masanori; Hiratsuka, Hajime; Kawasaki, Kouzo.

    1990-01-01

    The pneumatic 4-shot pellet injector has been installed and operated for JT-60 (JAERI Tokamak-60). The performance tests have proven that the device provides high speed pellets as planned. The maximum pellet velocity obtained in the hydrogen pellet tests is greater than 2.3km/s at 100 bar propellant gas. (author)

  3. Pneumatic pellet injector for JT-60

    Onozuka, Masanori (Mitsubishi Heavy Industries Ltd., Tokyo (Japan)); Hiratsuka, Hajime; Kawasaki, Kouzo

    1990-11-01

    The pneumatic 4-shot pellet injector has been installed and operated for JT-60 (JAERI Tokamak-60). The performance tests have proven that the device provides high speed pellets as planned. The maximum pellet velocity obtained in the hydrogen pellet tests is greater than 2.3km/s at 100 bar propellant gas. (author).

  4. Soft pneumatic grippers embedded with stretchable electroadhesion

    Guo, J.; Elgeneidy, K.; Xiang, C.; Lohse, N.; Justham, L.; Rossiter, J.

    2018-05-01

    Current soft pneumatic grippers cannot robustly grasp flat materials and flexible objects on curved surfaces without distorting them. Current electroadhesive grippers, on the other hand, are difficult to actively deform to complex shapes to pick up free-form surfaces or objects. An easy-to-implement PneuEA gripper is proposed by the integration of an electroadhesive gripper and a two-fingered soft pneumatic gripper. The electroadhesive gripper was fabricated by segmenting a soft conductive silicon sheet into a two-part electrode design and embedding it in a soft dielectric elastomer. The two-fingered soft pneumatic gripper was manufactured using a standard soft lithography approach. This novel integration has combined the benefits of both the electroadhesive and soft pneumatic grippers. As a result, the proposed PneuEA gripper was not only able to pick-and-place flat and flexible materials such as a porous cloth but also delicate objects such as a light bulb. By combining two soft touch sensors with the electroadhesive, an intelligent and shape-adaptive PneuEA material handling system has been developed. This work is expected to widen the applications of both soft gripper and electroadhesion technologies.

  5. Ground reaction force comparison of bilateral symmetry with pneumatic resistance squat device and free weights - biomed 2009.

    Paulus, David C; Schilling, Brian K

    2009-01-01

    The unloading of spaceflight leads to bone and muscle atrophy, and a pneumatic resistance squat exercise countermeasure has the potential to provide optimized controllable resistance in a lightweight and compact configuration. However each end of the barbell in the proposed device is connected to a separate resistance cylinder which could lead to bilaterally asymmetric loading. Therefore, the purpose of the study is to compare the unilateral ground reaction forces (GRF) of the new squat device compared to free weights. Four previously trained men (mean +/- SD; age = 20+/-2 years, body mass = 99+/-18 kg) performed three sets of three repetitions of maximal exertion squat exercises with pneumatically controlled constant resistance and free weights each with a resistance level set to half of the body weight of each subject. Unilateral GRF data for each lifting modality at the negative to positive transition of the squat exercise was measured with a force plate under each foot. The pneumatic resistance GRF (N; mean +/- SD) was 749+/-114 on the left leg and 786+/-123 on the right leg and the free weight GRF was 786+/-114 left and 861+/-111 right resulting in a 5% difference between left and right GRF with pneumatics and 9% difference with free weights. The correlation coefficient between left and right GRF was 0.92 with pneumatics and 0.80 with free weights. Because the pneumatic device elicited more bilaterally symmetric GRF than traditional free weights, the separate resistance cylinders are an acceptable design configuration.

  6. Modeling the dynamic characteristics of pneumatic muscle.

    Reynolds, D B; Repperger, D W; Phillips, C A; Bandry, G

    2003-03-01

    A pneumatic muscle (PM) system was studied to determine whether a three-element model could describe its dynamics. As far as the authors are aware, this model has not been used to describe the dynamics of PM. A new phenomenological model consists of a contractile (force-generating) element, spring element, and damping element in parallel. The PM system was investigated using an apparatus that allowed precise and accurate actuation pressure (P) control by a linear servo-valve. Length change of the PM was measured by a linear potentiometer. Spring and damping element functions of P were determined by a static perturbation method at several constant P values. These results indicate that at constant P, PM behaves as a spring and damper in parallel. The contractile element function of P was determined by the response to a step input in P, using values of spring and damping elements from the perturbation study. The study showed that the resulting coefficient functions of the three-element model describe the dynamic response to the step input of P accurately, indicating that the static perturbation results can be applied to the dynamic case. This model is further validated by accurately predicting the contraction response to a triangular P waveform. All three elements have pressure-dependent coefficients for pressure P in the range 207 < or = P < or = 621 kPa (30 < or = P < or = 90 psi). Studies with a step decrease in P (relaxation of the PM) indicate that the damping element coefficient is smaller during relaxation than contraction.

  7. Control of Eolian soil erosion from waste site surface barriers

    Ligotke, M.W.

    1994-11-01

    Physical models were tested in a wind tunnel to determine optimum surface-ravel admixtures for protecting silt-loam soil from erosion by, wind and saltating, sand stresses. The tests were performed to support the development of a natural-material surface barrier for and waste sites. Plans call for a 2-m deep silt-loam soil reservoir to retain infiltrating water from rainfall and snowmelt. The objective of the study was to develop a gravel admixture that would produce an erosion-resistant surface layer during, periods of extended dry climatic stress. Thus, tests were performed using simulated surfaces representing dry, unvegetated conditions present just after construction, after a wildfire, or during an extended drought. Surfaces were prepared using silt-loam soil mixed with various grades of sand and Travel. Wind-induced surface shear stresses were controlled over the test surfaces, as were saltating, sand mass flow rates and intensities. Tests were performed at wind speeds that approximated and exceeded local 100-year peak gust intensities. Surface armors produced by pea gravel admixtures were shown to provide the best protection from wind and saltating sand stresses. Compared with unprotected silt-loam surfaces, armored surfaces reduced erosion rates by more than 96%. Based in part on wind tunnel results, a pea gravel admixture of 15% will be added to the top 1 in of soil in a prototype barrier under construction in 1994. Field tests are planned at the prototype site to provide data for comparison with wind tunnel results

  8. The pneumatic syringe: a simple apparatus for self-administration of drugs by rats.

    Weeks, J R

    1977-12-01

    Drug solution is delivered by a syringe operated by a pneumatic cylinder. Recommended delivery volumes are from 10 to 200 microliter. A solid-state control unit is described which can operate two syringes (drug injection and flush), has outputs for recording responses and injections, and can be programmed to provide several schedules of reinforcement. All components are readily commercially available.

  9. Test–Retest Reliability and Concurrent Validity of an fMRI-Compatible Pneumatic Vibrator to Stimulate Muscle Proprioceptors.

    Goossens, Nina; Janssens, Lotte; Pijnenburg, Madelon; Caeyenberghs, Karen; Van Rompuy, Charlotte; Meugens, Paul; Sunaert, Stefan; Brumagne, Simon

    Processing proprioceptive information in the brain is essential for optimal postural control and can be studied with proprioceptive stimulation, provided by muscle vibration, during functional magnetic resonance imaging (fMRI). Classic electromagnetic muscle vibrators, however, cannot be used in the high-strength magnetic field of the fMRI scanner. Pneumatic vibrators offer an fMRI-compatible alternative. However, whether these devices produce reliable and valid proprioceptive stimuli has not been investigated, although this is essential for these devices to be used in longitudinal research. Test–retest reliability and concurrent validity of the postural response to muscle vibration, provided by custom-made fMRI-compatible pneumatic vibrators, were assessed in a repeated-measures design. Mean center of pressure (CoP) displacements during, respectively, ankle muscle and back muscle vibration (45–60 Hz, 0.5 mm) provided by an electromagnetic and a pneumatic vibrator were measured in ten young healthy subjects. The test was repeated on the same day and again within one week. Intraclass correlation coefficients (ICC) were calculated to assess (a) intra- and interday reliability of the postural responses to, respectively, pneumatic and electromagnetic vibration, and (b) concurrent validity of the response to pneumatic compared to electromagnetic vibration. Test–retest reliability of mean CoP displacements during pneumatic vibration was good to excellent (ICCs = 0.64–0.90) and resembled that of responses to electromagnetic vibration (ICCs = 0.64–0.94). Concurrent validity of the postural effect of pneumatic vibration was good to excellent (ICCs = 0.63–0.95). In conclusion, the proposed fMRI-compatible pneumatic vibrator can be used with confidence to stimulate muscle spindles during fMRI to study central processing of proprioception.

  10. Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators.

    Wickramatunge, Kanchana Crishan; Leephakpreeda, Thananchai

    2013-11-01

    Pneumatic Artificial Muscle (PAM) actuators yield muscle-like mechanical actuation with high force to weight ratio, soft and flexible structure, and adaptable compliance for rehabilitation and prosthetic appliances to the disabled as well as humanoid robots or machines. The present study is to develop empirical models of the PAM actuators, that is, a PAM coupled with pneumatic control valves, in order to describe their dynamic behaviors for practical control design and usage. Empirical modeling is an efficient approach to computer-based modeling with observations of real behaviors. Different characteristics of dynamic behaviors of each PAM actuator are due not only to the structures of the PAM actuators themselves, but also to the variations of their material properties in manufacturing processes. To overcome the difficulties, the proposed empirical models are experimentally derived from real physical behaviors of the PAM actuators, which are being implemented. In case studies, the simulated results with good agreement to experimental results, show that the proposed methodology can be applied to describe the dynamic behaviors of the real PAM actuators. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Automated Quality Control of in Situ Soil Moisture from the North American Soil Moisture Database Using NLDAS-2 Products

    Ek, M. B.; Xia, Y.; Ford, T.; Wu, Y.; Quiring, S. M.

    2015-12-01

    The North American Soil Moisture Database (NASMD) was initiated in 2011 to provide support for developing climate forecasting tools, calibrating land surface models and validating satellite-derived soil moisture algorithms. The NASMD has collected data from over 30 soil moisture observation networks providing millions of in situ soil moisture observations in all 50 states as well as Canada and Mexico. It is recognized that the quality of measured soil moisture in NASMD is highly variable due to the diversity of climatological conditions, land cover, soil texture, and topographies of the stations and differences in measurement devices (e.g., sensors) and installation. It is also recognized that error, inaccuracy and imprecision in the data set can have significant impacts on practical operations and scientific studies. Therefore, developing an appropriate quality control procedure is essential to ensure the data is of the best quality. In this study, an automated quality control approach is developed using the North American Land Data Assimilation System phase 2 (NLDAS-2) Noah soil porosity, soil temperature, and fraction of liquid and total soil moisture to flag erroneous and/or spurious measurements. Overall results show that this approach is able to flag unreasonable values when the soil is partially frozen. A validation example using NLDAS-2 multiple model soil moisture products at the 20 cm soil layer showed that the quality control procedure had a significant positive impact in Alabama, North Carolina, and West Texas. It had a greater impact in colder regions, particularly during spring and autumn. Over 433 NASMD stations have been quality controlled using the methodology proposed in this study, and the algorithm will be implemented to control data quality from the other ~1,200 NASMD stations in the near future.

  12. Patterns and controls on nitrogen cycling of biological soil crusts

    Barger, Nichole N.; Zaady, Eli; Weber, Bettina; Garcia-Pichel, Ferran; Belnap, Jayne

    2016-01-01

    Biocrusts play a significant role in the nitrogen [N ] cycle within arid and semi-arid ecosystems, as they contribute major N inputs via biological fixation and dust capture, harbor internal N transformation processes, and direct N losses via N dissolved, gaseous and erosional loss processes (Fig. 1). Because soil N availability in arid and semi-arid ecosystems is generally low and may limit net primary production (NPP), especially during periods when adequate water is available, understanding the mechanisms and controls of N input and loss pathways in biocrusts is critically important to our broader understanding of N cycling in dryland environments. In particular, N cycling by biocrusts likely regulates short-term soil N availability to support vascular plant growth, as well as long-term N accumulation and maintenance of soil fertility. In this chapter, we review the influence of biocrust nutrient input, internal cycling, and loss pathways across a range of biomes. We examine linkages between N fixation capabilities of biocrust organisms and spatio-temporal patterns of soil N availability that may influence the longer-term productivity of dryland ecosystems. Lastly, biocrust influence on N loss pathways such as N gas loss, leakage of N compounds from biocrusts, and transfer in wind and water erosion are important to understand the maintenance of dryland soil fertility over longer time scales. Although great strides have been made in understanding the influence of biocrusts on ecosystem N cycling, there are important knowledge gaps in our understanding of the influence of biocrusts on ecosystem N cycling that should be the focus of future studies. Because work on the interaction of N cycling and biocrusts was reviewed in Belnap and Lange (2003), this chapter will focus primarily on research findings that have emerged over the last 15 years (2000-2015).

  13. Sinking during earthquakes: Critical acceleration criteria control drained soil liquefaction

    Clément, C.; Toussaint, R.; Stojanova, M.; Aharonov, E.

    2018-02-01

    This article focuses on liquefaction of saturated granular soils, triggered by earthquakes. Liquefaction is defined here as the transition from a rigid state, in which the granular soil layer supports structures placed on its surface, to a fluidlike state, in which structures placed initially on the surface sink to their isostatic depth within the granular layer. We suggest a simple theoretical model for soil liquefaction and show that buoyancy caused by the presence of water inside a granular medium has a dramatic influence on the stability of an intruder resting at the surface of the medium. We confirm this hypothesis by comparison with laboratory experiments and discrete-element numerical simulations. The external excitation representing ground motion during earthquakes is simulated via horizontal sinusoidal oscillations of controlled frequency and amplitude. In the experiments, we use particles only slightly denser than water, which as predicted theoretically increases the effect of liquefaction and allows clear depth-of-sinking measurements. In the simulations, a micromechanical model simulates grains using molecular dynamics with friction between neighbors. The effect of the fluid is captured by taking into account buoyancy effects on the grains when they are immersed. We show that the motion of an intruder inside a granular medium is mainly dependent on the peak acceleration of the ground motion and establish a phase diagram for the conditions under which liquefaction happens, depending on the soil bulk density, friction properties, presence of water, and peak acceleration of the imposed large-scale soil vibrations. We establish that in liquefaction conditions, most cases relax toward an equilibrium position following an exponential in time. We also show that the equilibrium position itself, for most liquefaction regimes, corresponds to the isostatic equilibrium of the intruder inside a medium of effective density. The characteristic time to relaxation is

  14. The ash in forest fire affected soils control the soil losses. Part 1. The pioneer research

    Cerdà, Artemi; Pereira, Paulo

    2013-04-01

    After forest fires, the ash and the remaining vegetation cover on the soil surface are the main protection against erosion agents. The control ash exert on runoff generation mechanism was researched during the 90's (Cerdà, 1998a; 1998b). This pioneer research demonstrated that after forest fires there is a short period of time that runoff and surface wash by water is controlled by the high infiltration rates achieved by the soil, which were high due to the effect of ash acting as a mulch. The research of Cerdà (1998a; 1998b) also contributed to demonstrate that runoff was enhanced four month later upon the wash of the ash by the runoff, but also due to the removal of ash due to dissolution and water infiltration. As a consequence of the ephemeral ash cover the runoff and erosion reached the peak after the removal of the ash (usually four month), and for two years the soil erosion reached the peak (Cerdà, 1998a). Research developed during the last decade shown that the ash and the litter cover together contribute to reduce the soil losses after the forest fire (Cerdà and Doerr, 2008). The fate of the ash is related to the climatic conditions of the post-fire season, as intense thunderstorms erode the ash layer and low intensity rainfall contribute to a higher infiltration rate and the recovery of the vegetation. Another, key factor found during the last two decades that determine the fate of the ash and the soil and water losses is the impact of the fauna (Cerdà and Doerr, 2010). During the last decade new techniques were developed to study the impact of ash in the soil system, such as the one to monitor the ash changes by means of high spatial resolution photography (Pérez Cabello et al., 2012), and laboratory approaches that show the impact of ash as a key factor in the soil hydrology throughout the control they exert on the soil water repellency (Bodí et al., 2012). Laboratory approaches also shown that the fire severity is a key factor on the ash chemical

  15. Additional Development and Systems Analyses of Pneumatic Technology for High Speed Civil Transport Aircraft

    Englar, Robert J.; Willie, F. Scott; Lee, Warren J.

    1999-01-01

    In the Task I portion of this NASA research grant, configuration development and experimental investigations have been conducted on a series of pneumatic high-lift and control surface devices applied to a generic High Speed Civil Transport (HSCT) model configuration to determine their potential for improved aerodynamic performance, plus stability and control of higher performance aircraft. These investigations were intended to optimize pneumatic lift and drag performance; provide adequate control and longitudinal stability; reduce separation flowfields at high angle of attack; increase takeoff/climbout lift-to-drag ratios; and reduce system complexity and weight. Experimental aerodynamic evaluations were performed on a semi-span HSCT generic model with improved fuselage fineness ratio and with interchangeable plain flaps, blown flaps, pneumatic Circulation Control Wing (CCW) high-lift configurations, plain and blown canards, a novel Circulation Control (CC) cylinder blown canard, and a clean cruise wing for reference. Conventional tail power was also investigated for longitudinal trim capability. Also evaluated was unsteady pulsed blowing of the wing high-lift system to determine if reduced pulsed mass flow rates and blowing requirements could be made to yield the same lift as that resulting from steady-state blowing. Depending on the pulsing frequency applied, reduced mass flow rates were indeed found able to provide lift augmentation at lesser blowing values than for the steady conditions. Significant improvements in the aerodynamic characteristics leading to improved performance and stability/control were identified, and the various components were compared to evaluate the pneumatic potential of each. Aerodynamic results were provided to the Georgia Tech Aerospace System Design Lab. to conduct the companion system analyses and feasibility study (Task 2) of theses concepts applied to an operational advanced HSCT aircraft. Results and conclusions from these

  16. Education for hydraulics and pneumatics in Nara National College of Technology; Nara Kogyo Koto Senmon Gakko ni okeru yukuatsu kyoiku

    Hayakawa, Y. [Nara Technical Coll., Nara (Japan)

    2000-03-15

    In the electronic control engineering course, basic knowledge is taught for mechanics, electronics/electricity, control, robotics, information processing, etc., with the purpose of bringing up practical mechatronics engineers, and then, training is conducted so that the students are able to deal with these subjects comprehensively. In the subject of hydraulics and pneumatics for the special course, a lecture on hydraulic and pneumatic control is given in the second year, where structures of hydraulic and pneumatic actuators are explained as well as the principle of operation and the control method. As the related experiment, measurement of liquid viscosity coefficient and flow measurement by a Venturi tube are carried out in the fourth year of the regular course. In addition, carried out in the fifth year are the measurement of stress by trailing velocity distribution of an object and the measurement of pressure distribution around a column. As a subject for graduation theses, a mobile carrier for welfare nursing is being developed using a pneumatic actuator. Development of a suitable actuator is also being developed simultaneously. In the education of electronic control engineering, it is essential to give the students understanding of hydraulic and pneumatic actuator control centering on the role of mechatronics. (NEDO)

  17. Design of a Soft Robot with Multiple Motion Patterns Using Soft Pneumatic Actuators

    Miao, Yu; Dong, Wei; Du, Zhijiang

    2017-11-01

    Soft robots are made of soft materials and have good flexibility and infinite degrees of freedom in theory. These properties enable soft robots to work in narrow space and adapt to external environment. In this paper, a 2-DOF soft pneumatic actuator is introduced, with two chambers symmetrically distributed on both sides and a jamming cylinder along the axis. Fibers are used to constrain the expansion of the soft actuator. Experiments are carried out to test the performance of the soft actuator, including bending and elongation characteristics. A soft robot is designed and fabricated by connecting four soft pneumatic actuators to a 3D-printed board. The soft robotic system is then established. The pneumatic circuit is built by pumps and solenoid valves. The control system is based on the control board Arduino Mega 2560. Relay modules are used to control valves and pressure sensors are used to measure pressure in the pneumatic circuit. Experiments are conducted to test the performance of the proposed soft robot.

  18. Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations.

    Lilly, John H

    2003-09-01

    Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and tricep configurations. The models are nonlinear and in general time-varying, making adaptive control desirable. Stability results are derived, and the results of simulation studies are presented, contrasting the nonlinear adaptive control to a nonadaptive PID control approach.

  19. Design of pneumatic proportional flow valve type 5/3

    Laski, P. A.; Pietrala, D. S.; Zwierzchowski, J.; Czarnogorski, K.

    2017-08-01

    In this paper the 5/3-way pneumatic, proportional flow valve was designed and made. Stepper linear actuator was used to move the spool. The valve is controlled by the controlled based on a AVR microcontroller. Virtual model of the valve was created in CAD. The real element was made based on a standard 5/3-way manually actuated valve with hand lever, which was dismounted and replaced by linear stepper motor. All the elements was mounted in a specially made housing. The controller consists of microcontroller Atmega16, integrated circuit L293D, display, two potentiometers, three LEDs and six buttons. Series of research was also conducted. Simulation research were performed using CFD by the Flow Simulation addition to SolidWorks. During the experiments the valve characteristics of flow and pressure was determined.

  20. Pneumatic Muscle Actuated Compliant Gripper Systems

    Deaconescu Andrea

    2016-01-01

    Full Text Available The paper presents the stages of developing new, light, eco-friendly and bionic gripper systems. Gripping is achieved by means of original, self adaptive, bio-inspired systems, with a pneumatic muscle as motion generator. The method underlying the development of these new gripping systems is based on the creation of concepts by analogy, an instrument aimed at widening the inspiration horizon in designing by using models from nature.

  1. Pneumatic Muscle Actuated Compliant Gripper Systems

    Deaconescu Andrea

    2016-01-01

    The paper presents the stages of developing new, light, eco-friendly and bionic gripper systems. Gripping is achieved by means of original, self adaptive, bio-inspired systems, with a pneumatic muscle as motion generator. The method underlying the development of these new gripping systems is based on the creation of concepts by analogy, an instrument aimed at widening the inspiration horizon in designing by using models from nature.

  2. Design evaluaion: pneumatic transport and classification

    McNair, J.M.

    1979-10-01

    This report describes the evaluation of selected design features of the cold engineering scale pneumatic transport and classification subsystems used in the development of the head-end equipment for HTGR fuel reprocessing. The report identifies areas that require further design effort and evaluation of alternatives prior to the design of the HTGR reference recycle facility (HRRF). Seven areas in the transport subsystem and three in the classification subsystem were selected for evaluation. Seventeen specific recommendations are presented for further design effort

  3. Predictors of treatment failure for pneumatic retinopexy.

    Rootman, Dan B; Luu, Shelly; M Conti, Stephen; Mandell, Mark; Devenyi, Robert; Lam, Wai-Ching; Kertes, Peter J

    2013-12-01

    The purpose of this study was to define the overall anatomic success rate in pneumatic retinopexy and to identify morphologic features that may be predictive of treatment failure in pneumatic retinopexy. Prospective consecutive interventional case series of patients with new-onset primary rhegmatogenous retinal detachments treated with pneumatic retinopexy. In this interventional case series, consecutive patients with new-onset primary rhegmatogenous retinal detachments were treated with pneumatic retinopexy and followed prospectively. Morphologic data were collected on 3-colour fundus drawings. The primary outcome measure was treatment failure, defined as requirement for scleral buckle or vitrectomy within the follow-up period. Rates of failure for each morphologic feature were compared and a logistic regression model was fit. A total of 113 eyes were included in the study. Anatomic success was achieved in 69.6% of patients. Morphologic criteria including the position and number of breaks, position and extent of lattice degeneration, size of the detached area, and macular status were all found not to be significantly related to failure. In multivariate analysis, only 3 predictors, pseudophakic status (p < 0.05, odds ratio [OR] 2.9, 95% CI, 1.06-7.88), presence of retinal break greater than 1 clock-hour (p < 0.05, OR 3.41, 1.06-11.02), and presence of grade C or D proliferative vitreoretinopathy (PVR) (p < 0.01, OR 31.83, 95% CI, 3.59-282.24), gained statistical significance. Only pseudophakia, a large retinal break, and/or PVR was associated with an increased likelihood of failure. Copyright © 2013 Canadian Ophthalmological Society. Published by Elsevier Inc. All rights reserved.

  4. Effect of soil solarization using plastic mulch in controlling root-knot ...

    PRECIOUS

    2009-12-15

    Dec 15, 2009 ... effect of soil solarization using plastic mulch in controlling root-knot nematode infestation and yield of ... addition to their increased toxic effects in the soil over the .... thereby promoting conducive environment for the utiliza- ...

  5. Design and Characterization of a Quasi-Passive Pneumatic Foot-Ankle Prosthesis.

    Lee, Jeffrey D; Mooney, Luke M; Rouse, Elliott J

    2017-07-01

    The majority of commercially available passive prosthetic feet are not capable of providing joint mechanics that match that of the intact human ankle. Due to their cantilever design, their stiffness characteristics contrast with what has been observed in the biological ankle, namely, an increase in stiffness during the stance phase of walking. In this paper, we introduce the design and control of a pneumatic foot-ankle prosthesis that attempts to provide biomimetic mechanics. The prosthesis is comprised of a pneumatic cylinder in series with a fiberglass leaf spring, and a solenoid valve to control the flow of air between the two sides of the cylinder. The solenoid valve acts as a mechanical clutch, enabling resetting of the ankle's equilibrium position. By adjusting the pressure inside the cylinder, the prosthesis can be customized to provide a range of ankle mechanics. A mechanical testing machine is used to compare the torque-angle curve of the pneumatic prosthesis with a low-profile passive prosthetic foot. Finally, data are presented of one transtibial amputee walking with the prosthesis at 1.2 m/s. The testing shows that the pneumatic prosthesis is capable of providing an appropriate range of motion as well a maximum torque of 94 Nm, while returning approximately 11.5 J of energy.

  6. Deep sedation during pneumatic reduction of intussusception.

    Ilivitzki, Anat; Shtark, Luda Glozman; Arish, Karin; Engel, Ahuva

    2012-05-01

    Pneumatic reduction of intussusception under fluoroscopic guidance is a routine procedure. The unsedated child may resist the procedure, which may lengthen its duration and increase the radiation dose. We use deep sedation during the procedure to overcome these difficulties. The purpose of this study was to summarize our experience with deep sedation during fluoroscopic reduction of intussusception and assess the added value and complication rate of deep sedation. All children with intussusception who underwent pneumatic reduction in our hospital between January 2004 and June 2011 were included in this retrospective study. Anesthetists sedated the children using propofol. The fluoroscopic studies, ultrasound (US) studies and the childrens' charts were reviewed. One hundred thirty-one attempted reductions were performed in 119 children, of which 121 (92%) were successful and 10 (8%) failed. Two perforations (1.5%) occurred during attempted reduction. Average fluoroscopic time was 1.5 minutes. No complication to sedation was recorded. Deep sedation with propofol did not add any complication to the pneumatic reduction. The fluoroscopic time was short. The success rate of reduction was high,raising the possibility that sedation is beneficial, possibly by smooth muscle relaxation.

  7. Control of electrode processes in electrokinetic soil remediation

    Schmid, M.; Marb, C. [Bavarian State Office for Environmental Protection, Waste Technology Centre, Augsburg (Germany)

    2001-07-01

    Technical control of electrode processes induced by water electrolysis is crucial for the effectiveness of electrokinetic soil remediation. A calculation method for the quantification of electrolysis products is derived and its validity by the consumption of neutralizing agents verified. Steel rods used as sacrificial anodes instead of inert materials cannot counteract the acidification of the anolyte due to the acidic property of Fe-cations released as oxidation products. An an alternative to ordinary porous well materials a tubular cation exchange membrane was used as a cathode well. Thereby the migration of anions stemming from the catholyte neutralisation was hampered and no loss in the electric field strength occured. (orig.)

  8. Comparison of Pneumatic Dilation with Pneumatic Dilation Plus Botulinum Toxin for Treatment of Achalasia

    Alireza Bakhshipour

    2010-03-01

    Full Text Available Among the therapeutic options for achalasia are pneumatic dilatation (PD, an appropriate long-term therapy, and botulinum toxin injection (BT that is a relatively short-term therapy. This study aimed to compare therapeutic effect of repetitive pneumatic dilation with a combined method (botulinum toxin injection and pneumatic dilation in a group of achalasia patients who are low responder to two initial pneumatic dilations. Thirty- four patients with documented primary achalasia that had low response to two times PD (<50% decrease in symptom score and barium height at 5 minute in timed esophagogram after 3month of late PD were randomized to receive pneumatic dilation (n=18 or botulinum toxin injection and pneumatic dilation by four weeks interval (n=16, PD and BT+PD groups respectively. Symptom scores were evaluated before and at 1, 6 and 12 months after treatment. Clinical remission was defined as a decrease in symptom score ≥ 50% of baseline. There were no significant differences between the two groups in gender, age and achalasia type. Remission rate of patients in BT-PD group in comparison with PD group were 87.5% vs. 67.1% (P = 0.7, 87.5% vs. 61.1% (P = 0.59 and 87.5% vs. 55.5% (P = 0.53 at 1, 6 and 12 months respectively .There were no major complications in either group. The mean symptom score decreased by 62.71% in the BT-PD group (P < 0.002 and 50.77% in the PD group (P < 0.01 at the end of the first year. Despite a better response rate in BT+PD group, a difference was not statistically significant. A difference may be meaningful if a large numbers of patients are included in the study.

  9. Sample sizes to control error estimates in determining soil bulk density in California forest soils

    Youzhi Han; Jianwei Zhang; Kim G. Mattson; Weidong Zhang; Thomas A. Weber

    2016-01-01

    Characterizing forest soil properties with high variability is challenging, sometimes requiring large numbers of soil samples. Soil bulk density is a standard variable needed along with element concentrations to calculate nutrient pools. This study aimed to determine the optimal sample size, the number of observation (n), for predicting the soil bulk density with a...

  10. Physics-Based Pneumatic Hammer Instability Model, Phase I

    National Aeronautics and Space Administration — Florida Turbine Technologies (FTT) proposes to conduct research necessary to develop a physics-based pneumatic hammer instability model for hydrostatic bearings...

  11. Soils

    Emily Moghaddas; Ken Hubbert

    2014-01-01

    When managing for resilient forests, each soil’s inherent capacity to resist and recover from changes in soil function should be evaluated relative to the anticipated extent and duration of soil disturbance. Application of several key principles will help ensure healthy, resilient soils: (1) minimize physical disturbance using guidelines tailored to specific soil types...

  12. Present status and prospect of the pneumatics; Kukiatsu gijutsu no ayumi to kongono kenkyu no kadai

    Kawai, S. [Waseda University, Tokyo (Japan). School of Science and Engineering

    2000-05-15

    This paper describes course of pneumatic technologies and problems in future researches. Pneumatic systems are inferior to electric and hydraulic systems in terms of efficiency. It is because electric power is converted into fluidized energy by using a compressor, and then converted to mechanical energy by using an actuator. When theses published from 1990 through 1999 are put in order, the research objects are accounted for half by control related technologies, and researches related to elements account for only one third. This paper enumerates assignments to be tackled positively in the future by utilizing compressibility of air in pneumatic systems, and features of high speed drive utilizing the stored energy instantaneously. Application of air pressure to robotics from the demand of the aging society, and pneumatic tools having intelligent functions must be subjected to new contrivances. These will serve for work assistance systems to enable aged people to perform works, and for activating industries including organic agriculture. Tools in this sense may include impact wrench, and others. Furthermore, development of fundamental studies for 'why air pressure?' is demanded strongly, including the viewpoint of LCA in the recycling type society. (NEDO)

  13. Pulse width modulation based pneumatic frequency tuner of the superconducting resonators at IUAC

    Pandey, A.; Suman, S.K.; Mathuria, D.S.

    2015-01-01

    The existing phase locking scheme of the quarter wave resonators (QWR) used in superconducting linear accelerator (LINAC) of IUAC consists of a fast time (electronic) and a slow time (pneumatic) control. Presently, piezo based mechanical tuners are being used to phase lock the resonators installed in the second and third accelerating modules of LINAC. However, due to space constraint, the piezo tuner can't be implemented on the resonators of the first accelerating module. Therefore, helium gas operated mechanical tuners are being used to phase lock the resonators against the master oscillator (MO) frequency. The present pneumatic frequency tuner has limitations of non-linearity, hysteresis and slow response time. To overcome these problems and to improve the dynamics of the existing tuner, a new pulse width modulation (PWM) based pneumatic frequency tuning system was adopted and successfully tested. After successful test, the PWM based pneumatic frequency tuner was installed in four QWR of the first accelerating module of LINAC. During beam run the PWM based frequency tuner performed well and the cavities could be phase locked at comparatively higher accelerating fields. A comparison of the existing tuning mechanism and the PWM based tuning system along with the test results will be presented in the paper. (author)

  14. Pneumatic stepper motor and device comprising at least one such pneumatic stepper motor

    Groenhuis, Vincent; Siepel, Françoise Jeanette; Stramigioli, Stefano

    2018-01-01

    The invention relates to a pneumatic stepper motor, comprising: - a housing, said housing accommodating at least part of: - a rack or geared axle comprising a plurality of gear elements; and - two pistons, each comprising at least two teeth, said pistons being arranged to cooperate with said rack or

  15. Landscape controls and vertical variability of soil organic carbon storage in permafrost-affected soils of the Lena River Delta

    Siewert, Matthias Benjamin; Hugelius, Gustaf; Heim, Birgit

    2016-01-01

    To project the future development of the soil organic carbon (SOC) storage in permafrost environments, the spatial and vertical distribution of key soil properties and their landscape controls needs to be understood. This article reports findings from the Arctic Lena River Delta where we sampled 50...... in the permafrost. The major geomorphological units of a subregion of the Lena River Delta were mapped with a land form classification using a data-fusion approach of optical satellite imagery and digital elevation data to upscale SOC storage. Landscape mean SOC storage is estimated to 19.2 ± 2.0 kg C m− 2. Our...... results show that the geomorphological setting explains more soil variability than soil taxonomy classes or vegetation cover. The soils from the oldest, Pleistocene aged, unit of the delta store the highest amount of SOC per m2 followed by the Holocene river terrace. The Pleistocene terrace affected...

  16. A novel dynamic cardiac simulator utilizing pneumatic artificial muscle.

    Liu, Hao; Yan, Jie; Zhou, Yuanyuan; Li, Hongyi; Li, Changji

    2013-01-01

    With the development of methods and skills of minimally invasive surgeries, equipments for doctors' training and practicing are in high demands. Especially for the cardiovascular surgeries, operators are requested to be familiar with the surgical environment of a beating heart. In this paper, we present a new dynamic cardiac simulator utilizing pneumatic artificial muscle to realize heartbeat. It's an artificial left ventricular of which the inner chamber is made of thermoplastic elastomers (TPE) with an anatomical structure of the real human heart. It is covered by another layer of material forming the artificial muscle which actuates the systole and diastole uniformly and omnidirectionally as the cardiac muscle does. Preliminary experiments were conducted to evaluate the performance of the simulator. The results indicated that the pressure at the terminal of the aorta could be controlled within the range of normal human systolic pressure, which quantitatively validated the new actuating mode of the heart-beating is effective.

  17. Endoscope-guided pneumatic dilation for treatment of esophageal achalasia

    Chuah, Seng-Kee; Wu, Keng-Liang; Hu, Tsung-Hui; Tai, Wei-Chen; Changchien, Chi-Sin

    2010-01-01

    Pneumatic dilation (PD) is considered to be the first line nonsurgical therapy for achalasia. The principle of the procedure is to weaken the lower esophageal sphincter by tearing its muscle fibers by generating radial force. The endoscope-guided procedure is done without fluoroscopic control. Clinicians usually use a low-compliance balloon such as Rigiflex dilator to perform endoscope-guided PD for the treatment of esophageal achalasia. It has the advantage of determining mucosal injury during the dilation process, so that a repeat endoscopy is not needed to assess the mucosal tearing. Previous studies have shown that endoscope-guided PD is an efficient and safe nonsurgical therapy with results that compare well with other treatment modalities. Although the results may be promising, long-term follow-up is required in the near future. PMID:20101764

  18. Pneumatic injector of deuterium macroparticles for TORE-SUPRA tokamak

    Vinyar, I.V.; Umov, A.P.; Lukin, A.Ya.; Skoblikov, S.V.; Reznichenko, P.V.; Krasil'nikov, I.A.

    2006-01-01

    The pneumatic injector for periodic injection of fuel-solid-deuterium pellets into the plasma of the TORE-SUPRA tokamak in a steady-state mode is described. The deuterium pellet injection with an unlimited duration is ensured by a screw extruder in which gaseous deuterium is frozen and squeezed outwards in the form of a rod with a rectangular cross section. A cutter installed on the injector's barrel cuts a cylinder with a diameter of 2 mm and a length of 1.0-3.5 mm out from this rod. The movement of the cutter is controlled by a pulsed electromagnetic drive at a pulse repetition rate of 10 Hz. In the injector's barrel, a compressed gas accelerates a deuterium pellet to a velocity of 100-650 m/s [ru

  19. Pneumatic Artificial Muscle Actuation and Modeling

    Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.

    2009-10-01

    A Pneumatic Artificial Muscle (PAM) yields a natural muscle-like actuator with a high force to weight ratio, a soft and flexible structure, and adaptable compliance for a humanoid robot, rehabilitation and prosthetic appliances to the disabled, etc. To obtain optimum design and usage, the mechanical behavior of the PAM need to be understood. In this study, observations of experimental results reveal an empirical model for relations of physical variables, contraction and air pressure within the PAM, as compared to mechanical characteristics, such as stiffness or/and pulling forces of the PAM available now in market.

  20. A pneumatic muscle hand therapy device.

    Koeneman, E J; Schultz, R S; Wolf, S L; Herring, D E; Koeneman, J B

    2004-01-01

    Intensive repetitive therapy improves function and quality of life for stroke patients. Intense therapies to overcome upper extremity impairment are beneficial, however, they are expensive because, in part, they rely on individualized interaction between the patient and rehabilitation specialist. The development of a pneumatic muscle driven hand therapy device, the Mentortrade mark, reinforces the need for volitional activation of joint movement while concurrently offering knowledge of results about range of motion, muscle activity or resistance to movement. The device is well tolerated and has received favorable comments from stroke survivors, their caregivers, and therapists.

  1. Blood Sample Transportation by Pneumatic Transportation Systems

    Nybo, Mads; Lund, Merete E; Titlestad, Kjell

    2018-01-01

    BACKGROUND: Pneumatic transportation systems (PTSs) are increasingly used for transportation of blood samples to the core laboratory. Many studies have investigated the impact of these systems on different types of analyses, but to elucidate whether PTSs in general are safe for transportation...... analysis, and the hemolysis index). CONCLUSIONS: Owing to their high degree of heterogeneity, the retrieved studies were unable to supply evidence for the safety of using PTSs for blood sample transportation. In consequence, laboratories need to measure and document the actual acceleration forces...

  2. Particle segregation in pneumatic conveying lines

    McGlinchey, D.; Marjanovic, P.; Cook, S.; Jones, M.G. [Glasgow Caledonian University, Glasgow (United Kingdom). Centre for Industrial Bulk Solids Handling

    2000-07-01

    This investigation studied segregation of particles during pneumatic transport from a theoretical and experimental perspective. Dilute phase or suspension flow and dense phase (non-suspension flow) were both considered. A computer model was generated based on the conservation equations to investigate dilute phase conditions; an initial qualitative investigation of material behaviour being conveyed in dense phase was made with plastic pellets and salt as a segregating mixture in a small test rig and the results from a full scale test rig conveying two grades of coal of different size distributions are discussed. 11 refs., 9 figs., 1 tab.

  3. Mathematical Modeling of Diaphragm Pneumatic Motors

    Fojtášek Kamil

    2014-03-01

    Full Text Available Pneumatic diaphragm motors belong to the group of motors with elastic working parts. This part is usually made of rubber with a textile insert and it is deformed under the pressure of a compressed air or from the external mass load. This is resulting in a final working effect. In this type of motors are in contact two different elastic environments – the compressed air and the esaltic part. These motors are mainly the low-stroke and working with relatively large forces. This paper presents mathematical modeling static properties of diaphragm motors.

  4. A pneumatic transfer system for special form 252Cf

    Gehrke, R.J.; Berry, S.M.; Grafwallner, E.G.; Hoggan, J.M.

    1996-09-01

    A pneumatic transfer system has been developed for use with series 100 Special Form 252 Cf. It was developed to reduce the exposure to personnel handling sources of 252 Cf with masses up to 150 microg by permitting remotely activated two-way transfer between the storage container and the irradiation position. The pneumatic transfer system also permits transfers for reproducible repetitive irradiation periods. In addition to the storage container equipped with quick-release fittings, the transfer system consists of an irradiation station, a control box with momentary contact switches to activate the air-pressure control valves and indicators to identify the location of the source, and connecting air hose and electrical wire. A source of 20 psig air and 110 volt electrical power are required for operation of the transfer system which can be easily moved and set up by one individual in 5 to 10 minutes. Tests have shown that rarely does a source become lodged in the transfer tubing, but two methods have been developed to handle incomplete transfers of the 252 Cf source. The first method consists of closing one air vent to allow a pressure impulse to propel the source to the opposite side. The second method applies to those 252 Cf capsules with a threaded or tapped end to which a small ferromagnetic piece can be attached; an incompletely transferred source in the transfer tube can then be guided to a position of safety by surrounding the transfer tubing containing the capsule with a horseshoe magnet attached to the end of a long pole

  5. Pneumatic strength assessment device: design and isometric measurement.

    Paulus, David C; Reiser, Raoul F; Troxell, Wade O

    2004-01-01

    In order to load a muscle optimally during resistance exercise, it should be heavily taxed throughout the entire range of motion for that exercise. However, traditional constant resistance squats only tax the lower-extremity muscles to their limits at the "sticking region" or a critical joint configuration of the exercise cycle. Therefore, a linear motion (Smith) exercise machine was modified with pneumatics and appropriate computer control so that it could be capable of adjusting force to control velocity within a repetition of the squat exercise or other exercise performed with the device. Prior to application of this device in a dynamic squat setting, the maximum voluntary isometric force (MVIF) produced over a spectrum of knee angles is needed. This would reveal the sticking region and overall variation in strength capacity. Five incremental knee angles (90, 110, 130, 150, and 170 degrees, where 180 degrees defined full extension) were examined. After obtaining university-approved informed consent, 12 men and 12 women participated in the study. The knee angle was set, and the pneumatic cylinder was pressurized such that the subject could move the barbell slightly but no more than two-centimeters. The peak pressure exerted over a five-second maximum effort interval was recorded at each knee angle in random order and then repeated. The average of both efforts was then utilized for further analysis. The sticking region occurred consistently at a 90 degrees knee angle, however, the maximum force produced varied between 110 degrees and 170 degrees with the greatest frequency at 150 degrees for both men and women. The percent difference between the maximum and minimum MVIF was 46% for men and 57% for women.

  6. Lithologic Control on the Form of Soil Mantled Hillslopes

    Johnstone, S. A.; Hilley, G. E.

    2014-12-01

    Slopes on steady-state soil-mantled hillslopes tend to increase downslope in a way that balances local transport capacity with the sediment supplied from progressively larger source areas. Most predictions for the transport of soil depend purely on topographic slope and constants. Thus, soil mantled topography should evolve toward smooth forms in which soils act to buffer these forms from the underlying geologic structure. However, in the Gabilan Mesa, CA, oscillations in the slope of soil-mantled hillslopes mirror oscillations in the underlying stratigraphy. Using field measurements of stratigraphy and soil depths, topographic analysis, and numerical modeling, we demonstrate that variations in rock type can impact the form of soil-mantled hillslopes. Specifically, variations in the properties of underlying rocks may yield different soil thicknesses. Balancing transport rates across these variations in thickness requires slopes to change when soil transport depends on both soil thickness and slope. A compilation of published data on the variation in activity with depth of various transport processes provides the basis for a geomorphic transport law (GTL) that generalizes the depth dependence of various transport processes. While this GTL is explicitly depth dependent, it is also capable of describing situations in which hillslope transport is relatively insensitive to variations in thickness and therefore essentially equivalent to existing formulations. We use dimensional analysis and numerical modeling to demonstrate the conditions under which transport on soil mantled slopes, and consequently topographic forms, may be sensitive to variations in soil thickness and therefore lithology.

  7. Variable camber wing based on pneumatic artificial muscles

    Yin, Weilong; Liu, Libo; Chen, Yijin; Leng, Jinsong

    2009-07-01

    As a novel bionic actuator, pneumatic artificial muscle has high power to weight ratio. In this paper, a variable camber wing with the pneumatic artificial muscle is developed. Firstly, the experimental setup to measure the static output force of pneumatic artificial muscle is designed. The relationship between the static output force and the air pressure is investigated. Experimental result shows the static output force of pneumatic artificial muscle decreases nonlinearly with increasing contraction ratio. Secondly, the finite element model of the variable camber wing is developed. Numerical results show that the tip displacement of the trailing-edge increases linearly with increasing external load and limited with the maximum static output force of pneumatic artificial muscles. Finally, the variable camber wing model is manufactured to validate the variable camber concept. Experimental result shows that the wing camber increases with increasing air pressure and that it compare very well with the FEM result.

  8. Soil acidification in China: is controlling SO2 emissions enough?

    Zhao, Yu; Duan, Lei; Xing, Jia; Larssen, Thorjorn; Nielsen, Chris P; Hao, Jiming

    2009-11-01

    Facing challenges of increased energy consumption and related regional air pollution, China has been aggressively implementing flue gas desulfurization (FGD) and phasing out small inefficient units in the power sector in order to achieve the national goal of 10% reduction in sulfur dioxide (SO(2)) emissions from 2005 to 2010. In this paper, the effect of these measures on soil acidification is explored. An integrated methodology is used, combining emission inventory data, emission forecasts, air quality modeling, and ecological sensitivities indicated by critical load. National emissions of SO(2), oxides of nitrogen (NO(X)), particulate matter (PM), and ammonia (NH(3)) in 2005 were estimated to be 30.7, 19.6, 31.3, and 16.6 Mt, respectively. Implementation of existing policy will lead to reductions in SO(2) and PM emissions, while those of NO(X) and NH(3) will continue to rise, even under tentatively proposed control measures. In 2005, the critical load for soil acidification caused by sulfur (S) deposition was exceeded in 28% of the country's territory, mainly in eastern and south-central China. The area in exceedance will decrease to 26% and 20% in 2010 and 2020, respectively, given implementation of current plans for emission reductions. However, the exceedance of the critical load for nitrogen (N, combining effects of eutrophication and acidification) will double from 2005 to 2020 due to increased NO(X) and NH(3) emissions. Combining the acidification effects of S and N, the benefits of SO(2) reductions during 2005-2010 will almost be negated by increased N emissions. Therefore abatement of N emissions (NO(X) and NH(3)) and deposition will be a major challenge to China, requiring policy development and technology investments. To mitigate acidification in the future, China needs a multipollutant control strategy that integrates measures to reduce S, N, and PM.

  9. A rotary pneumatic actuator for the actuation of the exoskeleton knee joint

    Jobin Varghese

    2017-07-01

    Full Text Available Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance (ANOVA is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled. Keywords: Driven pulley, Flow control valve, Rotary, Pneumatic cylinder

  10. Orthopaedic Rehabilitation Device Actuated with Pneumatic Muscles

    Ioana Petre

    2014-07-01

    Full Text Available Year after year recovery clinics worldwide report significant numbers of lower limb bearing joint disabilities. An effective method for the speedy rehabilitation of patients with such afflictions is Continuous Passive Motion (CPM, drawing upon a range of specific equipment. This paper presents an innovative constructive solution for such orthopaedic rehabilitation equipment, designed to ensure a swift reintegration of patients at as low a cost as possible. The absolute novelty consists in the utilization of the linear pneumatic muscle as actuator of the orthopaedic rehabilitation equipment, thus achieving a light and highly compliant construction that satisfies safety requirements related to man-machine interaction. Pneumatic muscles are bio-inspired actuation systems characterized by a passive variable compliant behaviour. This property, deployed in rehabilitation systems, enables the development of human friendly devices, which are comfortable for the patients, and capable of safe interaction. This paper presents the constructive schematic of the orthopaedic rehabilitation equipment, the structure of the actuation and positioning system, and several of its functional characteristics.

  11. A pneumatic power harvesting ankle-foot orthosis to prevent foot-drop

    Chin Robin

    2009-06-01

    Full Text Available Abstract Background A self-contained, self-controlled, pneumatic power harvesting ankle-foot orthosis (PhAFO to manage foot-drop was developed and tested. Foot-drop is due to a disruption of the motor control pathway and may occur in numerous pathologies such as stroke, spinal cord injury, multiple sclerosis, and cerebral palsy. The objectives for the prototype PhAFO are to provide toe clearance during swing, permit free ankle motion during stance, and harvest the needed power with an underfoot bellow pump pressurized during the stance phase of walking. Methods The PhAFO was constructed from a two-part (tibia and foot carbon composite structure with an articulating ankle joint. Ankle motion control was accomplished through a cam-follower locking mechanism actuated via a pneumatic circuit connected to the bellow pump and embedded in the foam sole. Biomechanical performance of the prototype orthosis was assessed during multiple trials of treadmill walking of an able-bodied control subject (n = 1. Motion capture and pressure measurements were used to investigate the effect of the PhAFO on lower limb joint behavior and the capacity of the bellow pump to repeatedly generate the required pneumatic pressure for toe clearance. Results Toe clearance during swing was successfully achieved during all trials; average clearance 44 ± 5 mm. Free ankle motion was observed during stance and plantarflexion was blocked during swing. In addition, the bellow component repeatedly generated an average of 169 kPa per step of pressure during ten minutes of walking. Conclusion This study demonstrated that fluid power could be harvested with a pneumatic circuit built into an AFO, and used to operate an actuated cam-lock mechanism that controls ankle-foot motion at specific periods of the gait cycle.

  12. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

    Song, Sang-Eun; Cho, Nathan B.; Fischer, Gregory; Hata, Nobuhito; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2011-01-01

    Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained. PMID:21399734

  13. Feasibility study of a biocompatible pneumatic dispensing system using mouse 3T3-J2 fibroblasts

    Lee, Sangmin; Kim, Hojin; Kim, Joonwon

    2017-12-01

    This paper presents results for dispensing living cells using a pneumatic dispensing system to verify the feasibility of using this system to fabricate biomaterials. Living cells (i.e., mouse 3T3-J2 fibroblast) were dispensed with different dispensing pressures in order to evaluate the effect of dispensing process on cell viability and proliferation. Based on the results of a live-dead assay, more than 80% of cell viability has been confirmed which was reasonably similar to that in the control group. Furthermore, measurement of cell metabolic activity after dispensing confirmed that the dispensed cell proliferated at a rate comparable to that of the control group. These results demonstrate that the pneumatic dispensing system is a promising tool for fabrication of biomaterials.

  14. Experience and prospects of using the pneumatic designs in underground mining

    Rakhutin, V.S. [National Mining University of Ukraine, Dnipropetrovsk (Ukraine)

    1999-07-01

    The article reviews the experience of application of pneumatic designs ('flexible shells') in coal mines (pneumatic cogs and supports), ore mines (pneumatic cofferdams and partitions in filling), and in the construction of mines and underground constructions (pneumatic casings, temporary (pilot) supports). 2 refs.

  15. Controls on soil solution nitrogen along an altitudinal gradient in the Scottish uplands.

    Jackson-Blake, L; Helliwell, R C; Britton, A J; Gibbs, S; Coull, M C; Dawson, L

    2012-08-01

    Nitrogen (N) deposition continues to threaten upland ecosystems, contributing to acidification, eutrophication and biodiversity loss. We present results from a monitoring study aimed at investigating the fate of this deposited N within a pristine catchment in the Cairngorm Mountains (Scotland). Six sites were established along an elevation gradient (486-908 m) spanning the key habitats of temperate maritime uplands. Bulk deposition chemistry, soil carbon content, soil solution chemistry, soil temperature and soil moisture content were monitored over a 5 year period. Results were used to assess spatial variability in soil solution N and to investigate the factors and processes driving this variability. Highest soil solution inorganic N concentrations were found in the alpine soils at the top of the hillslope. Soil carbon stock, soil solution dissolved organic carbon (DOC) and factors representing site hydrology were the best predictors of NO(3)(-) concentration, with highest concentrations at low productivity sites with low DOC and freely-draining soils. These factors act as proxies for changing net biological uptake and soil/water contact time, and therefore support the hypothesis that spatial variations in soil solution NO(3)(-) are controlled by habitat N retention capacity. Soil percent carbon was a better predictor of soil solution inorganic N concentration than mass of soil carbon. NH(4)(+) was less affected by soil hydrology than NO(3)(-) and showed the effects of net mineralization inputs, particularly at Racomitrium heath and peaty sites. Soil solution dissolved organic N concentration was strongly related to both DOC and temperature, with a stronger temperature effect at more productive sites. Due to the spatial heterogeneity in N leaching potential, a fine-scale approach to assessing surface water vulnerability to N leaching is recommended over the broad scale, critical loads approach currently in use, particularly for sensitive areas. Copyright © 2012

  16. Pneumatic artificial muscle actuators for compliant robotic manipulators

    Robinson, Ryan Michael

    Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

  17. Use of Low-Cost Methods of Soil Erosion Control In Kisii District, South Western kenya

    Nzabi, A.W; Makini, F; Onyango, M; Mureithi, J.G

    1999-01-01

    Kisii District has a topography of undulating hills and is prone to severe soil erosion. The average rainfall is 1900 mm and occurs in biomodal pattern. During a participatory appraisal survey in 1995, farmers indicated that soil erosion in the area had contributed to decline in soil fertility resulting in low crop yields. To address this problem, an on-farm trial was conducted in 1996 at Nyamonyo village to test the effectiveness of four low cost methods of controlling soil erosion. These included maize stover trash line, sweet potatoes,Penicum maximum var. Makarikari grass strip and vetiveria zizanioides (Vertiver) grass strip. A treatment without soil erosion control measure was included. The trial was planted in three farms which acted as replicates. The treatments were planted in runoff plots measuring 4 x 2 m in which had a maize crop were laid down in a randomized complete block design. Surface runoff and eroded soils were collected in 50-l buckets. The experimental site had a slope ranging from 16 to 35%. Preliminary results indicated that maize stover trash line and sweet potato strips were more effective in controlling soil erosion than the grass strips. As the season progressed the grass strips became increasingly more effective in erosion control. The trail is still continuing but results indicate that for short term soil erosion control, maize stover trash lines and sweet potatoes are more effective while Makarikari and Vertiver grass strips are promising as long term soil erosion control measure

  18. Factors controlling the spatial distribution of soil piping erosion on loess-derived soils: A case study from central Belgium

    Verachtert, E.; Van Den Eeckhaut, M.; Poesen, J.; Deckers, J.

    2010-06-01

    Collapsible loess-derived soils are prone to soil piping erosion, where enlargement of macropores may lead to a subsurface pipe network and eventually to soil collapse and gully development. This study aims at understanding the main factors controlling spatial patterns of piping in loess-derived soils under a temperate climate. To map the spatial distribution of piping and identify the environmental controls on its distribution, a regional survey was carried out in a 236 km 2 study area in the Flemish Ardennes (Belgium). Orthophotos taken at optimal field conditions (winter) were analyzed to detect piping in open landscapes and ground thruthing was systematically done through field surveys. In total, 137 parcels having 560 collapsed pipes were mapped. Dimensions of the sinkholes and local slope gradient were measured in the field and topographical variables were derived from LiDAR data. Land use plays an important role as 97% of the sites with piping are found under pasture. The probability of piping increases rapidly on hillslopes with gradients exceeding 8% and with a concave profile and plan curvature, enhancing subsurface flow concentration. The zones with soil profiles on shallow loess over a relatively thin layer of homogeneous blue massive clays (Aalbeke Member) are most prone to piping. Soil characteristics are of less importance to explain piping occurrence. Furthermore, the topographical threshold line indicating the critical slope gradient for a given contributing drainage area was determined. This threshold line (negative power relation) is similar to the threshold line for shallow gully initiation.

  19. [Effects of controlled release blend bulk urea on soil nitrogen and soil enzyme activity in wheat and rice fields].

    Zhang, Jing Sheng; Wang, Chang Quan; Li, Bing; Liang, Jing Yue; He, Jie; Xiang, Hao; Yin, Bin; Luo, Jing

    2017-06-18

    A field experiment was conducted to investigate the effect of controlled-release fertilizer (CRF) combined with urea (UR) on the soil fertility and environment in wheat-rice rotation system. Changes in four forms of nitrogen (total nitrogen, ammonium nitrogen, nitrate nitrogen, and microbial biomass nitrogen) and in activities of three soil enzymes participating in nitrogen transformation (urease, protease, and nitrate reductase) were measured in seven fertilization treatments (no fertilization, routine fertilization, 10%CRF+90%UR, 20%CRF+80%UR, 40%CRF+60%UR, 80%CRF+20%UR, and 100%CRF). The results showed that soil total nitrogen was stable in the whole growth period of wheat and rice. There was no significant difference among the treatments of over 20% CRF in soil total nitrogen content of wheat and rice. The soil inorganic nitrogen content was increased dramatically in treatments of 40% or above CRF during the mid-late growing stages of wheat and rice. With the advance of the growth period, conventional fertilization significantly decreased soil microbial biomass nitrogen, but the treatments of 40% and above CRF increased the soil microbial biomass nitrogen significantly. The soil enzyme activities were increased with over 40% of CRF in the mid-late growing stage of wheat and rice. By increasing the CRF ratio, the soil protease activity and nitrate reductase activity were improved gradually, and peaked in 100% CRF. The treatments of above 20% CRF could decrease the urease activity in tillering stage of rice and delay the peak of ammonium nitrogen, which would benefit nitrogen loss reduction. The treatments of 40% and above CRF were beneficial to improving soil nitrogen supply and enhancing soil urease and protease activities, which could promote the effectiveness of nitrogen during the later growth stages of wheat and rice. The 100% CRF treatment improved the nitrate reductase activity significantly during the later stage of wheat and rice. Compared with the

  20. Development of Pneumatic Aerodynamic Devices to Improve the Performance, Economics, and Safety of Heavy Vehicles

    Robert J. Englar

    2000-01-01

    Under contract to the DOE Office of Heavy Vehicle Technologies, the Georgia Tech Research Institute (GTRI) is developing and evaluating pneumatic (blown) aerodynamic devices to improve the performance, economics, stability and safety of operation of Heavy Vehicles. The objective of this program is to apply the pneumatic aerodynamic aircraft technology previously developed and flight-tested by GTRI personnel to the design of an efficient blown tractor-trailer configuration. Recent experimental results obtained by GTRI using blowing have shown drag reductions of 35% on a streamlined automobile wind-tunnel model. Also measured were lift or down-load increases of 100-150% and the ability to control aerodynamic moments about all 3 axes without any moving control surfaces. Similar drag reductions yielded by blowing on bluff afterbody trailers in current US trucking fleet operations are anticipated to reduce yearly fuel consumption by more than 1.2 billion gallons, while even further reduction is possible using pneumatic lift to reduce tire rolling resistance. Conversely, increased drag and down force generated instantaneously by blowing can greatly increase braking characteristics and control in wet/icy weather due to effective ''weight'' increases on the tires. Safety is also enhanced by controlling side loads and moments caused on these Heavy Vehicles by winds, gusts and other vehicles passing. This may also help to eliminate the jack-knifing problem if caused by extreme wind side loads on the trailer. Lastly, reduction of the turbulent wake behind the trailer can reduce splash and spray patterns and rough air being experienced by following vehicles. To be presented by GTRI in this paper will be results developed during the early portion of this effort, including a preliminary systems study, CFD prediction of the blown flowfields, and design of the baseline conventional tractor-trailer model and the pneumatic wind-tunnel model

  1. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

    Song, Sang-Eun; Cho, Nathan B.; Fischer, Gregory; Hata, Nobuhito; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2010-01-01

    Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor....

  2. Development of Pneumatic Aerodynamic Devices to Improve the Performance, Economics, and Safety of Heavy Vehicles

    Robert J. Englar

    2000-06-19

    Under contract to the DOE Office of Heavy Vehicle Technologies, the Georgia Tech Research Institute (GTRI) is developing and evaluating pneumatic (blown) aerodynamic devices to improve the performance, economics, stability and safety of operation of Heavy Vehicles. The objective of this program is to apply the pneumatic aerodynamic aircraft technology previously developed and flight-tested by GTRI personnel to the design of an efficient blown tractor-trailer configuration. Recent experimental results obtained by GTRI using blowing have shown drag reductions of 35% on a streamlined automobile wind-tunnel model. Also measured were lift or down-load increases of 100-150% and the ability to control aerodynamic moments about all 3 axes without any moving control surfaces. Similar drag reductions yielded by blowing on bluff afterbody trailers in current US trucking fleet operations are anticipated to reduce yearly fuel consumption by more than 1.2 billion gallons, while even further reduction is possible using pneumatic lift to reduce tire rolling resistance. Conversely, increased drag and down force generated instantaneously by blowing can greatly increase braking characteristics and control in wet/icy weather due to effective ''weight'' increases on the tires. Safety is also enhanced by controlling side loads and moments caused on these Heavy Vehicles by winds, gusts and other vehicles passing. This may also help to eliminate the jack-knifing problem if caused by extreme wind side loads on the trailer. Lastly, reduction of the turbulent wake behind the trailer can reduce splash and spray patterns and rough air being experienced by following vehicles. To be presented by GTRI in this paper will be results developed during the early portion of this effort, including a preliminary systems study, CFD prediction of the blown flowfields, and design of the baseline conventional tractor-trailer model and the pneumatic wind-tunnel model.

  3. Varicose vein surgery using a pneumatic tourniquet: reduced blood loss and improved cosmesis.

    Thompson, J. F.; Royle, G. T.; Farrands, P. A.; Najmaldin, A.; Clifford, P. C.; Webster, J. H.

    1990-01-01

    A prospective controlled randomised study has been performed of 100 consecutive patients undergoing varicose vein surgery. One group underwent saphenofemoral flush ligation and multiple lower leg avulsions with the leg exsanguinated with a Rhys-Davies cuff, and ischaemia maintained with a pneumatic tourniquet. The other group underwent identical surgery but with a 30 degree head down tilt only. Blood loss was significantly less (13.5 +/- 12 ml vs 133 +/- 78 ml; P less than 0.01) and postopera...

  4. Temporal changes of spatial soil moisture patterns: controlling factors explained with a multidisciplinary approach

    Martini, Edoardo; Wollschläger, Ute; Kögler, Simon; Behrens, Thorsten; Dietrich, Peter; Reinstorf, Frido; Schmidt, Karsten; Weiler, Markus; Werban, Ulrike; Zacharias, Steffen

    2016-04-01

    Characterizing the spatial patterns of soil moisture is critical for hydrological and meteorological models, as soil moisture is a key variable that controls matter and energy fluxes and soil-vegetation-atmosphere exchange processes. Deriving detailed process understanding at the hillslope scale is not trivial, because of the temporal variability of local soil moisture dynamics. Nevertheless, it remains a challenge to provide adequate information on the temporal variability of soil moisture and its controlling factors. Recent advances in wireless sensor technology allow monitoring of soil moisture dynamics with high temporal resolution at varying scales. In addition, mobile geophysical methods such as electromagnetic induction (EMI) have been widely used for mapping soil water content at the field scale with high spatial resolution, as being related to soil apparent electrical conductivity (ECa). The objective of this study was to characterize the spatial and temporal pattern of soil moisture at the hillslope scale and to infer the controlling hydrological processes, integrating well established and innovative sensing techniques, as well as new statistical methods. We combined soil hydrological and pedological expertise with geophysical measurements and methods from digital soil mapping for designing a wireless soil moisture monitoring network. For a hillslope site within the Schäfertal catchment (Central Germany), soil water dynamics were observed during 14 months, and soil ECa was mapped on seven occasions whithin this period of time using an EM38-DD device. Using the Spearman rank correlation coefficient, we described the temporal persistence of a dry and a wet characteristic state of soil moisture as well as the switching mechanisms, inferring the local properties that control the observed spatial patterns and the hydrological processes driving the transitions. Based on this, we evaluated the use of EMI for mapping the spatial pattern of soil moisture under

  5. Controlled experimental soil organic matter modification for study of organic pollutant interactions in soil

    Ahmed, Ashour A.; Kühn, Oliver; Leinweber, Peter

    2012-01-01

    Interactions of organic pollutants with soil organic matter can be studied by adsorption of the pollutants on well-characterized soil samples with constant mineralogy but different organic matter compositions. Therefore, the objectives of the current study are establishing a set of different, well-characterized soil samples by systematic modifications of their organic matter content and molecular composition and prove these modifications by advanced complementary analytical techniques. Modifications were done by off-line pyrolysis and removal/addition of hot-water extracted organic fraction (HWE) from/to the original soil sample. Both pyrolysis-field ionization mass spectrometry (Py-FIMS) and synchrotron-based C- and N- X-ray absorption near-edge structure spectroscopy (XANES) were applied to investigate the composition of the soil organic matter. These complementary analytical methods in addition to elemental analysis agreed in showing the following order of organic matter contents: pyrolyzed soil < soil residue < original soil < soil + 3 HWE < soil + 6 HWE < HWE. The addition of HWE to the soil sample increases the relative proportions of carbohydrates, N-containing heterocyclic compounds and peptides, and decreases the relative proportions of phenols, lignin monomers and dimers, and lipids. The most abundant organic compound classes in the pyrolyzed sample are aromatics, aliphatic nitriles, aldehydes, five- and six-membered N-containing heterocyclic compounds, and aliphatic carboxylic acids. It can be expected that removal or addition of HWE, that mimic biomass inputs to soil or soil amendments, change the binding capacity for organic pollutants less intensively than heat impact, e.g. from vegetation burning. It will be possible to interpret kinetic data on the pollutants adsorption by these original and modified soil samples on the basis of the bond- and element-specific speciation data through C-XANES and N-XANES and the molecular-level characterization

  6. The effect of pneumatic dilation in management of postfundoplication dysphagia.

    Sunjaya, D; Podboy, A; Blackmon, S H; Katzka, D; Halland, M

    2017-06-01

    Fundoplication surgery is a commonly performed procedure for gastro-esophageal reflux disease or hiatal hernia repair. Up to 10% of patients develop persistent postoperative dysphagia after surgery. Data on the effectiveness of pneumatic dilation for treatment are limited. The aim of this study was to evaluate clinical outcomes and identify clinical factors associated with successful response to pneumatic dilation among patients with persistent postfundoplication dysphagia (PPFD). We retrospectively evaluated patients who had undergone pneumatic dilation for PPFD between 1999 and 2016. Patients with dysphagia or achalasia prior to fundoplication were excluded. Demographic information, surgical history, severity of dysphagia, and clinical outcomes were collected. Data pertaining to esophagram, manometry, endoscopy, and pneumatic dilation were also collected. We identified 38 patients (82% female, 95% Caucasian, and median age 59 years) with PPFD who completed pneumatic dilation. The median postfundoplication dysphagia score was 2. Eleven patients had abnormal peristalsis on manometry. Seventeen patients reported response (seven complete) with an average decrease of 1 in their dysphagia score. Fifteen patients underwent reoperation due to PPFD. Hiatal hernia repair was the only factor that predicts a higher response rate to pneumatic dilation. Only one patient in our study developed complication (pneumoperitoneum) from pneumatic dilation. We found that pneumatic dilation to be a safe treatment option for PPFD with moderate efficacy. Patients who developed PPFD after a hiatal hernia repair may gain the greatest benefit after pneumatic dilation. We were not able to identify additional clinical, radiological, endoscopic, or manometric parameters that were predictive of response. © 2017 John Wiley & Sons Ltd.

  7. Interactions between soil texture, water, and nutrients control patterns of biocrusts abundance and structure

    Young, Kristina; Bowker, Matthew; Reed, Sasha; Howell, Armin

    2017-04-01

    Heterogeneity in the abiotic environment structures biotic communities by controlling niche space and parameters. This has been widely observed and demonstrated in vascular plant and other aboveground communities. While soil organisms are presumably also strongly influenced by the physical and chemical dimensions of the edaphic environment, there are fewer studies linking the development, structure, productivity or function of surface soil communities to specific edaphic gradients. Here, we use biological soil crusts (biocrusts) as a model system to determine mechanisms regulating community structure of soil organisms. We chose soil texture to serve as an edaphic gradient because of soil texture's influence over biocrust distribution on a landscape level. We experimentally manipulated texture in constructed soil, and simultaneously manipulated two main outcomes of texture, water and nutrient availability, to determine the mechanism underlying texture's influence on biocrust abundance and structure. We grew biocrust communities from a field-sourced inoculum on four different soil textures, sieved from the same parent soil material, manipulating watering levels and nutrient additions across soil textures in a full-factorial design over a 5-month period of time. We measured abundance and structure of biocrusts over time, and measured two metrics of function, N2 fixation rates and soil stabilization, at the conclusion of the experiment. Our results showed finer soil textures resulted in faster biocrust community development and dominance by mosses, whereas coarser textures grew more slowly and had biocrust communities dominated by cyanobacteria and lichen. Additionally, coarser textured soils contained cyanobacterial filaments significantly deeper into the soil profile than fine textured soils. N2-fixation values increased with increasing moss cover and decreased with increasing cyanobacterial cover, however, the rate of change depended on soil texture and water amount

  8. Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot.

    Greer, Joseph D; Morimoto, Tania K; Okamura, Allison M; Hawkes, Elliot W

    2017-01-01

    We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot's pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds.

  9. The effect of pneumatic tourniquets on skeletal muscle physiology.

    Patterson, S; Klenerman, L; Biswas, M; Rhodes, A

    1981-01-01

    The effect of 3- and 5-hour pneumatic tourniquets on skeletal muscle physiology was investigated. Maximum isometric tension development, contraction and half relaxation times were measured in the muscles lying immediately under and distal to the tourniquet. On release of the tourniquet no consistent difference between control and experimental muscles was observed with respect to contraction and half relaxation times; however, there was a marked reduction in maximum isometric tension development. On the sixth day after release of a 5-hour tourniquet, isometric tension was reduced to 2--20 per cent of the control value in the distal muscle and to 40--60 per cent of the control value in the compressed muscle. Six days after a 3-hour tourniquet the compressed muscle tension was reduced to approximately 80 per cent of the control value whilst in the distal muscle, tension development varied from normal to 64 per cent of the control value. Thus it is shown that the effect on muscle contraction after a 3-hour tourniquet is not immediately reversed by the restoration of the blood supply. A reduction in muscle strength follows which may take a week or more to recover.

  10. Soil Properties Control Glyphosate Sorption in Soils Amended with Birch Wood Biochar

    Kahawaththa Gamage, Inoka Damayanthi Kumari; Moldrup, Per; Paradelo, Marcos

    2016-01-01

    Abstract Despite a contemporary interest in biochar application to agricultural fields to improve soil quality and long-term carbon sequestration, a number of potential side effects of biochar incorporation in field soils remain poorly understood, e.g., in relation to interactions...... with agrochemicals such as pesticides. In a fieldbased study at two experimental sites in Denmark (sandy loam soils at Risoe and Kalundborg), we investigated the influence of birch wood biochar with respect to application rate, aging (7–19 months), and physico- chemical soil properties on the sorption coefficient......, Kd (L kg−1), of the herbicide glyphosate. We measured Kd in equilibrium batch sorption experiments with triplicate soil samples from 20 field plots that received biochar at different application rates (0 to 100 Mg ha−1). The results showed that pure biochar had a lower glyphosate Kd value as compared...

  11. UNDERSTANDING PLANT-SOIL RELATIONSHIPS USING CONTROLLED ENVIRONMENT FACILITIES

    Although soil is a component of terrestrial ecosystems, it is comprised of a complex web of interacting organisms, and therefore, can be considered itself as an ecosystem. Soil microflora and fauna derive energy from plants and plant residues and serve important functions in mai...

  12. Acidity controls on dissolved organic carbon mobility in organic soils

    Evans, Ch. D.; Jones, T.; Burden, A.; Ostle, N.; Zielinski, P.; Cooper, M.; Peacock, M.; Clark, J.; Oulehle, Filip; Cooper, D.; Freeman, Ch.

    2012-01-01

    Roč. 18, č. 11 (2012), s. 3317-3331 ISSN 1354-1013 Institutional support: RVO:67179843 Keywords : acidity * dissolved organic carbon * organic soil * peat * podzol * soil carbon * sulphur Subject RIV: EH - Ecology, Behaviour Impact factor: 6.910, year: 2012

  13. Inductance position sensor for pneumatic cylinder

    Pavel Ripka

    2018-04-01

    Full Text Available The position of the piston in pneumatic cylinder with aluminum wall can be measured by external inductance sensor without modifications of the aluminum piston and massive iron piston rod. For frequencies below 20 Hz the inductance is increasing with inserting rod due to the rod permeability. This mode has disadvantage of slow response to piston movement and also high temperature sensitivity. At the frequency of 45 Hz the inductance is position independent, as the permeability effect is compensated by the eddy current effect. At higher frequencies eddy current effects in the rod prevail, the inductance is decreasing with inserting rod. In this mode the sensitivity is smaller but the sensor response is fast and temperature stability is better. We show that FEM simulation of this sensor using measured material properties gives accurate results, which is important for the sensor optimization such as designing the winding geometry for the best linearity.

  14. Inductance position sensor for pneumatic cylinder

    Ripka, Pavel; Chirtsov, Andrey; Mirzaei, Mehran; Vyhnanek, Jan

    2018-04-01

    The position of the piston in pneumatic cylinder with aluminum wall can be measured by external inductance sensor without modifications of the aluminum piston and massive iron piston rod. For frequencies below 20 Hz the inductance is increasing with inserting rod due to the rod permeability. This mode has disadvantage of slow response to piston movement and also high temperature sensitivity. At the frequency of 45 Hz the inductance is position independent, as the permeability effect is compensated by the eddy current effect. At higher frequencies eddy current effects in the rod prevail, the inductance is decreasing with inserting rod. In this mode the sensitivity is smaller but the sensor response is fast and temperature stability is better. We show that FEM simulation of this sensor using measured material properties gives accurate results, which is important for the sensor optimization such as designing the winding geometry for the best linearity.

  15. Characterization of a pneumatic balloon actuator for use in refreshable Braille displays.

    Fan, Richard E; Feinman, Adam M; Wottawa, Christopher; King, Chih-Hung; Franco, Miguel L; Dutson, Erik P; Grundfest, Warren S; Culjat, Martin O

    2009-01-01

    Many existing refreshable Braille display technologies are costly or lack robust performance. A process has been developed to fabricate consistent and reliable pneumatic balloon actuators at low material cost, using a novel manufacturing process. This technique has been adapted for use in refreshable Braille displays that feature low power consumption, ease of manufacture and small form factor. A prototype refreshable cell, conforming to American Braille standards, was developed and tested. The cell was fabricated from molded PDMS to form balloon actuators with a spin-coated silicone film, and fast pneumatic driving elements and an electronic control system were developed to drive the Braille dots. Perceptual testing was performed to determine the feasibility of the approach using a single blind human subject. The subject was able to detect randomized Braille letters rapidly generated by the actuator with 100% character detection accuracy.

  16. Design, Development and Evaluation of a Pneumatic Seeder for Automatic Planting of Seeds in Cellular Trays

    E Movahedi

    2014-04-01

    Full Text Available For planting fine seeds in cellular trays, an automatic pneumatic seeder was designed, constructed and evaluated. CATIA software was used to design and analysis the system parts of the seeder. Different parts of the seeder, including vibrating seed hopper, vacuum boom, seed picking nozzles, seed tube, pneumatic system and electronic control unit for automation of the seeder, were designed and constructed. The area of nozzle orifice was used to calculate the required pressure of nozzle tip. The seeder was evaluated using two sizes of trays. Experiments were performed with five replications and the error of planting the seeds in the 105 and 390-cellular trays were 1.9 and 0.46 percent, respectively. The time of planting for 105 and 390 cellular trays reduced from 20 min (for manual seeding to 35 s and from 90 min to 160 s, respectively.

  17. Ecosystem development in roadside grasslands: biotic control, plant–soil interactions and dispersal limitations

    García-Palacios, Pablo; Bowker, Matthew A.; Maestre, Fernando T.; Soliveres, Santiago; Valladares, Fernando; Papadopoulos, Jorge; Escudero, Adrián

    2015-01-01

    Roadside grasslands undergoing secondary succession are abundant, and represent ecologically meaningful examples of novel, human-created ecosystems. Interactions between plant and soil communities (hereafter plant–soil interactions) are of major importance in understanding the role of biotic control in ecosystem functioning, but little is known about these links in the context of ecosystem restoration and succession. The assessment of the key biotic communities and interactions driving ecosystem development will help practitioners to better allocate the limited resources devoted to roadside grassland restoration. We surveyed roadside grasslands from three successional stages (0–2, 7–9 and > 20 years) in two Mediterranean regions of Spain. Structural equation modeling was used to evaluate how interactions between plants, biological soil crusts [BSCs], and soil microbial functional diversity [soil microorganisms] affect indicators of ecosystem development and restoration: plant similarity to the reference ecosystem, erosion control and soil C storage and N accumulation. Changes in plant community composition along the successional gradient exerted the strongest influence on these indicators. High BSC cover was associated with high soil stability, and high soil microbial functional diversity from late-successional stages was associated with high soil fertility. Contrary to our expectations, the indirect effects of plants, mediated by either BSCs or soil microorganisms, were very weak in both regions, suggesting a minor role for plant–soil interactions upon ecosystem development indicators over long periods. Our results suggest that natural vegetation dynamics effectively improved ecosystem development within a time frame of 20 years in the grasslands evaluated. They also indicate that this time could be shortened if management actions focus on: 1) maintain well-conserved natural areas close to roadsides to enhance plant compositional changes towards late

  18. Ecosystem development in roadside grasslands: Biotic control, plant-soil interactions, and dispersal limitations

    Garcia-Palacios, P.; Bowker, M.A.; Maestre, F.T.; Soliveres, S.; Valladares, F.; Papadopoulos, J.; Escudero, A.

    2011-01-01

    Roadside grasslands undergoing secondary succession are abundant, and represent ecologically meaningful examples of novel, human-created ecosystems. Interactions between plant and soil communities (hereafter plant-soil interactions) are of major importance in understanding the role of biotic control in ecosystem functioning, but little is known about these links in the context of ecosystem restoration and succession. The assessment of the key biotic communities and interactions driving ecosystem development will help practitioners to better allocate the limited resources devoted to roadside grassland restoration. We surveyed roadside grasslands from three successional stages (0-2, 7-9, and > 20 years) in two Mediterranean regions of Spain. Structural equation modeling was used to evaluate how interactions between plants, biological soil crusts (BSCs), and soil microbial functional diversity (soil microorganisms) affect indicators of ecosystem development and restoration: plant similarity to the reference ecosystem, erosion control, and soil C storage and N accumulation. Changes in plant community composition along the successional gradient exerted the strongest influence on these indicators. High BSC cover was associated with high soil stability, and high soil microbial functional diversity from late-successional stages was associated with high soil fertility. Contrary to our expectations, the indirect effects of plants, mediated by either BSCs or soil microorganisms, were very weak in both regions, suggesting a minor role for plant-soil interactions upon ecosystem development indicators over long periods. Our results suggest that natural vegetation dynamics effectively improved ecosystem development within a time frame of 20 years in the grasslands evaluated. They also indicate that this time could be shortened if management actions focus on: (1) maintaining wellconserved natural areas close to roadsides to enhance plant compositional changes towards late

  19. Effect of EM Bokashi application on control of secondary soil salinization

    Shao Xiaohou

    2008-12-01

    Full Text Available In order to ameliorate saline-alkaline soil, EM Bokashi has been applied to rice production in conjunction with subdrainage in Ningxia Autonomous Region and Zhejiang Province. The preliminary results can be summarized as follows: EM Bokashi can increase soil organic matter content, improve soil porosity and permeability, and raise the soil's levels of available nutrients; and EM Bokashi combined with subdrainage treatment is more effective in controlling secondary soil salinization and raising the grain yield and quality than other treatments. The results suggest that EM Bokashi can reduce the necessary amount of chemical fertilizer application, thereby improving the agricultural environment, and that the introduction of EM Bokashi into systems of secondary soil salinization control systems has resulted in significant benefits.

  20. Wind tunnel experimental study on the effect of PAM on soil wind erosion control.

    He, Ji-Jun; Cai, Qiang-Guo; Tang, Ze-Jun

    2008-10-01

    In recent years, high-molecular-weight anionic polyacrylamide (PAM) have been widely tested on a variety of soils, primarily in water erosion control. However, little information is available regarding the effectiveness of PAM on preventing soil loss from wind erosion. The research adopted room wind tunnel experiment, two kinds of soils were used which were from the agro-pastoral area of Inner Mongolia, the northwest of China, the clay content of soils were 22.0 and 13.7%, respectively. For these tests, all the treatments were performed under the condition of wind velocity of 14 m s(-1) and a blown angle of 8.75%, according to the actual situation of experimented area. The study results indicated that using PAM on the soil surface could enhance the capability of avoiding the wind erosion, at the same time, the effect of controlling wind soil erosion with 4 g m(-2) PAM was better than 2 g m(-2) PAM's. Economically, the 2 g m(-2) PAM used in soil surface can control wind erosion effectively in this region. The prophase PAM accumulated in soil could not improve the capability of avoiding the wind erosion, owing to the degradation of PAM in the soil and the continual tillage year after year. The texture of soil is a main factor influencing the capability of soil avoiding wind erosion. Soil with higher clay content has the higher capability of preventing soil from wind erosion than one with the opposite one under the together action of PAM and water.

  1. Hydrologic controls on the development of equilibrium soil depths

    Nicotina, L.; Tarboton, D. G.; Tesfa, T. K.; Rinaldo, A.

    2010-12-01

    The object of the present work was the study of the coevolution of runoff production and geomorphological processes and its effects on the formation of equilibrium soil depth by focusing on their mutual feedbacks. The primary goal of this work is to describe spatial patterns of soil depth resulting, under the hypothesis of dynamic equilibrium, from long-term interactions between hydrologic forcings and soil production, erosion and sediment transport processes. These processes dominate the formation of actual soil depth patterns that represent the boundary condition for water redistribution, thus this paper also proposes and attempt to set the premises for decoding their individual role and mutual interactions in shaping the hydrologic response of a catchment. The relevance of the study stems from the massive improvement in hydrologic predictions for ungauged basins that would be achieved by using directly soil depths derived from geomorphic features remotely measured and objectively manipulated. Moreover the setup of a coupled hydrologic-geomorphologic approach represents a first step into the study of such interactions and in particular of the effects of soil moisture in determining soil production functions. Hydrological processes are here described by explicitly accounting for local soil depths and detailed catchment topography from high resolution digital terrain models (DTM). Geomorphological processes are described by means of well-studied geomorphic transport laws. Soil depth is assumed, in the exponential soil production function, as a proxy for all the mechanisms that induce mechanical disruption of bedrock and it’s conversion into soil. This formulation, although empirical, has been widely used in the literature and is currently accepted. The modeling approach is applied to the semi-arid Dry Creek Experimental Watershed, located near Boise, Idaho, USA. Modeled soil depths are compared with field data obtained from an extensive survey of the catchment

  2. Perceptual evaluation and acoustic analysis of pneumatic artificial larynx.

    Xu, Jie Jie; Chen, Xi; Lu, Mei Ping; Qiao, Ming Zhe

    2009-12-01

    To investigate the perceptual and acoustic characteristics of the pneumatic artificial larynx (PAL) and evaluate its speech ability and clinical value. Prospective study. The study was conducted in the Voice Lab, Department of Otorhinolaryngology, The First Affiliated Hospital of Nanjing Medical University. Forty-six laryngectomy patients using the PAL were rated for intelligibility and fluency of speech. The voice signals of sustained vowel /a/ for 40 healthy controls and 42 successful patients using the PAL were measured by a computer system. The acoustic parameters and sound spectrographs were analyzed and compared between the two groups. Forty-two of 46 patients using the PAL (91.3%) acquired successful speech capability. The intelligibility scores of 42 successful PAL speakers ranged from 71 to 95 percent, and the intelligibility range of four unsuccessful speakers was 30 to 50 percent. The fluency was judged as good or excellent in 42 successful patients, and poor or fair in four unsuccessful patients. There was no significant difference in average fundamental frequency, maximum intensity, jitter, shimmer, and normalized noise energy (NNE) between 42 successful PAL speakers and 40 healthy controls, while the maximum phonation time (MPT) of PAL speakers was slightly lower than that of the controls. The sound spectrographs of the patients using the PAL approximated those of the healthy controls. The PAL has the advantage of a high percentage of successful vocal rehabilitation. PAL speech is fluent and intelligible. The acoustic characteristics of the PAL are similar to those of a normal voice.

  3. Dynamics of a pneumatic artificial muscle actuation system driving a trailing edge flap

    Woods, Benjamin K. S.; Kothera, Curt S.; Wang, Gang; Wereley, Norman M.

    2014-09-01

    This study presents a time domain dynamic model of an antagonistic pneumatic artificial muscle (PAM) driven trailing edge flap (TEF) system for next generation active helicopter rotors. Active rotor concepts are currently being widely researched in the rotorcraft community as a means to provide a significant leap forward in performance through primary aircraft control, vibration mitigation and noise reduction. Recent work has shown PAMs to be a promising candidate for active rotor actuation due to their combination of high force, large stroke, light weight, and suitable bandwidth. When arranged into biologically inspired agonist/antagonist muscle pairs they can produce bidirectional torques for effectively driving a TEF. However, there are no analytical dynamic models in the literature that can accurately capture the behavior of such systems across the broad range of frequencies required for this demanding application. This work combines mechanical, pneumatic, and aerodynamic component models into a global flap system model developed for the Bell 407 rotor system. This model can accurately predict pressure, force, and flap angle response to pneumatic control valve inputs over a range of operating frequencies from 7 to 35 Hz (1/rev to 5/rev for the Bell 407) and operating pressures from 30 to 90 psi.

  4. Dynamics of a pneumatic artificial muscle actuation system driving a trailing edge flap

    Woods, Benjamin K S; Kothera, Curt S; Wang, Gang; Wereley, Norman M

    2014-01-01

    This study presents a time domain dynamic model of an antagonistic pneumatic artificial muscle (PAM) driven trailing edge flap (TEF) system for next generation active helicopter rotors. Active rotor concepts are currently being widely researched in the rotorcraft community as a means to provide a significant leap forward in performance through primary aircraft control, vibration mitigation and noise reduction. Recent work has shown PAMs to be a promising candidate for active rotor actuation due to their combination of high force, large stroke, light weight, and suitable bandwidth. When arranged into biologically inspired agonist/antagonist muscle pairs they can produce bidirectional torques for effectively driving a TEF. However, there are no analytical dynamic models in the literature that can accurately capture the behavior of such systems across the broad range of frequencies required for this demanding application. This work combines mechanical, pneumatic, and aerodynamic component models into a global flap system model developed for the Bell 407 rotor system. This model can accurately predict pressure, force, and flap angle response to pneumatic control valve inputs over a range of operating frequencies from 7 to 35 Hz (1/rev to 5/rev for the Bell 407) and operating pressures from 30 to 90 psi. (paper)

  5. Manually operatable on-chip bistable pneumatic microstructures for microfluidic manipulations.

    Chen, Arnold; Pan, Tingrui

    2014-09-07

    Bistable microvalves are of particular interest because of their distinct nature of requiring energy consumption only during the transition between the open and closed states. This characteristic can be highly advantageous in reducing the number of external inputs and the complexity of control circuitries since microfluidic devices as contemporary lab-on-a-chip platforms are transferring from research settings to low-resource environments with high integrability and a small form factor. In this paper, we first present manually operatable, on-chip bistable pneumatic microstructures (BPMs) for microfluidic manipulation. The structural design and operation of the BPM devices can be readily integrated into any pneumatically powered microfluidic network consisting of pneumatic and fluidic channels. It is mainly composed of a vacuum activation chamber (VAC) and a pressure release chamber (PRC), of which users have direct control through finger pressing to switch either to the bistable vacuum state (VS) or the atmospheric state (AS). We have integrated multiple BPM devices into a 4-to-1 microfluidic multiplexor to demonstrate on-chip digital flow switching from different sources. Furthermore, we have shown its clinical relevance in a point-of-care diagnostic chip that processes blood samples to identify the distinct blood types (A/B/O) on-chip.

  6. Control of aromatic-waste air streams by soil bioreactors

    Miller, D.E.; Canter, L.W.

    1991-01-01

    Contamination of groundwater resources is a serious environmental problem which is continuing to increase in occurrence in the United States. It has been reported that leaking underground gasoline storage tanks may pose the most serious threat of all sources of groundwater contamination. Gasolines are comprised of a variety of aliphatic and aromatic hydrocarbons. The aromatic portion consists primarily of benzene, toluene, ethylbenzene, and xylenes (BTEX compounds). BTEX compounds are also among the most frequency identified substances at Superfund sites. Pump and treat well systems are the most common and frequently used technique for aquifer restoration. Treatment is often in the form of air stripping to remove the volatile components from the contaminated water. Additionally, soil ventilation processes have been used to remove volatile components from the vadose zone. Both air stripping and soil ventilation produce a waste gas stream containing volatile compounds which is normally treated by carbon adsorption or incineration. Both treatment processes require a substantial capital investment and continual operation and maintenance expenditures. The objective of the study was to examine the potential of using soil bioreactors to treat a waste gas stream produced by air stripping or soil ventilation process. Previous studies have shown that various hydrocarbons can be successfully treated with soils. The study examined the removal of BTEX compounds within soil columns and the influence of soil type, inlet concentration, and inlet flow rate on the removal efficiency

  7. Soil, crop and emission responses to seasonal-controlled traffic in organic vegetable farming on loam soil

    Vermeulen, G.D.; Mosquera Losada, J.

    2009-01-01

    Some organic arable and vegetable farms in the Netherlands use cm-precise guidance of machinery to restrict wheel traffic to fixed traffic lanes and to achieve non-trafficked cropping zones with optimized soil structure in between the lanes. Contrary to controlled traffic farming (CTF) the traffic

  8. Physics-Based Pneumatic Hammer Instability Model, Phase II

    National Aeronautics and Space Administration — The objective of this project is to develop a physics-based pneumatic hammer instability model that accurately predicts the stability of hydrostatic bearings...

  9. The Photo-Pneumatic CO2 Analyzer, Phase I

    National Aeronautics and Space Administration — We are proposing to build a new technology, the photo-pneumatic analyzer. It is small, solid-state, inexpensive, and appropriate for observations of atmospheric...

  10. TOPICAL REVIEW: Pneumatic and hydraulic microactuators: a review

    De Volder, Michaël; Reynaerts, Dominiek

    2010-04-01

    The development of MEMS actuators is rapidly evolving and continuously new progress in terms of efficiency, power and force output is reported. Pneumatic and hydraulic are an interesting class of microactuators that are easily overlooked. Despite the 20 years of research, and hundreds of publications on this topic, these actuators are only popular in microfluidic systems. In other MEMS applications, pneumatic and hydraulic actuators are rare in comparison with electrostatic, thermal or piezo-electric actuators. However, several studies have shown that hydraulic and pneumatic actuators deliver among the highest force and power densities at microscale. It is believed that this asset is particularly important in modern industrial and medical microsystems, and therefore, pneumatic and hydraulic actuators could start playing an increasingly important role. This paper shows an in-depth overview of the developments in this field ranging from the classic inflatable membrane actuators to more complex piston-cylinder and drag-based microdevices.

  11. Analytical Solution to the Pneumatic Transient Rod System at ACRR

    Fehr, Brandon Michael

    2016-01-01

    The ACRR pulse is pneumatically driven by nitrogen in a system of pipes, valves and hoses up to the connection of the pneumatic system and mechanical linkages of the transient rod (TR). The main components of the TR pneumatic system are the regulator, accumulator, solenoid valve and piston-cylinder assembly. The purpose of this analysis is to analyze the flow of nitrogen through the TR pneumatic system in order to develop a motion profile of the piston during the pulse and be able to predict the pressure distributions inside both the cylinder and accumulators. The predicted pressure distributions will be validated against pressure transducer data, while the motion profile will be compared to proximity switch data. By predicting the motion of the piston, pulse timing will be determined and provided to the engineers/operators for verification. The motion profile will provide an acceleration distribution to be used in Razorback to more accurately predict reactivity insertion into the system.

  12. Analytical Solution to the Pneumatic Transient Rod System at ACRR

    Fehr, Brandon Michael [Georgia Inst. of Technology, Atlanta, GA (United States)

    2016-01-08

    The ACRR pulse is pneumatically driven by nitrogen in a system of pipes, valves and hoses up to the connection of the pneumatic system and mechanical linkages of the transient rod (TR). The main components of the TR pneumatic system are the regulator, accumulator, solenoid valve and piston-cylinder assembly. The purpose of this analysis is to analyze the flow of nitrogen through the TR pneumatic system in order to develop a motion profile of the piston during the pulse and be able to predict the pressure distributions inside both the cylinder and accumulators. The predicted pressure distributions will be validated against pressure transducer data, while the motion profile will be compared to proximity switch data. By predicting the motion of the piston, pulse timing will be determined and provided to the engineers/operators for verification. The motion profile will provide an acceleration distribution to be used in Razorback to more accurately predict reactivity insertion into the system.

  13. Soil

    Freudenschuss, A.; Huber, S.; Riss, A.; Schwarz, S.; Tulipan, M.

    2002-01-01

    Environmental soil surveys in each province of Austria have been performed, soils of about 5,000 sites were described and analyzed for nutrients and pollutants, the majority of these data are recorded in the soil information system of Austria (BORIS) soil database, http://www.ubavie.gv.at/umweltsituation/boden/boris), which also contains a soil map of Austria, data from 30 specific investigations mainly in areas with industry and results from the Austria - wide cesium investigation. With respect to the environmental state of soils a short discussion is given, including two geographical charts, one showing which sites have soil data (2001) and the other the cadmium distribution in top soils according land use (forest, grassland, arable land, others). Information related to the soil erosion, Corine land cover (Europe-wide land cover database), evaluation of pollutants in soils (reference values of As, Cd, Co, Cr, Cu, Hg, Mo, Ni, Se, Pb, Tl, Va, Zn, AOX, PAH, PCB, PCDD/pcdf, dioxin), and relevant Austrian and European standards and regulations is provided. Figs. 2, Tables 4. (nevyjel)

  14. Controllability of runoff and soil loss from small plots treated by vinasse-produced biochar.

    Sadeghi, Seyed Hamidreza; Hazbavi, Zeinab; Harchegani, Mahboobeh Kiani

    2016-01-15

    Many different amendments, stabilizers, and conditioners are usually applied for soil and water conservation. Biochar is a carbon-enriched substance produced by thermal decomposition of organic material in the absence of oxygen with the goal to be used as a soil amendment. Biochar can be produced from a wide range of biomass sources including straw, wood, manure, and other organic wastes. Biochar has been demonstrated to restore soil fertility and crop production under many conditions, but less is known about the effects of its application on soil erosion and runoff control. Therefore, a rainfall simulation study, as a pioneer research, was conducted to evaluate the performance of the application of vinasse-produced biochar on the soil erosion control of a sandy clay loam soil packed in small-sized runoff 0.25-m(2) plots with 3 replicates. The treatments were (i) no biochar (control), (ii) biochar (8 tha(-1)) application at 24h before the rainfall simulation and (iii) biochar (8 tha(-1)) application at 48 h before the rainfall simulation. Rainfall was applied at 50 mm h(-1) for 15 min. The mean change of effectiveness in time to runoff could be found in biochar application at 24 and 48 h before simulation treatment with rate of +55.10% and +71.73%, respectively. In addition, the mean runoff volume 24 and 48 h before simulation treatments decreased by 98.46% and 46.39%, respectively. The least soil loss (1.12 ± 0.57 g) and sediment concentration (1.44 ± 0.48 gl(-1)) occurred in the biochar-amended soil treated 48 h before the rainfall simulation. In conclusion, the application of vinasse-produced biochar could effectively control runoff and soil loss. This study provided a new insight into the effects of biochar on runoff, soil loss, and sediment control due to water erosion in sandy clay loam soils. Copyright © 2015 Elsevier B.V. All rights reserved.

  15. Electric-Pneumatic Actuator: A New Muscle for Locomotion

    Ahmad Sharbafi, Maziar; Shin, Hirofumi; Zhao, Guoping; Hosoda, Koh; Seyfarth, Andre

    2017-01-01

    A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) a...

  16. Safe-geometry pneumatic nuclear fuel powder blender

    Lyon, W.L.

    1980-01-01

    A safe geometry nuclear fuel powder is claimed blender of a pneumatic type having a plurality of narrow flat-walled blending chambers or ''slab tanks'' extending radially outward from a pneumatic spouting tube having an inlet and an outlet at bottom and top, respectively, open to each slab tank or blending chamber and contained within a cylindrical cone-bottomed shell filled with neutron-absorbing material between the blending chambers

  17. Design and Experiment of 1LFQ-325 Pneumatic Reversible Plough

    Zheng, Xuan; Chen, Xuefeng; Qin, Chaomin; Jia, Libo

    2013-01-01

    A pneumatic reversible plough is developed, which complements to the tractor of 25.7-36.8 kW. The plough adopts the cylinder as reversing mechanism between the right and left plough bodies, and the cylinder can substitute the mechanical reversing mechanism. The pneumatic turnover allows the plough to be operated easily and turned over flexibly. Field experiment results show that indicators of plough performance meet the requirements of the relevant national standards.

  18. Soil Nitrogen Storage, Distribution, and Associated Controlling Factors in the Northeast Tibetan Plateau Shrublands

    Xiuqing Nie

    2017-11-01

    Full Text Available Although the soils in the Tibetan Plateau shrublands store large amounts of total nitrogen (N, the estimated values remain uncertain because of spatial heterogeneity and a lack of field observations. In this study, we quantified the regional soil N storage, spatial and vertical density distributions, and related climatic controls using 183 soil profiles sampled from 61 sites across the Northeast Tibetan Plateau shrublands during the period of 2011–2013. Our analysis revealed a soil N storage value of 132.40 Tg at a depth of 100 cm, with an average density of 1.21 kg m−2. Soil N density was distributed at greater levels in alpine shrublands, compared with desert shrublands. Spatially, soil N densities decreased from south to north and from east to west, and, vertically, the soil N in the upper 30 and 50 cm accounted for 42% and 64% of the total soil N stocks in the Tibetan Plateau. However, compared with desert shrublands, the surface layers in alpine shrublands exhibited a larger distribution of soil N stocks. Overall, the soil N density in the top 30 cm increased significantly with the mean annual precipitation (MAP and tended to decrease with the mean annual temperature (MAT, although the dominant climatic controls differed among shrubland types. Specifically, MAP in alpine shrublands, and MAT in desert shrubland, had a weak effect on N density. Soil pH can significant affect soil N density in the Tibetan Plateau shrublands. In conclusion, changes in soil N density should be monitored over the long term to provide accurate information about the effects of climatic factors.

  19. Abiotic versus biotic controls on soil nitrogen cycling in drylands along a 3200 km transect

    Liu, Dongwei; Zhu, Weixing; Wang, Xiaobo; Pan, Yuepeng; Wang, Chao; Xi, Dan; Bai, Edith; Wang, Yuesi; Han, Xingguo; Fang, Yunting

    2017-03-01

    Nitrogen (N) cycling in drylands under changing climate is not well understood. Our understanding of N cycling over larger scales to date relies heavily on the measurement of bulk soil N, and the information about internal soil N transformations remains limited. The 15N natural abundance (δ15N) of ammonium and nitrate can serve as a proxy record for the N processes in soils. To better understand the patterns and mechanisms of N cycling in drylands, we collected soils along a 3200 km transect at about 100 km intervals in northern China, with mean annual precipitation (MAP) ranging from 36 to 436 mm. We analyzed N pools and δ15N of ammonium, dual isotopes (15N and 18O) of nitrate, and the microbial gene abundance associated with soil N transformations. We found that N status and its driving factors were different above and below a MAP threshold of 100 mm. In the arid zone with MAP below 100 mm, soil inorganic N accumulated, with a large fraction being of atmospheric origin, and ammonia volatilization was strong in soils with high pH. In addition, the abundance of microbial genes associated with soil N transformations was low. In the semiarid zone with MAP above 100 mm, soil inorganic N concentrations were low and were controlled mainly by biological processes (e.g., plant uptake and denitrification). The preference for soil ammonium over nitrate by the dominant plant species may enhance the possibility of soil nitrate losses via denitrification. Overall, our study suggests that a shift from abiotic to biotic controls on soil N biogeochemistry under global climate changes would greatly affect N losses, soil N availability, and other N transformation processes in these drylands in China.

  20. Variable recruitment in bundles of miniature pneumatic artificial muscles.

    DeLaHunt, Sylvie A; Pillsbury, Thomas E; Wereley, Norman M

    2016-09-13

    The natural compliance and force generation properties of pneumatic artificial muscles (PAMs) allow them to operate like human muscles in anthropomorphic robotic manipulators. Traditionally, manipulators use a single PAM or multiple PAMs actuated in unison in place of a human muscle. However, these standard manipulators can experience significant efficiency losses when operated outside their target performance ranges at low actuation pressures. This study considers the application of a variable recruitment control strategy to a parallel bundle of miniature PAMs as an attempt to mimic the selective recruitment of motor units in a human muscle. Bundles of miniature PAMs are experimentally characterized, their actuation behavior is modeled, and the efficiency gains and losses associated with the application of a variable recruitment control strategy are assessed. This bio-inspired control strategy allows muscle bundles to operate the fewest miniature PAMs necessary to achieve a desired performance objective, improving the muscle bundle's operating efficiency over larger ranges of force generation and displacement. The study also highlights the need for improved PAM fabrication techniques to facilitate the production of identical miniature PAMs for inclusion in muscle bundles.

  1. Development of pneumatic actuator with low-wave reflection characteristics

    Chang, H.; Tsung, T. T.; Jwo, C. S.; Chiang, J. C.

    2010-08-01

    This study aims at the development of a less reflective electromagnetic pneumatic actuator often used in the anechoic chamber. Because a pneumatic actuator on the market is not appropriate for use in such a chamber and a metallic one has high dielectric constant which generates reflective electromagnetic waves to influence test parameters in the chamber. The newly developed pneumatic actuator is made from low dielectric constant plastics with less reflective of electromagnetic. A turbine-type air motor is used to develop the pneumatic actuator and a employ Prony tester is used to run the brake horsepower test for the performance test of pneumatic actuator. Test results indicate that the pneumatic actuator in the minimal starting flow is 17 l/min, and it generates a brake horsepower of 48 mW; in the maximum flow is 26 l/min, it generates a brake horsepower of 108 mW. Therefore, it works with a torque between 0.24 N-m and 0.55 N-m, and such a torque will be sufficient to drive the target button.

  2. Treatments for pediatric achalasia: Heller myotomy or pneumatic dilatation?

    Jung, C; Michaud, L; Mougenot, J-F; Lamblin, M-D; Philippe-Chomette, P; Cargill, G; Bonnevalle, M; Boige, N; Bellaïche, M; Viala, J; Hugot, J-P; Gottrand, F; Cezard, J-P

    2010-03-01

    The treatment of achalasia consists of reducing distal esophageal obstruction by either Heller myotomy surgery or endoscopic pneumatic dilatation. The aim of the present study was to evaluate the short- and middle-term results of these procedures in children. For technical reasons, children under six years old (n=8) were treated by surgery only, whereas patients over six years old (n=14) were treated by either Heller myotomy or pneumatic dilatation. Of the children aged under six years, 75% were symptom-free at six months and 83% at 24 months of follow-up. Of the patients aged over six years, complete remission was achieved by Heller myotomy in 44.5% vs. 55.5% by pneumatic dilatation after six months, and in 40% vs. 65%, respectively, after 24 months. Both pneumatic dilatation and Heller myotomy showed significant rates of failure. These results suggest that pneumatic dilatation may be considered a primary treatment in children over six years old. Also, where necessary, Heller myotomy and pneumatic dilatation may be used as complementary treatments.

  3. Method of sections in analytical calculations of pneumatic tires

    Tarasov, V. N.; Boyarkina, I. V.

    2018-01-01

    Analytical calculations in the pneumatic tire theory are more preferable in comparison with experimental methods. The method of section of a pneumatic tire shell allows to obtain equations of intensities of internal forces in carcass elements and bead rings. Analytical dependencies of intensity of distributed forces have been obtained in tire equator points, on side walls (poles) and pneumatic tire bead rings. Along with planes in the capacity of secant surfaces cylindrical surfaces are used for the first time together with secant planes. The tire capacity equation has been obtained using the method of section, by means of which a contact body is cut off from the tire carcass along the contact perimeter by the surface which is normal to the bearing surface. It has been established that the Laplace equation for the solution of tasks of this class of pneumatic tires contains two unknown values that requires the generation of additional equations. The developed computational schemes of pneumatic tire sections and new equations allow to accelerate the pneumatic tire structure improvement process during engineering.

  4. [Morphine self-administration by rats using a pneumatic syringe].

    Akiyama, Y; Takayama, S

    1988-06-01

    An apparatus for drug self-administration by rats using a pneumatic syringe was developed by Weeks. A microliter syringe operated by a pneumatic cylinder supplies an accurate volume of drug solution within one second. When coefficient of variation of infusion volume was compared among pneumatic syringe, infusion pump, and peristaltic pump, pneumatic syringe showed higher accuracy in infusion volume than the other two pumps. Since the infusion speed by a pneumatic syringe is very rapid (less than one second per infusion), the effect of infusion speed on reinforcing property of morphine was investigated. When rats self-administered 0.1, 0.3, 1.0, and 3.0 mg/kg/infusion of morphine by pneumatic syringes, the patterns of self-infusion were more stable, the number of self-infusions and the amount self-administered were larger, and a dose-response relationship was clearer in comparison with those self-infused the same doses of morphine for 5.6 seconds by infusion pumps or peristaltic pumps.

  5. Key issues in theoretical and functional pneumatic design

    Xu, Z. G.; Yang, D. Y.; Liu, W. M.; Liu, T. T.

    2017-10-01

    This paper studies the energy release of the pneumatic engine in different thermodynamic processes, the isothermal process is the highest power output process, while adiabatic process is the lowest energy output process, and the energy release of the pneumatic engine is a multi-state thermodynamic process between them. Therefore heat exchanging should be increased between the pneumatic engine and the outer space, the gas expansion process in the cylinder should be as close as possible to the isothermal process. Heat exchange should be increased between the cylinder and the external spaces. Secondly, the fin structure is studied to increase the heat exchanging between the cylinder body and the outside space. The upper part has fin structures and the lower cylinder has no fin structure, this structure improved the working efficiency of pneumatic engine. Finally the cam and the hydraulic bottle of pneumatic engines are designed. Simulation and theoretical calculation are used to the analysis of the whole structure, which lay the foundation for the manufacturing and design of the pneumatic engines.

  6. Characteristic analysis and experiment of pneumatic servo valve

    Kim, Dong Soo; Lee, Won Hee; Choi, Byung Oh

    2004-01-01

    Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

  7. Fugitive dust control experiments using soil fixatives on vehicle traffic surfaces

    Winberg, M.R.; Wixom, V.E.

    1992-08-01

    This report presents the results of engineering scale dust control experiments using soil fixative for contamination control during handling of transuranic waste. These experiments focused on controlling dust during retrieval operations of buried waste where waste and soil are intimately mixed. Sources of dust generation during retrieval operations include digging, dumping, and vehicle traffic. Because contaminants are expected to attach to soil particles and move with the generated dust, control of the dust spread may be the key to contamination control. Dust control techniques examined in these experiments include the use of soil fixatives to control generation of fugitive dusts during vehicle traffic operations. Previous experiments conducted in FY 1990 included testing of the soil fixative, ENTAC. These experiments showed that ENTAC was effective in controlling dust generation but had several undesirable properties such as slow cure times and clogged the pumps and application nozzles. Therefore, other products would have to be evaluated to find a suitable candidate. As a result, two soil fixatives were tested in these present experiments, COHEREX-PM, an asphalt emulsion product manufactured by Witco Corporation and FLAMBINDER, a calcium lignosulfonate product manufactured by Flambeau Corporation. The results of the experiments include product performance and recommended application methods for application in a field deployable contamination control unit to be built in FY 1993

  8. Distribution of soil selenium in China is potentially controlled by deposition and volatilization?

    Sun, Guo-Xin; Meharg, Andrew A.; Li, Gang; Chen, Zheng; Yang, Lei; Chen, Song-Can; Zhu, Yong-Guan

    2016-02-01

    Elucidating the environmental drivers of selenium (Se) spatial distribution in soils at a continental scale is essential to better understand it’s biogeochemical cycling to improve Se transfer into diets. Through modelling Se biogeochemistry in China we found that deposition and volatilization are key factors controlling distribution in surface soil, rather than bedrock-derived Se (balance in other terrestrial environments worldwide.

  9. Development of a desiccated cadaver delivery system to apply entomopathogenic nematodes for control of soil pests

    Pentomopathogenic nematodes may be more capable of controlling soil pests when they are harbored by desiccated cadavers. A small-scale system was developed from a modified crop seed planter to effectively deliver desiccated nematode-infected cadavers into the soil. The system mainly consists of a me...

  10. Possibility of environmentally-safe casing soil disinfection for control of cobweb disease of button mushroom

    Potočnik Ivana; Rekanović Emil; Stepnović Miloš; Milijašević-Marčić Svetlana; Todorović Biljana; Nikolić-Bujanović Ljiljana; Čekerevac Milan

    2014-01-01

    The soil-borne pathogen Cladobotryum dendroides causes cobweb disease of button mushroom (Agaricus bisporus) and its significant yield losses. Casing soil disinfection by toxic formaldehyde is a widespread practice. The aim of this study was to investigate the potential of two environmentally friendly substances, colloidal silver and peracetic acid, against C. dendroides. Their biological efficacy (impact on mushroom yield), effectiveness (disease control) ...

  11. Soils

    Freudenschuss, A.; Huber, S.; Riss, A.; Schwarz, S.; Tulipan, M.

    2001-01-01

    For Austria there exists a comprehensive soil data collection, integrated in a GIS (geographical information system). The content values of pollutants (cadmium, mercury, lead, copper, mercury, radio-cesium) are given in geographical charts and in tables by regions and by type of soil (forests, agriculture, greenland, others) for the whole area of Austria. Erosion effects are studied for the Austrian region. Legal regulations and measures for an effective soil protection, reduction of soil degradation and sustainable development in Austria and the European Union are discussed. (a.n.)

  12. A pneumatically powered knee-ankle-foot orthosis (KAFO with myoelectric activation and inhibition

    Ferris Daniel P

    2009-06-01

    Full Text Available Abstract Background The goal of this study was to test the mechanical performance of a prototype knee-ankle-foot orthosis (KAFO powered by artificial pneumatic muscles during human walking. We had previously built a powered ankle-foot orthosis (AFO and used it effectively in studies on human motor adaptation, locomotion energetics, and gait rehabilitation. Extending the previous AFO to a KAFO presented additional challenges related to the force-length properties of the artificial pneumatic muscles and the presence of multiple antagonistic artificial pneumatic muscle pairs. Methods Three healthy males were fitted with custom KAFOs equipped with artificial pneumatic muscles to power ankle plantar flexion/dorsiflexion and knee extension/flexion. Subjects walked over ground at 1.25 m/s under four conditions without extensive practice: 1 without wearing the orthosis, 2 wearing the orthosis with artificial muscles turned off, 3 wearing the orthosis activated under direct proportional myoelectric control, and 4 wearing the orthosis activated under proportional myoelectric control with flexor inhibition produced by leg extensor muscle activation. We collected joint kinematics, ground reaction forces, electromyography, and orthosis kinetics. Results The KAFO produced ~22%–33% of the peak knee flexor moment, ~15%–33% of the peak extensor moment, ~42%–46% of the peak plantar flexor moment, and ~83%–129% of the peak dorsiflexor moment during normal walking. With flexor inhibition produced by leg extensor muscle activation, ankle (Pearson r-value = 0.74 ± 0.04 and knee ( r = 0.95 ± 0.04 joint kinematic profiles were more similar to the without orthosis condition compared to when there was no flexor inhibition (r = 0.49 ± 0.13 for ankle, p = 0.05, and r = 0.90 ± 0.03 for knee, p = 0.17. Conclusion The proportional myoelectric control with flexor inhibition allowed for a more normal gait than direct proportional myoelectric control. The current

  13. A pneumatically powered knee-ankle-foot orthosis (KAFO) with myoelectric activation and inhibition

    Sawicki, Gregory S; Ferris, Daniel P

    2009-01-01

    Background The goal of this study was to test the mechanical performance of a prototype knee-ankle-foot orthosis (KAFO) powered by artificial pneumatic muscles during human walking. We had previously built a powered ankle-foot orthosis (AFO) and used it effectively in studies on human motor adaptation, locomotion energetics, and gait rehabilitation. Extending the previous AFO to a KAFO presented additional challenges related to the force-length properties of the artificial pneumatic muscles and the presence of multiple antagonistic artificial pneumatic muscle pairs. Methods Three healthy males were fitted with custom KAFOs equipped with artificial pneumatic muscles to power ankle plantar flexion/dorsiflexion and knee extension/flexion. Subjects walked over ground at 1.25 m/s under four conditions without extensive practice: 1) without wearing the orthosis, 2) wearing the orthosis with artificial muscles turned off, 3) wearing the orthosis activated under direct proportional myoelectric control, and 4) wearing the orthosis activated under proportional myoelectric control with flexor inhibition produced by leg extensor muscle activation. We collected joint kinematics, ground reaction forces, electromyography, and orthosis kinetics. Results The KAFO produced ~22%–33% of the peak knee flexor moment, ~15%–33% of the peak extensor moment, ~42%–46% of the peak plantar flexor moment, and ~83%–129% of the peak dorsiflexor moment during normal walking. With flexor inhibition produced by leg extensor muscle activation, ankle (Pearson r-value = 0.74 ± 0.04) and knee ( r = 0.95 ± 0.04) joint kinematic profiles were more similar to the without orthosis condition compared to when there was no flexor inhibition (r = 0.49 ± 0.13 for ankle, p = 0.05, and r = 0.90 ± 0.03 for knee, p = 0.17). Conclusion The proportional myoelectric control with flexor inhibition allowed for a more normal gait than direct proportional myoelectric control. The current orthosis design

  14. Litter decay controlled by temperature, not soil properties, affecting future soil carbon.

    Gregorich, Edward G; Janzen, Henry; Ellert, Benjamin H; Helgason, Bobbi L; Qian, Budong; Zebarth, Bernie J; Angers, Denis A; Beyaert, Ronald P; Drury, Craig F; Duguid, Scott D; May, William E; McConkey, Brian G; Dyck, Miles F

    2017-04-01

    Widespread global changes, including rising atmospheric CO 2 concentrations, climate warming and loss of biodiversity, are predicted for this century; all of these will affect terrestrial ecosystem processes like plant litter decomposition. Conversely, increased plant litter decomposition can have potential carbon-cycle feedbacks on atmospheric CO 2 levels, climate warming and biodiversity. But predicting litter decomposition is difficult because of many interacting factors related to the chemical, physical and biological properties of soil, as well as to climate and agricultural management practices. We applied 13 C-labelled plant litter to soil at ten sites spanning a 3500-km transect across the agricultural regions of Canada and measured its decomposition over five years. Despite large differences in soil type and climatic conditions, we found that the kinetics of litter decomposition were similar once the effect of temperature had been removed, indicating no measurable effect of soil properties. A two-pool exponential decay model expressing undecomposed carbon simply as a function of thermal time accurately described kinetics of decomposition. (R 2  = 0.94; RMSE = 0.0508). Soil properties such as texture, cation exchange capacity, pH and moisture, although very different among sites, had minimal discernible influence on decomposition kinetics. Using this kinetic model under different climate change scenarios, we projected that the time required to decompose 50% of the litter (i.e. the labile fractions) would be reduced by 1-4 months, whereas time required to decompose 90% of the litter (including recalcitrant fractions) would be reduced by 1 year in cooler sites to as much as 2 years in warmer sites. These findings confirm quantitatively the sensitivity of litter decomposition to temperature increases and demonstrate how climate change may constrain future soil carbon storage, an effect apparently not influenced by soil properties. © 2016 Her Majesty

  15. Estimation of Physical Human-Robot Interaction Using Cost-Effective Pneumatic Padding

    André Wilkening

    2016-08-01

    Full Text Available The idea to use a cost-effective pneumatic padding for sensing of physical interaction between a user and wearable rehabilitation robots is not new, but until now there has not been any practical relevant realization. In this paper, we present a novel method to estimate physical human-robot interaction using a pneumatic padding based on artificial neural networks (ANNs. This estimation can serve as rough indicator of applied forces/torques by the user and can be applied for visual feedback about the user’s participation or as additional information for interaction controllers. Unlike common mostly very expensive 6-axis force/torque sensors (FTS, the proposed sensor system can be easily integrated in the design of physical human-robot interfaces of rehabilitation robots and adapts itself to the shape of the individual patient’s extremity by pressure changing in pneumatic chambers, in order to provide a safe physical interaction with high user’s comfort. This paper describes a concept of using ANNs for estimation of interaction forces/torques based on pressure variations of eight customized air-pad chambers. The ANNs were trained one-time offline using signals of a high precision FTS which is also used as reference sensor for experimental validation. Experiments with three different subjects confirm the functionality of the concept and the estimation algorithm.

  16. An instrumented object for hand exercise and assessment using a pneumatic pressure sensor

    Mohan, A.; Tharion, G.; Kumar, R. K.; Devasahayam, S. R.

    2018-05-01

    Measurement of grip force is important for both exercise training and assessment of the hand during physical rehabilitation. The standard method uses a grip dynamometer which measures the force between the fingers and opposing thumb. The primary limitation of the grip dynamometer is the restriction of measurement to cylindrical grasps. Any deformation of the hand due to muscular or skeletal disease makes the grip dynamometer difficult or impossible to use. An alternative to the grip dynamometer is a sealed pneumatic object that can be gripped by the hand. Measurement of the internal pressure in the object can be related to the grip force. In this paper, we analyze such a pneumatic pressure sensing object for hand grip assessment and also describe an easy fabrication of the grip sensor. The instrumented object presented in this paper is designed to assess both the maximal voluntary grip forces and continuous grip force to monitor control of hand function during exercise under instruction from a therapist. Potential uses of such a pneumatic pressure sensing object for hand grip are in physical rehabilitation of patients following paralysing illnesses like stroke and spinal cord injury.

  17. Baking Powder Actuated Centrifugo-Pneumatic Valving for Automation of Multi-Step Bioassays

    David J. Kinahan

    2016-10-01

    Full Text Available We report a new flow control method for centrifugal microfluidic systems; CO2 is released from on-board stored baking powder upon contact with an ancillary liquid. The elevated pressure generated drives the sample into a dead-end pneumatic chamber sealed by a dissolvable film (DF. This liquid incursion wets and dissolves the DF, thus opening the valve. The activation pressure of the DF valve can be tuned by the geometry of the channel upstream of the DF membrane. Through pneumatic coupling with properly dimensioned disc architecture, we established serial cascading of valves, even at a constant spin rate. Similarly, we demonstrate sequential actuation of valves by dividing the disc into a number of distinct pneumatic chambers (separated by DF membranes. Opening these DFs, typically through arrival of a liquid to that location on a disc, permits pressurization of these chambers. This barrier-based scheme provides robust and strictly ordered valve actuation, which is demonstrated by the automation of a multi-step/multi-reagent DNA-based hybridization assay.

  18. Utilization of air pollution control residues for the stabilization/solidification of trace element contaminated soil.

    Travar, I; Kihl, A; Kumpiene, J

    2015-12-01

    The aim of this study was to evaluate the stabilization/solidification (S/S) of trace element-contaminated soil using air pollution control residues (APCRs) prior to disposal in landfill sites. Two soil samples (with low and moderate concentrations of organic matter) were stabilized using three APCRs that originated from the incineration of municipal solid waste, bio-fuels and a mixture of coal and crushed olive kernels. Two APCR/soil mixtures were tested: 30% APCR/70% soil and 50% APCR/50% soil. A batch leaching test was used to study immobilization of As and co-occurring metals Cr, Cu, Pb and Zn. Solidification was evaluated by measuring the unconfined compression strength (UCS). Leaching of As was reduced by 39-93% in APCR/soil mixtures and decreased with increased amounts of added APCR. Immobilization of As positively correlated with the amount of Ca in the APCR and negatively with the amount of soil organic matter. According to geochemical modelling, the precipitation of calcium arsenate (Ca3(AsO4)2/4H2O) and incorporation of As in ettringite (Ca6Al2(SO4)3(OH)12 · 26H2O) in soil/APCR mixtures might explain the reduced leaching of As. A negative effect of the treatment was an increased leaching of Cu, Cr and dissolved organic carbon. Solidification of APCR/soil was considerably weakened by soil organic matter.

  19. Major controlling factors and predictions for cadmium transfer from the soil into spinach plants.

    Liang, Zhenfei; Ding, Qiong; Wei, Dongpu; Li, Jumei; Chen, Shibao; Ma, Yibing

    2013-07-01

    Predicting the mobility, bioavailability and transfer of cadmium (Cd) in the soil-plant system is of great importance with regards to food safety and environmental management. In this study, the transfer characteristics of Cd (exogenous salts) from a wide range of Chinese soils to spinach (Spinacia oleracea L.) were investigated. The major controlling factors and prediction equations for Cd transfer in the soil-plant system were also investigated. The results showed that plant Cd concentration was positively correlated with soil Cd concentration. The maximum transfer factor (ratio of the Cd concentration in the plant to that in the soil) was found in acid soils. The extended Freundlich-type function was able to describe the Cd transfer from soil to spinach plants. Combining soil total Cd, pH and organic carbon (OC) content in the prediction equation greatly improved the correlation performance compared with predictions based on total Cd only. A slight protection effect of OC on Cd uptake was observed at low soil Cd concentrations. The results are a useful tool that can be used to predict Cd transfer from soil to plant. Copyright © 2013 Elsevier Inc. All rights reserved.

  20. Winter climate controls soil carbon dynamics during summer in boreal forests

    Haei, Mahsa; Öquist, Mats G; Ilstedt, Ulrik; Laudon, Hjalmar; Kreyling, Juergen

    2013-01-01

    Boreal forests, characterized by distinct winter seasons, store a large proportion of the global terrestrial carbon (C) pool. We studied summer soil C-dynamics in a boreal forest in northern Sweden using a seven-year experimental manipulation of soil frost. We found that winter soil climate conditions play a major role in controlling the dissolution/mineralization of soil organic-C in the following summer season. Intensified soil frost led to significantly higher concentrations of dissolved organic carbon (DOC). Intensified soil frost also led to higher rates of basal heterotrophic CO 2 production in surface soil samples. However, frost-induced decline in the in situ soil CO 2 concentrations in summer suggests a substantial decline in root and/or plant associated rhizosphere CO 2 production, which overrides the effects of increased heterotrophic CO 2 production. Thus, colder winter soils, as a result of reduced snow cover, can substantially alter C-dynamics in boreal forests by reducing summer soil CO 2 efflux, and increasing DOC losses. (letter)

  1. Development of a 3D parallel mechanism robot arm with three vertical-axial pneumatic actuators combined with a stereo vision system.

    Chiang, Mao-Hsiung; Lin, Hao-Ting

    2011-01-01

    This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot's end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H(∞) tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to

  2. Controlled soil warming powered by alternative energy for remote field sites.

    Johnstone, Jill F; Henkelman, Jonathan; Allen, Kirsten; Helgason, Warren; Bedard-Haughn, Angela

    2013-01-01

    Experiments using controlled manipulation of climate variables in the field are critical for developing and testing mechanistic models of ecosystem responses to climate change. Despite rapid changes in climate observed in many high latitude and high altitude environments, controlled manipulations in these remote regions have largely been limited to passive experimental methods with variable effects on environmental factors. In this study, we tested a method of controlled soil warming suitable for remote field locations that can be powered using alternative energy sources. The design was tested in high latitude, alpine tundra of southern Yukon Territory, Canada, in 2010 and 2011. Electrical warming probes were inserted vertically in the near-surface soil and powered with photovoltaics attached to a monitoring and control system. The warming manipulation achieved a stable target warming of 1.3 to 2 °C in 1 m(2) plots while minimizing disturbance to soil and vegetation. Active control of power output in the warming plots allowed the treatment to closely match spatial and temporal variations in soil temperature while optimizing system performance during periods of low power supply. Active soil heating with vertical electric probes powered by alternative energy is a viable option for remote sites and presents a low-disturbance option for soil warming experiments. This active heating design provides a valuable tool for examining the impacts of soil warming on ecosystem processes.

  3. Controlled soil warming powered by alternative energy for remote field sites.

    Jill F Johnstone

    Full Text Available Experiments using controlled manipulation of climate variables in the field are critical for developing and testing mechanistic models of ecosystem responses to climate change. Despite rapid changes in climate observed in many high latitude and high altitude environments, controlled manipulations in these remote regions have largely been limited to passive experimental methods with variable effects on environmental factors. In this study, we tested a method of controlled soil warming suitable for remote field locations that can be powered using alternative energy sources. The design was tested in high latitude, alpine tundra of southern Yukon Territory, Canada, in 2010 and 2011. Electrical warming probes were inserted vertically in the near-surface soil and powered with photovoltaics attached to a monitoring and control system. The warming manipulation achieved a stable target warming of 1.3 to 2 °C in 1 m(2 plots while minimizing disturbance to soil and vegetation. Active control of power output in the warming plots allowed the treatment to closely match spatial and temporal variations in soil temperature while optimizing system performance during periods of low power supply. Active soil heating with vertical electric probes powered by alternative energy is a viable option for remote sites and presents a low-disturbance option for soil warming experiments. This active heating design provides a valuable tool for examining the impacts of soil warming on ecosystem processes.

  4. Soft pneumatic actuator skin with piezoelectric sensors for vibrotactile feedback

    Harshal Arun Sonar

    2016-01-01

    Full Text Available The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid surfaces. Although there has been various research efforts in creating tactile feedback to improve various haptic interfaces and master-slave manipulators, we are yet to see a comprehensive device that can both supply vibratory actuation and tactile sensing. This paper describes a soft pneumatic actuator (SPA based, SPA-skin prototype that allows bidirectional tactile information transfer to facilitate simpler and responsive wearable interface. We describe the design and fabrication of a 1.4 mm-thick vibratory SPA - skin that is integrated with piezoelectric sensors. We examine in detail the mechanical performance compared to the SPA model and the sensitivity of the sensors for the application in vibrotactile feedback. Experimental findings show that this ultra-thin SPA and the unique integration process of the discrete lead zirconate titanate (PZT based piezoelectric sensors achieve high resolution of soft contact sensing as well as accurate control on vibrotactile feedback by closing the control loop.

  5. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement

    Fischer, Gregory S.; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; DiMaio, Simon P.; Tempany, Clare M.; Hata, Nobuhiko; Fichtinger, Gabor

    2010-01-01

    Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. However, the benefits cannot be readily harnessed for interventional procedures due to difficulties that surround the use of high-field (1.5T or greater) MRI. The inability to use conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intraprostatic needle placement inside closed high-field MRI scanners. MRI compatibility of the robot has been evaluated under 3T MRI using standard prostate imaging sequences and average SNR loss is limited to 5%. Needle alignment accuracy of the robot under servo pneumatic control is better than 0.94 mm rms per axis. The complete system workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the robot mechanism and controller design, the system integration, and presents results of preliminary evaluation of the system. PMID:21057608

  6. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement.

    Fischer, Gregory S; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Dimaio, Simon P; Tempany, Clare M; Hata, Nobuhiko; Fichtinger, Gabor

    2008-06-01

    Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. However, the benefits cannot be readily harnessed for interventional procedures due to difficulties that surround the use of high-field (1.5T or greater) MRI. The inability to use conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intraprostatic needle placement inside closed high-field MRI scanners. MRI compatibility of the robot has been evaluated under 3T MRI using standard prostate imaging sequences and average SNR loss is limited to 5%. Needle alignment accuracy of the robot under servo pneumatic control is better than 0.94 mm rms per axis. The complete system workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the robot mechanism and controller design, the system integration, and presents results of preliminary evaluation of the system.

  7. Erosion and Soil Contamination Control Using Coconut Flakes And Plantation Of Centella Asiatica And Chrysopogon Zizanioides

    Roslan, Rasyikin; Che Omar, Rohayu; Nor Zuliana Baharuddin, Intan; Zulkarnain, M. S.; Hanafiah, M. I. M.

    2016-11-01

    Land degradation in Malaysia due to water erosion and water logging cause of loss of organic matter, biodiversity and slope instability but also land are contaminated with heavy metals. Various alternative such as physical remediation are use but it not showing the sustainability in term of environmental sustainable. Due to that, erosion and soil contamination control using coconut flakes and plantation of Centella asiatica and Chrysopogon zizanioides are use as alternative approach for aid of sophisticated green technology known as phytoremediation and mycoremediation. Soil from cabonaceous phyllite located near to Equine Park, Sri Kembangan are use for monitoring the effect of phytoremediation and mycoremediation in reducing soil contamination and biotechnology for erosion control. Five laboratory scale prototypes were designed to monitor the effect of different proportion of coconut flakes i.e. 10%, 25%, 50% & 100% and plantation of Centella asiatica and Chrysopogon zizanioides to reduce the top soil from eroding and reduce the soil contamination. Prototype have been observe started from first week and ends after 12 weeks. Centella asiatica planted on 10% coconut flakes with 90% soil and Chrysopogon zizanioides planted on 25% coconut flakes with 75% soil are selected proportion to be used as phytoremediation and mycoremediation in reducing soil contamination and biotechnology for erosion control.

  8. Ionomics: Genes and QTLs controlling heavy metal uptake in perennial grasses grown on phytoxic soil

    Perennial grasses occupy diverse soils throughout the world, including many sites contaminated with heavy metals. Uncovering the genetic architecture of QTLs controlling mineral homoeostasis is critical for understanding the biochemical pathways that determine the elemental profiles of perennial pl...

  9. Soil water regulates the control of photosynthesis on diel hysteresis between soil respiration and temperature in a desert shrubland

    Wang, Ben; Zha, Tian Shan; Jia, Xin; Gong, Jin Nan; Bourque, Charles; Feng, Wei; Tian, Yun; Wu, Bin; Qing Zhang, Yu; Peltola, Heli

    2017-09-01

    Explanations for the occurrence of hysteresis (asynchronicity) between diel soil respiration (Rs) and soil temperature (Ts) have evoked both biological and physical mechanisms. The specifics of these explanations, however, tend to vary with the particular ecosystem or biome being investigated. So far, the relative degree of control of biological and physical processes on hysteresis is not clear for drylands. This study examined the seasonal variation in diel hysteresis and its biological control in a desert-shrub ecosystem in northwest (NW) China. The study was based on continuous measurements of Rs, air temperature (Ta), temperature at the soil surface and below (Tsurf and Ts), volumetric soil water content (SWC), and photosynthesis in a dominant desert shrub (i.e., Artemisia ordosica) over an entire year in 2013. Trends in diel Rs were observed to vary with SWC over the growing season (April to October). Diel variations in Rs were more closely associated with variations in Tsurf than with photosynthesis as SWC increased, leading to Rs being in phase with Tsurf, particularly when SWC > 0.08 m3 m-3 (ratio of SWC to soil porosity = 0.26). However, as SWC decreased below 0.08 m3 m-3, diel variations in Rs were more closely related to variations in photosynthesis, leading to pronounced hysteresis between Rs and Tsurf. Incorporating photosynthesis into a Q10-function eliminated 84.2 % of the observed hysteresis, increasing the overall descriptive capability of the function. Our findings highlight a high degree of control by photosynthesis and SWC in regulating seasonal variation in diel hysteresis between Rs and temperature.

  10. Pneumatic retinopexy versus scleral buckle for repairing simple rhegmatogenous retinal detachments.

    Hatef, Elham; Sena, Dayse F; Fallano, Katherine A; Crews, Jonathan; Do, Diana V

    2015-05-07

    Rhegmatogenous retinal detachment (RRD) is a full-thickness break in the sensory retina, caused by vitreous traction on the retina. While pneumatic retinopexy, scleral buckle, and vitrectomy are the accepted surgical interventions for eyes with RRD, their relative effectiveness has remained controversial.  The objectives of this review were to assess the effectiveness and safety of pneumatic retinopexy versus scleral buckle or pneumatic retinopexy versus a combination treatment of scleral buckle and vitrectomy for people with RRD. The secondary objectives were to summarize any data on economic measures and quality of life. We searched CENTRAL (which contains the Cochrane Eyes and Vision Group Trials Register) (2014, Issue 12), Ovid MEDLINE, Ovid MEDLINE In-Process and Other Non-Indexed Citations, Ovid MEDLINE Daily, Ovid OLDMEDLINE (January 1946 to January 2015), EMBASE (January 1980 to January 2015), Latin American and Caribbean Health Sciences Literature Database (LILACS) (January 1982 to January 2015), the ISRCTN registry (www.isrctn.com/editAdvancedSearch), ClinicalTrials.gov (www.clinicaltrials.gov) and the World Health Organization (WHO) International Clinical Trials Registry Platform (ICTRP) (www.who.int/ictrp/search/en). We did not use any date or language restrictions in the electronic searches for trials. We last searched the electronic databases on 13 January 2015. We included all randomized or quasi-randomized controlled trials comparing the effectiveness of pneumatic retinopexy versus scleral buckle (with or without vitrectomy) for eyes with RRD. After screening for eligibility, two review authors independently extracted study characteristics, methods, and outcomes. We followed systematic review standards as set forth by The Cochrane Collaboration. We included two randomized controlled trials (218 eyes of 216 participants) comparing the effectiveness of pneumatic retinopexy versus scleral buckle for eyes with RRD. We identified no studies

  11. Reversible thermo-pneumatic valves on centrifugal microfluidic platforms.

    Aeinehvand, Mohammad Mahdi; Ibrahim, Fatimah; Harun, Sulaiman Wadi; Kazemzadeh, Amin; Rothan, Hussin A; Yusof, Rohana; Madou, Marc

    2015-08-21

    Centrifugal microfluidic systems utilize a conventional spindle motor to automate parallel biochemical assays on a single microfluidic disk. The integration of complex, sequential microfluidic procedures on these platforms relies on robust valving techniques that allow for the precise control and manipulation of fluid flow. The ability of valves to consistently return to their former conditions after each actuation plays a significant role in the real-time manipulation of fluidic operations. In this paper, we introduce an active valving technique that operates based on the deflection of a latex film with the potential for real-time flow manipulation in a wide range of operational spinning speeds. The reversible thermo-pneumatic valve (RTPV) seals or reopens an inlet when a trapped air volume is heated or cooled, respectively. The RTPV is a gas-impermeable valve composed of an air chamber enclosed by a latex membrane and a specially designed liquid transition chamber that enables the efficient usage of the applied thermal energy. Inputting thermo-pneumatic (TP) energy into the air chamber deflects the membrane into the liquid transition chamber against an inlet, sealing it and thus preventing fluid flow. From this point, a centrifugal pressure higher than the induced TP pressure in the air chamber reopens the fluid pathway. The behaviour of this newly introduced reversible valving system on a microfluidic disk is studied experimentally and theoretically over a range of rotational frequencies from 700 RPM to 2500 RPM. Furthermore, adding a physical component (e.g., a hemispherical rubber element) to induce initial flow resistance shifts the operational range of rotational frequencies of the RTPV to more than 6000 RPM. An analytical solution for the cooling of a heated RTPV on a spinning disk is also presented, which highlights the need for the future development of time-programmable RTPVs. Moreover, the reversibility and gas impermeability of the RTPV in the

  12. Dynamic contraction behaviour of pneumatic artificial muscle

    Doumit, Marc D.; Pardoel, Scott

    2017-07-01

    The development of a dynamic model for the Pneumatic Artificial Muscle (PAM) is an imperative undertaking for understanding and analyzing the behaviour of the PAM as a function of time. This paper proposes a Newtonian based dynamic PAM model that includes the modeling of the muscle geometry, force, inertia, fluid dynamic, static and dynamic friction, heat transfer and valve flow while ignoring the effect of bladder elasticity. This modeling contribution allows the designer to predict, analyze and optimize PAM performance prior to its development. Thus advancing successful implementations of PAM based powered exoskeletons and medical systems. To date, most muscle dynamic properties are determined experimentally, furthermore, no analytical models that can accurately predict the muscle's dynamic behaviour are found in the literature. Most developed analytical models adequately predict the muscle force in static cases but neglect the behaviour of the system in the transient response. This could be attributed to the highly challenging task of deriving such a dynamic model given the number of system elements that need to be identified and the system's highly non-linear properties. The proposed dynamic model in this paper is successfully simulated through MATLAB programing and validated the pressure, contraction distance and muscle temperature with experimental testing that is conducted with in-house built prototype PAM's.

  13. Thermo-pneumatic canning; Le gainage thermopneumatique

    Gauthron, M [Commissariat a l' Energie Atomique, Saclay (France). Centre d' Etudes Nucleaires

    1958-07-01

    In the thermo-pneumatic canning, the fuel is enclosed in its can with a clearance that must be reduced by external heated gas pressure. The principal applications are: a) binding magnesium cans on to uranium in fuel elements of reactors cooled by CO{sub 2} under pressure, b) application of a can to a hollow bar of uranium too thin to resist the pressure of cold hydraulic canning, c) application of an aluminium can to a bar, with an initial diametrical clearance between uranium and can too great to sustain cold hydraulic canning without buckling, d) detection of major leakage in the slugs. (author) [French] Ce procede consiste a appliquer une gaine sur une barre d'uranium par pression hydrostatique d'un gaz chaud. Les principales applications sont: a) le frettage des gaines de magnesium des elements combustibles des piles refroidies au CO{sub 2} sous pression, b) le gainage d'un barreau creux qui serait ecrase a froid, c) le gainage avec un jeu initial trop fort pour etre effectue a froid sans plisser, d) la detection des fuites de cartouches. (auteur)

  14. Estimating soil erosion risk and evaluating erosion control measures for soil conservation planning at Koga watershed in the highlands of Ethiopia

    Molla, Tegegne; Sisheber, Biniam

    2017-01-01

    Soil erosion is one of the major factors affecting sustainability of agricultural production in Ethiopia. The objective of this paper is to estimate soil erosion using the universal soil loss equation (RUSLE) model and to evaluate soil conservation practices in a data-scarce watershed region. For this purpose, soil data, rainfall, erosion control practices, satellite images and topographic maps were collected to determine the RUSLE factors. In addition, measurements of randomly selected soil and water conservation structures were done at three sub-watersheds (Asanat, Debreyakob and Rim). This study was conducted in Koga watershed at upper part of the Blue Nile basin which is affected by high soil erosion rates. The area is characterized by undulating topography caused by intensive agricultural practices with poor soil conservation practices. The soil loss rates were determined and conservation strategies have been evaluated under different slope classes and land uses. The results showed that the watershed is affected by high soil erosion rates (on average 42 t ha-1 yr-1), greater than the maximum tolerable soil loss (18 t ha-1 yr-1). The highest soil loss (456 t ha-1 yr-1) estimated from the upper watershed occurred on cultivated lands of steep slopes. As a result, soil erosion is mainly aggravated by land-use conflicts and topographic factors and the rugged topographic land forms of the area. The study also demonstrated that the contribution of existing soil conservation structures to erosion control is very small due to incorrect design and poor management. About 35 % out of the existing structures can reduce soil loss significantly since they were constructed correctly. Most of the existing structures were demolished due to the sediment overload, vulnerability to livestock damage and intense rainfall. Therefore, appropriate and standardized soil and water conservation measures for different erosion-prone land uses and land forms need to be implemented in Koga

  15. Effects of soil solarization and some amendments to control ...

    hope&shola

    2010-10-04

    Oct 4, 2010 ... plots were 44.4 and 37.4°C at 5 and 20 cm soil depth, respectively. ... and solarization with olive processing waste showed an increased recovery and .... At the onset of the study, shallow trenches were dug around each.

  16. The parameters controlling the strength of soil-steel structures

    Barkhordari, M. A.; Abdel-Sayed, G.

    2001-01-01

    The present paper examines the ultimate load carrying capacity of soil-steel structures taking into consideration the sequence of the developments of plastic hinges, their location, and their sustained plastic moment. Non-linear analysis has been conducted using a micro-computer program in which a structural model is applied with the soil replaced by normal and tangential springs acting at the nodal points of a polygon representing the conduit wall. A comparative study has been conducted for the parameters which affect the load carrying capacity of soil-steel structure, leading to the following conclusions: (1) the load carrying capacity of the composite structure is significantly affected by the shear stiffness (or friction) of the surrounding soil; (2) the conduit span may be used when calculating the buckling load rather than the local radius of the conduit wall; (3) circular arches with sector angle of less than 180 d eg have higher load carrying capacity than equivalent re-entrant arches, i.e. arches with sector angle of more than 180 d eg; (4) the buckling load of the conduit is slightly affected by the rigidity of the lower zone of the conduit wall; (5) eccentric application of the load has practically little effect on its load carrying capacity

  17. The Role of Soil Solarization in India: How an Unnoticed Practice Could Support Pest Control

    Harsimran K. Gill

    2017-09-01

    Full Text Available Plant protection represents one of the strategies to fill the yield gap and to achieve food security, a key topic for India development. Analysis of climate risks for crops indicates that South Asia is one of the regions most exposed to the adverse impact on many plants that are relevant to inhabitants exposed to food safety risks. Furthermore, accumulation of pesticide residues in the aquatic and other ecosystems is becoming a significant threat in India. These perspectives require to develop programs of crop protection that can be feasible according to Indian rural development and pollution policy. Here we review the research works done on soil solarization in India. Soil solarization (also called plasticulture is an eco-friendly soil disinfestations method for managing soil-borne plant pathogens. This is the process of trapping solar energy by moist soil covered with transparent polyethylene films and chemistry, biology and physical properties of soil are involved in pest control. So far, this technique is applied in more than 50 countries, mostly in hot and humid regions. India has 29 states and these states fall under five climatic zones, from humid to arid ones. We report pest management application in different climatic zones and their effects on production, weeds, nematodes, and pathogenic microorganisms. The analysis of soil temperatures and crop protection results indicate as environmental requirement for soil solarization fits in most of Indian rural areas. Soil solarization is compatible with future Indian scenarios and may support Indian national food security programs.

  18. Spatial variation in microbial processes controlling carbon mineralization within soils and sediments

    Fendorf, Scott [Stanford Univ., CA (United States); Kleber, Markus [Oregon State Univ., Corvallis, OR (United States); Nico, Peter [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

    2017-10-19

    Soils have a defining role in global carbon cycling, having one of the largest dynamic stocks of C on earth—3300 Pg of C are stored in soils, which is three-times the amount stored in the atmosphere and more than the terrestrial land plants. An important control on soil organic matter (SOM) quantities is the mineralization rate. It is well recognized that the rate and extent of SOM mineralization is affected by climatic factors and mineral-organic matter associations. What remained elusive is to what extent constraints on microbial metabolism induced by the respiratory pathway, and specifically the electron acceptor in respiration, control overall rates of carbon mineralization in soils. Therefore, physical factors limiting oxygen diffusion such as soil texture and aggregate size (soil structure) may therefore be central controls on C mineralization rates. The goal of our research was therefore to determine if variations in microbial metabolic rates induced by anaerobic microsites in soils are a major control on SOM mineralization rates and thus storage. We performed a combination of laboratory experiments and field investigations will be performed to fulfill our research objectives. We used laboratory studies to examine fundamental factors of respiratory constraints (i.e., electron acceptor) on organic matter mineralization rates. We ground our laboratory studies with both manipulation of field samples and in-field measurements. Selection of the field sites is guided by variation in soil texture and structure while having (other environmental/soil factors constant. Our laboratory studies defined redox gradients and variations in microbial metabolism operating at the aggregate-scale (cm-scale) within soils using a novel constructed diffusion reactor. We further examined micro-scale variation in terminal electron accepting processes and resulting C mineralization rates within re-packed soils. A major outcome of our research is the ability to quantitatively place

  19. Spatial patterns and controls of soil chemical weathering rates along a transient hillslope

    Yoo, K.; Mudd, S.M.; Sanderman, J.; Amundson, Ronald; Blum, A.

    2009-01-01

    Hillslopes have been intensively studied by both geomorphologists and soil scientists. Whereas geomorphologists have focused on the physical soil production and transport on hillslopes, soil scientists have been concerned with the topographic variation of soil geochemical properties. We combined these differing approaches and quantified soil chemical weathering rates along a grass covered hillslope in Coastal California. The hillslope is comprised of both erosional and depositional sections. In the upper eroding section, soil production is balanced by physical erosion and chemical weathering. The hillslope then transitions to a depositional slope where soil accumulates due to a historical reduction of channel incision at the hillslope's base. Measurements of hillslope morphology and soil thickness were combined with the elemental composition of the soil and saprolite, and interpreted through a process-based model that accounts for both chemical weathering and sediment transport. Chemical weathering of the minerals as they moved downslope via sediment transport imparted spatial variation in the geochemical properties of the soil. Inverse modeling of the field and laboratory data revealed that the long-term soil chemical weathering rates peak at 5 g m- 2 yr- 1 at the downslope end of the eroding section and decrease to 1.5 g m- 2 yr- 1 within the depositional section. In the eroding section, soil chemical weathering rates appear to be primarily controlled by the rate of mineral supply via colluvial input from upslope. In the depositional slope, geochemical equilibrium between soil water and minerals appeared to limit the chemical weathering rate. Soil chemical weathering was responsible for removing 6% of the soil production in the eroding section and 5% of colluvial influx in the depositional slope. These were among the lowest weathering rates reported for actively eroding watersheds, which was attributed to the parent material with low amount of weatherable

  20. Soil tillage conservation and its effect on erosion control, water management and carbon sequestration

    Rusu, Dr.; Gus, Dr.; Bogdan, Dr.; Moraru, Dr.; Pop, Dr.; Clapa, Dr.; Pop, Drd.

    2009-04-01

    fuel for preparing the germination bed. Presently it is necessary a change concerning the concept of conservation practices and a new approach regarding the control of erosion. The real conservation of soil must be expanded beyond the traditional understanding of soil erosion. The real soil conservation is represented by carbon management. We need to focus to another level concerning conservation by focusing on of soil quality. Carbon management is necessary for a complex of matters including soil, water management, field productivity, biological fuel and climatic change. Profound research is necessary in order to establish the carbon sequestration practices and their implementation impact.

  1. NK-1 Removable Cryogenic Shroud (A Study of the Bimba Pneumatic Cylinder)

    Anderson, K.; Stefanescu, D.

    2003-01-01

    The Mark 1 Cryostat requires a cryogenic shroud that must be retracted immediately before firing the NIF laser. This paper evaluates a pneumatic cylinder that has been chosen to open and close the shroud. After a variety of motion control and vacuum compatibility experiments, we concluded that the Bimba feedback control cylinder may be used to retract the shroud with certain modifications to its control system and additional rod seals. The Mark I Cryostat is a system that allows fielding of a wide range of targets on the National Ignition Facility (NIF). The purpose is to have a system with the capability of controlling the target temperature between ∼10 and 300 K. While in the Target Chamber, a shroud must cover the cooled targets. This shroud allows the cold target to be shielded from condensable residual gasses in the target chamber. The removable shroud may be cooled to 80 K to provide a radiant shield for the target from the room temperature target chamber. The shroud must remain over the target until approximately one second before shot time, and then retract on command, without inducing vibration into the target. An actuation system design, which removes the shroud, is constrained by the size limitations of the MK-1, the need to build from low-activation materials, the need to operate in a vacuum, and the need for high reliability. The scheme for retracting the shroud that they investigated was a pressurized air cylinder. The pneumatic cylinder tested in our experiments was built by the Bimba Manufacturing Company. We thought it would be suitable for shroud retraction because its manufacturer claimed that its motion was smooth, highly accurate, controllable and the appropriate size for our needs. The pneumatic cylinder moves a piston by changing the gas pressure in the two sections of the cylinder on either side of the piston. The cylinder also uses the piston as a voltage potentiometer to determine the current position of the piston. This voltage is then

  2. Pneumatic Adaptive Absorber: Mathematical Modelling with Experimental Verification

    Grzegorz Mikułowski

    2016-01-01

    Full Text Available Many of mechanical energy absorbers utilized in engineering structures are hydraulic dampers, since they are simple and highly efficient and have favourable volume to load capacity ratio. However, there exist fields of applications where a threat of toxic contamination with the hydraulic fluid contents must be avoided, for example, food or pharmacy industries. A solution here can be a Pneumatic Adaptive Absorber (PAA, which is characterized by a high dissipation efficiency and an inactive medium. In order to properly analyse the characteristics of a PAA, an adequate mathematical model is required. This paper proposes a concept for mathematical modelling of a PAA with experimental verification. The PAA is considered as a piston-cylinder device with a controllable valve incorporated inside the piston. The objective of this paper is to describe a thermodynamic model of a double chamber cylinder with gas migration between the inner volumes of the device. The specific situation considered here is that the process cannot be defined as polytropic, characterized by constant in time thermodynamic coefficients. Instead, the coefficients of the proposed model are updated during the analysis. The results of the experimental research reveal that the proposed mathematical model is able to accurately reflect the physical behaviour of the fabricated demonstrator of the shock absorber.

  3. Paper-based Pneumatic Locomotive Robot with Sticky Actuator

    Du Xiaohan

    2016-01-01

    Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.

  4. Effect of weed control methods on some soil properties of a newly ...

    Weed control constitutes a high percentage of the total field maintenance cost of newly planted cocoa. Soil samples were collected from an experiment that was designed to evaluate some weed control methods during cocoa establishment. The objective of the experiment was to assess the effect of the weed control ...

  5. Achalasia: pneumatic Dilation. Experience in a reference hospital

    Garzon, Martin; Farfan, Yezid; Molano, Juan; Rey, Mario; Martinez, Julian; Marulanda, Juan

    2005-01-01

    Chalasia has an incidence of 1:100.000. The therapy for achalasia, focus on reducing the pressure gradient across the LES, which can be achieved by forceful pneumatic dilation of the gastroesophageal junction, surgical myotomy or by pharmacological agents, injected endoscopically or taken orally. Pneumatic balloon dilation is regarded as the first-Line treatment, with an initial success rate of 85% to 90%. The objective of this study is to show our experience with pneumatic balloon dilation in the patients with diagnosis of achalasia from the hospital La Samaritana during a period from February 2002 to February 2005. Patients diagnosed with achalasia from the department of gastroenterology and endoscopy of the Hospital La Samaritana during period of February 2002 to February 2005 was included. Procedures were made in fluoroscopy room. The patients received intravenous sedation and analgesia. We used a Regiflex balloon, 3.5 cm diameter. Balloons were inflated with saline water and water-soluble contrast during one minute. We diagnosed 19 patients with achalasia during period from February 2002 to February 2005, 14 were females and 5 males (26%); we made pneumatic dilation in 11 patients (60%), 9 were females (82%) with mean age 38.9 years (ranged from 16 to 13 years). Three patients (21%) underwent once pneumatic dilation and the rest (8 patients) underwent twice (73%). We don't report any perforation. So far we have followed the patients ambulatory during period from 6 months to 2 years. We find recurrence one year after of the pneumatic dilation in a female patient 22 years old (9%). The pneumatic dilation as cost-effective therapy, with a good initial success, but in the longer the follow-up lower the success rate and low morbidity (4). We suggest making only two pneumatic dilations. Today, there isn't consensus on the optimal endoscopic dilation technique and we believe that the sedation must be included in this procedure. In the future, we need more comparative

  6. Influence of Uranium on Bacterial Communities: A Comparison of Natural Uranium-Rich Soils with Controls

    Mondani, Laure; Benzerara, Karim; Carrière, Marie; Christen, Richard; Mamindy-Pajany, Yannick; Février, Laureline; Marmier, Nicolas; Achouak, Wafa; Nardoux, Pascal; Berthomieu, Catherine; Chapon, Virginie

    2011-01-01

    This study investigated the influence of uranium on the indigenous bacterial community structure in natural soils with high uranium content. Radioactive soil samples exhibiting 0.26% - 25.5% U in mass were analyzed and compared with nearby control soils containing trace uranium. EXAFS and XRD analyses of soils revealed the presence of U(VI) and uranium-phosphate mineral phases, identified as sabugalite and meta-autunite. A comparative analysis of bacterial community fingerprints using denaturing gradient gel electrophoresis (DGGE) revealed the presence of a complex population in both control and uranium-rich samples. However, bacterial communities inhabiting uraniferous soils exhibited specific fingerprints that were remarkably stable over time, in contrast to populations from nearby control samples. Representatives of Acidobacteria, Proteobacteria, and seven others phyla were detected in DGGE bands specific to uraniferous samples. In particular, sequences related to iron-reducing bacteria such as Geobacter and Geothrix were identified concomitantly with iron-oxidizing species such as Gallionella and Sideroxydans. All together, our results demonstrate that uranium exerts a permanent high pressure on soil bacterial communities and suggest the existence of a uranium redox cycle mediated by bacteria in the soil. PMID:21998695

  7. Experimental investigation of the seismic control of a nonlinear soil-structure system using MR dampers

    Li, Hui; Wang, Jian

    2011-01-01

    This paper reports the results of an experimental study conducted to demonstrate the feasibility and capability of magnetorheological (MR) dampers commanded by a decentralized control algorithm for seismic control of nonlinear civil structures considering soil-structure interaction (SSI). A two-story reinforced concrete (RC) frame resting in a laminar soil container is employed as the test specimen, and two MR dampers equipped in the first story are used to mitigate the response of this frame subjected to various intensity seismic excitations. A hyperbolic tangent function is used to represent the hysteretic behavior of the MR damper and a decentralized control approach for commanding MR dampers is proposed and implemented in the shaking table tests. Only the response of the first story is feedback for control command calculation of the MR dampers. The results indicate that the MR damper can effectively reduce the response of the soil-structure system, even when the soil-structure system presents complex nonlinear hysteretic behavior. The robustness of the proposed decentralized control algorithm is validated through the shaking table tests on the soil-structure system with large uncertainty. The most interesting findings in this paper are that MR dampers not only mitigate the superstructure response, but also reduce the soil response, pile response and earth pressure on the pile foundation

  8. Mechanical implications of pneumatic neck vertebrae in sauropod dinosaurs

    Schwarz-Wings, Daniela; Meyer, Christian A.; Frey, Eberhard; Manz-Steiner, Hans-Rudolf; Schumacher, Ralf

    2010-01-01

    The pre-sacral vertebrae of most sauropod dinosaurs were surrounded by interconnected, air-filled diverticula, penetrating into the bones and creating an intricate internal cavity system within the vertebrae. Computational finite-element models of two sauropod cervical vertebrae now demonstrate the mechanical reason for vertebral pneumaticity. The analyses show that the structure of the cervical vertebrae leads to an even distribution of all occurring stress fields along the vertebrae, concentrated mainly on their external surface and the vertebral laminae. The regions between vertebral laminae and the interior part of the vertebral body including thin bony struts and septa are mostly unloaded and pneumatic structures are positioned in these regions of minimal stress. The morphology of sauropod cervical vertebrae was influenced by strongly segmented axial neck muscles, which require only small attachment areas on each vertebra, and pneumatic epithelia that are able to resorb bone that is not mechanically loaded. The interaction of these soft tissues with the bony tissue of the vertebrae produced lightweight, air-filled vertebrae in which most stresses were borne by the external cortical bone. Cervical pneumaticity was therefore an important prerequisite for neck enlargement in sauropods. Thus, we expect that vertebral pneumaticity in other parts of the body to have a similar role in enabling gigantism. PMID:19801376

  9. The ash in forest fire affected soils control the soil losses. Part 2. Current and future research challenges

    Pereira, Paulo; Cerdà, Artemi

    2013-04-01

    have implications on ash spatial distribution and if soil micro topography changes with time? What the factors that controls it? What it is the impact of ash in vegetation recuperation and the implications of this recover in ash spatial distribution? We need studies with better spatial and temporal resolution, especially in the immediate period after the fire, when the major spatial and temporal changes on ash distribution and impacts occur. Based on high level research conducted by Artemi Cerdà and others, our future research will be focused in these and other aspects in order to have a better knowledge about the impacts of ash on post-fire spatio-temporal erosion. Acknowledgements, Lithuanian Research Council. Project LITFIRE, Fire effects on Lithuanian soils and ecosystems (MIP-48/2011) and the research projects GL2008-02879/BTE and LEDDRA 243857. References Bodí, M., Mataix-Solera, J., Doerr, S., and Cerdà, A. 2011b. The wettability of ash from burned vegetation and its relationship to Mediterranean plant species type, burn severity and total organic carbon content. Geoderma, 160, 599-607. Cerdà, A. 1998a. Postfire dynamics of erosional processes under mediterranean climatic conditions. Z. Geomorphol., 42 (3) 373-398. Cerdà, A. 1998b. Changes in overland flow and infiltration after a rangeland fire in a Mediterranean scrubland.Hydrological Processes, 12, 1031-1042. Cerdà, A., and Doerr, S.H. 2008. The effect of ash and needle cover on surface runoff and erosion in the immediate post-fire period. Catena, 74, 256-263. Onda, Y., Dietrich W. E., and Booker, F. 2008. Evolution of overland flow after severe forest fire, Point Reyes, California, Catena, 72, 13-20. Pereira, P. Cerdà, A., Úbeda, X., Mataix-Solera, J. Arcenegui, V., Zavala, L. 2013. Modelling the impacts of wildfire on ash thickness in a short-term period, Land Degradation and Development, (In press) Pereira, P., Bodi. M., Úbeda, X., Cerdà, A., Mataix-Solera, J., Balfour, V, Woods, S. 2010. Las

  10. Development of an Upper Limb Power Assist System Using Pneumatic Actuators for Farming Lift-up Motion

    Yagi, Eiichi; Harada, Daisuke; Kobayashi, Masaaki

    A power assist system has lately attracted considerable attention to lifting-up an object without low back pain. We have been developing power assist systems with pneumatic actuators for the elbow and shoulder to farming support of lifting-up a bag of rice weighing 30kg. This paper describes the mechanism and control method of this power assist system. The pneumatic rotary actuator supports shoulder motion, and the air cylinder supports elbow motion. In this control method, the surface electromyogram(EMG) signals are used as input information of the controller. The joint support torques of human are calculated based on the antigravity term of necessary joint torques, which are estimated on the dynamics of a human approximated link model. The experimental results show the effectiveness of the proposed mechanism and control method of the power assist system.

  11. A new pneumatic suspension system with independent stiffness and ride height tuning capabilities

    Yin, Zhihong; Khajepour, Amir; Cao, Dongpu; Ebrahimi, Babak; Guo, Konghui

    2012-12-01

    This paper introduces a new pneumatic spring for vehicle suspension systems, allowing independent tuning of stiffness and ride height according to different vehicle operating conditions and driver preferences. The proposed pneumatic spring comprises a double-acting pneumatic cylinder, two accumulators and a tuning subsystem. This paper presents a detailed description of the pneumatic spring and its working principle. The mathematical model is established based on principles of thermo and fluid dynamics. An experimental setup has been designed and fabricated for testing and evaluating the proposed pneumatic spring. The analytical and experimental results confirm the capability of the new pneumatic spring system for independent tuning of stiffness and ride height. The mathematical model is verified and the capabilities of the pneumatic spring are further proved. It is concluded that this new pneumatic spring provides a more flexible suspension design alternative for meeting various conflicting suspension requirements for ride comfort and performance.

  12. Global controls on carbon storage in mangrove soils

    Rovai, André S.; Twilley, Robert R.; Castañeda-Moya, Edward; Riul, Pablo; Cifuentes-Jara, Miguel; Manrow-Villalobos, Marilyn; Horta, Paulo A.; Simonassi, José C.; Fonseca, Alessandra L.; Pagliosa, Paulo R.

    2018-06-01

    Global-scale variation in mangrove ecosystem properties has been explained using a conceptual framework linking geomorphological processes to distinct coastal environmental settings (CES) for nearly 50 years. However, these assumptions have not been empirically tested at the global scale. Here, we show that CES account for global variability in mangrove soil C:N:P stoichiometry and soil organic carbon (SOC) stocks. Using this ecogeomorphology framework, we developed a global model that captures variation in mangrove SOC stocks compatible with distinct CES. We show that mangrove SOC stocks have been underestimated by up to 50% (a difference of roughly 200 Mg ha-1) in carbonate settings and overestimated by up to 86% (around 400 Mg ha-1) in deltaic coastlines. Moreover, we provide information for 57 nations that currently lack SOC data, enabling these and other countries to develop or evaluate their blue carbon inventories.

  13. Mineralogical controls on microbial biomass accumulation on two tropical soils

    Block, K. A.; Pena, S. A.; Katz, A.; Gottlieb, P.; Volta, A.

    2017-12-01

    The characteristics of soil organic matter (SOM) generated by microbes and associated with minerals are not well defined. This information is critical to reducing uncertainty in climate models related to C cycling and ecosystem feedbacks. The resistance to degradation of mineral-associated SOM is influenced by aggregate structure, mineral chemistry and microbial community. In this work we examine the influence of mineral composition, including amorphous coatings on the biomass yield and aggregate structure through thermogravimetric analysis, X-ray diffraction and electron microscopy. Two soil organisms, Pseudomonas phaseolicola, and Streptomyces griseosporus, were each incubated over a 72-hour period in minimal media with the cultured under the same conditions. In all samples, approximately half of the sample mass loss occurred between 175 ºC - 375 ºC, which we attribute to biomolecules accumulated on the mineral surfaces. We observed a slightly larger mass loss in the Inceptisol than in the Oxisol, most of which corresponded to compounds that underwent pyrolysis at 300 ºC. HRTEM micrographs and TEM-EDS image maps showing the spatial relationship of microbial necromass to soil minerals will be reported.

  14. Microbial control on decomposition of radionuclides-containing oily waste in soil

    Selivanovskaya, Svetlana; Galitskaya, Polina

    2014-05-01

    The oily wastes are formed annually during extraction, refinement, and transportation of the oil and may cause pollution of the environment. These wastes contain different concentrations of waste oil (40-60%), waste water (30-90%), and mineral particles (5-40%). Some oily wastes also contain naturally occurring radionuclides which were incorporated by water that was pumped up with the oil. For assessment of the hazard level of waste treated soil, not only measurements of contaminants content are needed, because bioavailability of oily components varies with hydrocarbon type, and soil properties. As far as namely microbial communities control the decomposition of organic contaminants, biological indicators have become increasingly important in hazard assessment and the efficiency of remediation process. In this study the decomposition of radionuclides-containing oily waste by soil microbial communities were estimated. Waste samples collected at the Tikchonovskii petroleum production yard (Tatarstan, Russia) were mixed with Haplic greyzem soil at ratio 1:4 and incubated for 120 days. During incubation period, the total hydrocarbon content of the soil mixed with the waste reduced from 156 ± 48 g kg-1 to 54 ± 8 g kg-1 of soil. The concentrations of 226Ra and 232Th were found to be 643 ± 127, 254 ± 56 Bq kg-1 and not changed significantly during incubation. Waste application led to a soil microbial biomass carbon decrease in comparison to control (1.9 times after 1 day and 1.3 times after 120 days of incubation). Microbial respiration increased in the first month of incubation (up to 120% and 160% of control after 1 and 30 days, correspondingly) and decreased to the end of incubation period (74% of control after 120 days). Structure of bacterial community in soil and soil/waste mixture was estimated after 120 days of incubation using SSCP method. The band number decreased in contaminated soil in comparison to untreated soil. Besides, several new dominant DNA

  15. Mineralogical Controls over Carbon Storage and Residence Times in Grassland Soils

    Dwivedi, D.; Riley, W. J.; Torn, M. S.; Spycher, N.

    2014-12-01

    Globally, soil organic matter (SOM) contains approximately three times more carbon than the atmosphere and terrestrial vegetation contain combined. However, it is not well understood why some SOM persists for a long time while other SOM decomposes quickly. For future climate predictions, representing soil organic matter (SOM) dynamics accurately in Earth system models is essential. Soil minerals stabilize organic carbon in soil; however, there are gaps in our understanding of how soil mineralogy controls the quantity and turnover of long-residence-time organic carbon. To investigate the impact of soil mineralogy on SOM dynamics, we used a new model (Biotic and Abiotic Model of SOM—BAMS1 [Riley et al., 2014]) integrated with a three-dimensional, multiphase reactive transport solver (TOUGHREACT). The model represents bacterial and fungal activity, archetypal polymer and monomer carbon substrate groups, aqueous chemistry, gaseous diffusion, aqueous advection and diffusion, and adsorption and desorption processes. BAMS1 can predict bulk SOM and radiocarbon signatures without resorting to an arbitrary depth-dependent decline in SOM turnover rates. Results show a reasonable match between observed and simulated depth-resolved SOM and Δ14C in grassland ecosystems (soils formed on terraces south of Eureka, California, and the Central Chernozem Region of Russia) and were consistent with expectations of depth-resolved profiles of lignin content and fungi:aerobic bacteria ratios. Results also suggest that clay-mineral surface area and soil sorption coefficients constitute dominant controls over organic carbon stocks and residence times, respectively. Bibliography: Riley, W.J., F.M. Maggi, M. Kleber, M.S. Torn, J.Y. Tang, D. Dwivedi, and N. Guerry (2014), Long residence times of rapidly decomposable soil organic matter: application of a multi-phase, multi-component, and vertically resolved model (BAMS1) to soil carbon dynamics, Geoscientific Model Development, vol. 7, 1335

  16. Transgenic potatoes for potato cyst nematode control can replace pesticide use without impact on soil quality.

    Green, Jayne; Wang, Dong; Lilley, Catherine J; Urwin, Peter E; Atkinson, Howard J

    2012-01-01

    Current and future global crop yields depend upon soil quality to which soil organisms make an important contribution. The European Union seeks to protect European soils and their biodiversity for instance by amending its Directive on pesticide usage. This poses a challenge for control of Globodera pallida (a potato cyst nematode) for which both natural resistance and rotational control are inadequate. One approach of high potential is transgenically based resistance. This work demonstrates the potential in the field of a new transgenic trait for control of G. pallida that suppresses root invasion. It also investigates its impact and that of a second transgenic trait on the non-target soil nematode community. We establish that a peptide that disrupts chemoreception of nematodes without a lethal effect provides resistance to G. pallida in both a containment and a field trial when precisely targeted under control of a root tip-specific promoter. In addition we combine DNA barcoding and quantitative PCR to recognise nematode genera from soil samples without microscope-based observation and use the method for nematode faunal analysis. This approach establishes that the peptide and a cysteine proteinase inhibitor that offer distinct bases for transgenic plant resistance to G. pallida do so without impact on the non-target nematode soil community.

  17. Transgenic potatoes for potato cyst nematode control can replace pesticide use without impact on soil quality.

    Jayne Green

    Full Text Available Current and future global crop yields depend upon soil quality to which soil organisms make an important contribution. The European Union seeks to protect European soils and their biodiversity for instance by amending its Directive on pesticide usage. This poses a challenge for control of Globodera pallida (a potato cyst nematode for which both natural resistance and rotational control are inadequate. One approach of high potential is transgenically based resistance. This work demonstrates the potential in the field of a new transgenic trait for control of G. pallida that suppresses root invasion. It also investigates its impact and that of a second transgenic trait on the non-target soil nematode community. We establish that a peptide that disrupts chemoreception of nematodes without a lethal effect provides resistance to G. pallida in both a containment and a field trial when precisely targeted under control of a root tip-specific promoter. In addition we combine DNA barcoding and quantitative PCR to recognise nematode genera from soil samples without microscope-based observation and use the method for nematode faunal analysis. This approach establishes that the peptide and a cysteine proteinase inhibitor that offer distinct bases for transgenic plant resistance to G. pallida do so without impact on the non-target nematode soil community.

  18. Hip orthosis powered by pneumatic artificial muscle: voluntary activation in absence of myoelectrical signal.

    do Nascimento, Breno Gontijo; Vimieiro, Claysson Bruno Santos; Nagem, Danilo Alves Pinto; Pinotti, Marcos

    2008-04-01

    Powered orthosis is a special class of gait assist device that employs a mechanical or electromechanical actuator to enhance movement of hip, knee, or ankle articulations. Pneumatic artificial muscle (PAM) has been suggested as a pneumatic actuator because its performance is similar to biological muscle. The electromyography (EMG) signal interpretation is the most popular and simplest method to establish the patient voluntary control of the orthosis. However, this technique is not suitable for patients presenting neurological lesions causing absence or very low quality of EMG signal. For those cases, an alternative control strategy should be provided. The aim of the present study is to develop a gait assistance orthosis for lower limb powered by PAMs controlled by a voluntary activation method based on the angular behavior of hip joint. In the present study, an orthosis that has been molded in a patient was employed and, by taking her anthropometric parameters and movement constraints, the adaptation of the existing orthosis to the powered orthosis was planned. A control system was devised allowing voluntary control of a powered orthosis suitable for patients presenting neurological lesions causing absence or very low quality of EMG signal. A pilot clinical study was reported where a patient, victim of poliovirus, successfully tested a hip orthosis especially modified for the gait test evaluation in the parallel bar system. The hip orthosis design and the control circuitry parameters were able to be set to provide satisfactory and comfortable use of the orthosis during the gait cycle.

  19. Mobility of Cs137 and Sr90 in organic soils and its control

    Rovdan, E.

    2002-01-01

    In the management of the radionuclide contaminated areas and application of a countermeasure strategy for reduction of both the external and internal doses to the population it is extremely important to know the environmental mechanisms governing the behaviour of radionuclides in soil ecosystems. The purpose of work is to investigate by means of laboratory, field experiments and mathematical modelling the mechanisms and dynamics of radionuclide transfer in the organic soil to propose measures for control their mobility. The Chernobyl radionuclides behaviour was studied for ameliorated peat-mire soil (peat deposit Pogonyanskoye, 21 km off the ChNPP). To control the mobility of radionuclides in soils the characteristics of the migration and sorption of Cs 137 and Sr 90 in sedge peat, quartz sand, bentonite, kaolin, sapropel as well as the electrolytes impact upon the radionuclide behaviour have been experimentally investigated

  20. Effect of a controlled burn on the thermophysical properties of a dry soil using a new model of soil heat flow and a new high temperature heat flux sensor

    W. J. Massman; J. M. Frank

    2004-01-01

    Some fires can be beneficial to soils but, if a fire is sufficiently intense, soil can be irreversible altered. We measured soil temperatures and heat fluxes at several soil depths before, during, and after a controlled surface burn at Manitou Experimental Forest (southern Colorado, USA) to evaluate its effects on the soil's thermophysical properties (thermal...

  1. 46 CFR 108.409 - Location and spacing of tubing in pneumatic fire detection system.

    2010-10-01

    ... detection system. 108.409 Section 108.409 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED... and spacing of tubing in pneumatic fire detection system. (a) All tubing in a pneumatic fire detection... exposed in the space. (c) A pneumatic fire detection system must be set to activate after approximately a...

  2. Empirical Analysis of Pneumatic Tire Friction on Ice

    Holley, Troy Nigel

    2010-01-01

    Pneumatic tire friction on ice is an under-researched area of tire mechanics. This study covers the design and analysis of a series of pneumatic tire tests on a flat-level ice road surface. The terramechanics rig of the Advanced Vehicle Dynamics Lab (AVDL) is a single-wheel test rig that allows for the experimental analysis of the forces and moments on a tire, providing directly the data for the drawbar pull of said tire, thus supporting the calculation of friction based on this data. This...

  3. On the sample transport time of a pneumatic transfer system

    Kondo, Yoshihide

    1983-01-01

    The counts accumulated in measuring system are affected by the variations in transport time of the sample on cyclic activation experiments with a mechanical sample transfer system. In use of the pneumatic transfer system, which has been set up, the transport time is variable according to the differences as follows: The form, size and weight of samples, the pneumatic pressure and so on. Comprehending the relationships between the transpot time and these variable factors is essentially important to make experiments with this transfer system. (author)

  4. Field Scale Spatial Modelling of Surface Soil Quality Attributes in Controlled Traffic Farming

    Guenette, Kris; Hernandez-Ramirez, Guillermo

    2017-04-01

    The employment of controlled traffic farming (CTF) can yield improvements to soil quality attributes through the confinement of equipment traffic to tramlines with the field. There is a need to quantify and explain the spatial heterogeneity of soil quality attributes affected by CTF to further improve our understanding and modelling ability of field scale soil dynamics. Soil properties such as available nitrogen (AN), pH, soil total nitrogen (STN), soil organic carbon (SOC), bulk density, macroporosity, soil quality S-Index, plant available water capacity (PAWC) and unsaturated hydraulic conductivity (Km) were analysed and compared among trafficked and un-trafficked areas. We contrasted standard geostatistical methods such as ordinary kriging (OK) and covariate kriging (COK) as well as the hybrid method of regression kriging (ROK) to predict the spatial distribution of soil properties across two annual cropland sites actively employing CTF in Alberta, Canada. Field scale variability was quantified more accurately through the inclusion of covariates; however, the use of ROK was shown to improve model accuracy despite the regression model composition limiting the robustness of the ROK method. The exclusion of traffic from the un-trafficked areas displayed significant improvements to bulk density, macroporosity and Km while subsequently enhancing AN, STN and SOC. The ability of the regression models and the ROK method to account for spatial trends led to the highest goodness-of-fit and lowest error achieved for the soil physical properties, as the rigid traffic regime of CTF altered their spatial distribution at the field scale. Conversely, the COK method produced the most optimal predictions for the soil nutrient properties and Km. The use of terrain covariates derived from light ranging and detection (LiDAR), such as of elevation and topographic position index (TPI), yielded the best models in the COK method at the field scale.

  5. Denitrification controls in urban riparian soils: implications for reducing urban nonpoint source nitrogen pollution.

    Li, Yangjie; Chen, Zhenlou; Lou, Huanjie; Wang, Dongqi; Deng, Huanguang; Wang, Chu

    2014-09-01

    The purpose of this research was to thoroughly analyze the influences of environmental factors on denitrification processes in urban riparian soils. Besides, the study was also carried out to identify whether the denitrification processes in urban riparian soils could control nonpoint source nitrogen pollution in urban areas. The denitrification rates (DR) over 1 year were measured using an acetylene inhibition technique during the incubation of intact soil cores from six urban riparian sites, which could be divided into three types according to their vegetation. The soil samples were analyzed to determine the soil organic carbon (SOC), soil total nitrogen (STN), C/N ratio, extractable NO3 (-)-N and NH4 (+)-N, pH value, soil water content (SWC), and the soil nitrification potential to evaluate which of these factors determined the final outcome of denitrification. A nitrate amendment experiment further indicated that the riparian DR was responsive to added nitrate. Although the DRs were very low (0.099 ~ 33.23 ng N2O-N g(-1) h(-1)) due to the small amount of nitrogen moving into the urban riparian zone, the spatial and temporal patterns of denitrification differed significantly. The extractable NO3 (-)-N proved to be the dominant factor influencing the spatial distribution of denitrification, whereas the soil temperature was a determinant of the seasonal DR variation. The six riparian sites could also be divided into two types (a nitrate-abundant and a nitrate-stressed riparian system) according to the soil NO3 (-)-N concentration. The DR in nitrate-abundant riparian systems was significantly higher than that in the nitrate-stressed riparian systems. The DR in riparian zones that were covered with bushes and had adjacent cropland was higher than in grass-covered riparian sites. Furthermore, the riparian DR decreased with soil depth, which was mainly attributed to the concentrated nitrate in surface soils. The DR was not associated with the SOC, STN, C/N ratio, and

  6. A 14 MeV neutron irradiation facility with an automated fast cyclic pneumatic

    Montgomery, M.T.; Yoho, M.D.; Biegalski, S.R.; Landsberger, S.; Welch, L.

    2016-01-01

    This work details the design criteria, construction, controls, and optimization of the 14 MeV neutron irradiation facility at the University of Texas, built with the motivation of performing neutron activation analysis on samples with short half-lives. The facility couples a D-T neutron generator with a pneumatic transfer system capable of transit of approximately one second between source and detector, while the cyclic automated nature allows for many irradiation/count trials with any number of samples, translating to significantly improved counting statistics. (author)

  7. Temporo-sylvian arachnoidal cyst and an extreme pneumatization of the cranial sinuses: a case report.

    Zara, Gabriella; Ponza, Isabella; Citton, Valentina; Manara, Renzo

    2010-11-01

    We present a patient who showed MRI evidence of a giant temporo-sylvian arachnoidal cyst of the left hemisphere and an extreme pneumatization of the sphenoid and frontal sinuses. No sign of mass effect or cerebral atrophy was detected. This patient presented a deficit of memory and control functions, but quality of life was not affected. Surgery was not performed. Arachnoidal cyst and anatomic variants of the sinus region have not a common etiology. This is the first report that describes a giant temporo-sylvian arachnoidal cyst with anatomic variants of the paranasal sinuses. Copyright © 2010 Elsevier B.V. All rights reserved.

  8. Biophysical controls on soil respiration in the dominant patch types of an old-growth, mixed-conifer forest

    Siyan Ma; Jiquan Chen; John R. Butnor; Malcolm North; Eugénie S. Euskirchen; Brian Oakley

    2005-01-01

    Little is known about biophysical controls on soil respiration in California's Sierra Nevada old-growth, mixed-conifer forests. Using portable and automated soil respiration sampling units, we measured soil respiration rate (SRR) in three dominant patch types: closed canopy (CC), ceanothus-dominated patches (CECO), and open canopy (OC). SRR varied significantly...

  9. Microbial biomass and bacterial functional diversity in forest soils: effects of organic matter removal, compaction, and vegetation control

    Qingchao Li; H. Lee Allen; Arthur G. Wollum

    2004-01-01

    The effects of organic matter removal, soil compaction, and vegetation control on soil microbial biomass carbon, nitrogen, C-to-N ratio, and functional diversity were examined in a 6-year loblolly pine plantation on a Coastal Plain site in eastern North Carolina, USA. This experimental plantation was established as part of the US Forest Service's Long Term Soil...

  10. Regional amplification of projected changes in extreme temperatures strongly controlled by soil moisture-temperature feedbacks

    Vogel, Martha Marie; Orth, René; Cheruy, Frederique; Hagemann, Stefan; Lorenz, Ruth; van den Hurk, Bart; Seneviratne, Sonia Isabelle

    2017-04-01

    Regional hot extremes are projected to increase more strongly than global mean temperature, with substantially larger changes than 2°C even if global warming is limited to this level. We investigate here the role of soil moisture-temperature feedbacks for this response based on multi-model experiments for the 21st century with either interactive or fixed (late 20th century mean seasonal cycle) soil moisture. We analyze changes in the hottest days in each year in both sets of experiments, relate them to the global mean temperature increase, and investigate physical processes leading to these changes. We find that soil moisture-temperature feedbacks significantly contribute to the amplified warming of hottest days compared to that of global mean temperature. This contribution reaches more than 70% in Central Europe and Central North America and between 42%-52% in Amazonia, Northern Australia and Southern Africa. Soil moisture trends (multi-decadal soil moisture variability) are more important for this response than short-term (e.g. seasonal, interannual) soil moisture variability. These results are relevant for reducing uncertainties in regional temperature projections. Vogel, M.M. et al.,2017. Regional amplification of projected changes in extreme temperatures strongly controlled by soil moisture-temperature feedbacks. Geophysical Research Letters, accepted.

  11. Effects of organic matter removal, soil compaction, and vegetation control on 5-year seedling performance: a regional comparison of long-term soil productivity sites

    Robert L. Fleming; Robert F. Powers; Neil W. Foster; J. Marty Kranabetter; D. Andrew Scott; Felix Jr. Ponder; Shannon Berch; William K. Chapman; Richard D. Kabzems; Kim H. Ludovici; David M. Morris; Deborah S. Page-Dumroese; Paul T. Sanborn; Felipe G. Sanchez; Douglas M. Stone; Allan E. Tiarks

    2006-01-01

    We examined fifth-year seedling response to soil disturbance and vegetation control at 42 experimental locations representing 25 replicated studies within the North American Long-Term Soil Productivity (LTSP) program. These studies share a common experimental design while encompassing a wide range of climate, site conditions, and forest types. Whole-tree harvest had...

  12. Soil organic carbon stocks quantification in Mediterranean natural areas, a trade-off between entire soil profiles and soil control sections

    Parras-Alcántara, Luis; Lozano-García, Beatriz; Brevik, Eric. C.; Cerdá, Artemi

    2015-04-01

    Soil organic carbon (SOC) is extremely important in the global carbon (C) cycle; also, SOC is a soil property subject to changes, inasmuch as SOC is highly variable in space and time. The scientific community is researching the fate of the organic carbon in the ecosystems and this is why there is a blooming interest on this topic (Oliveira et al., 2014; Kukal et al., 2015). Soil organic matter play a key role in the Soil System (Fernández-Romero et al., 2014; Parras-Alcántara and Lozano García, 2014; Lozano-García and Parras-Alcántara; Parras-Alcántara et al., 2015).Globally it is known that soil C sequestration is a strategy to mitigate climate change. Over time, some researchers have analyzed entire soil profiles (ESP) by pedogenetic horizons and other researchers have analyzed soil control sections (SCS) (edaphic controls to different thickness), and in each case the benefits of the methodology established was justified. However, very few studies compare both methods (ESP versus SCS). This research sought to analyze the SOC stock (SOCS) variability using both methods (ESP and SCS) in The Despeñaperros Natural Park, a nature reserve that consists of a 76.8 km2 forested area in southern Spain. The park is in a Mediterranean environment and is a natural area (free of human disturbance). Thirty-four sampling points were selected in the study zone. Each sampling point was analyzed in two different ways, as ESP (by horizons) and as SCS with different depth increments (0-25, 25-50, 50-75 and 75-100 cm). The major goal of this research was to study the SOCS variability at regional scale. The studied soils were classified as Phaeozems, Cambisols, Regosols and Leptosols. The total SOCS in the Despeñaperros Natural Park was over 28.2% greater when SCS were used compared to ESP, ranging from 0.8144 Tg C to 0.6353 Tg C respectively (1 Tg = 10E12 g). However, when the top soil (surface horizon and superficial section control) was analyzed, this difference increased to

  13. Assistive acting movement therapy devices with pneumatic rotary-type soft actuators.

    Wilkening, André; Baiden, David; Ivlev, Oleg

    2012-12-01

    Inherent compliance and assistive behavior are assumed to be essential properties for safe human-robot interaction. Rehabilitation robots demand the highest standards in this respect because the machine interacts directly with weak persons who are often sensitive to pain. Using novel soft fluidic actuators with rotary elastic chambers (REC actuators), compact, lightweight, and cost-effective therapeutic devices can be developed. This article describes modular design and control strategies for new assistive acting robotic devices for upper and lower extremities. Due to the inherent compliance and natural back-drivability of pneumatic REC actuators, these movement therapy devices provide gentle treatment, whereby the interaction forces between humans and the therapy device are estimated without the use of expensive force/torque sensors. An active model-based gravity compensation based on separated models of the robot and of the individual patient's extremity provides the basis for effective assistive control. The utilization of pneumatic actuators demands a special safety concept, which is merged with control algorithms to provide a sufficient level of safeness and to catch any possible system errors and/or emergency situations. A self-explanatory user interface allows for easy, intuitive handling. Prototypes are very comfortable for use due to several control routines that work in the background. Assistive devices have been tested extensively with several healthy persons; the knee/hip movement therapy device is now under clinical trials at the Clinic for Orthopaedics and Trauma Surgery at the Klinikum Stuttgart.

  14. Design considerations for single-stage and two-stage pneumatic pellet injectors

    Gouge, M.J.; Combs, S.K.; Fisher, P.W.; Milora, S.L.

    1988-09-01

    Performance of single-stage pneumatic pellet injectors is compared with several models for one-dimensional, compressible fluid flow. Agreement is quite good for models that reflect actual breech chamber geometry and incorporate nonideal effects such as gas friction. Several methods of improving the performance of single-stage pneumatic pellet injectors in the near term are outlined. The design and performance of two-stage pneumatic pellet injectors are discussed, and initial data from the two-stage pneumatic pellet injector test facility at Oak Ridge National Laboratory are presented. Finally, a concept for a repeating two-stage pneumatic pellet injector is described. 27 refs., 8 figs., 3 tabs

  15. Meloidogyne javanica control by Pochonia chlamydosporia, Gracilibacillus dipsosauri and soil conditioner in tomato

    Guilherme Silva de Podestá

    2013-06-01

    Full Text Available Organic matter plays a fundamental role in the antagonistic activity of microorganisms against phytonematode populations on the soil. In this study, the compatibility between the fungus Pochonia chlamydosporia (Pc-12 and the rhizobacterium Gracilibacillus dipsosauri (MIC 14 was evaluated in vitro, as well as the effect of the fungus at the concentration of 5,000 chlamydospores per gram of soil, rhizobacterium at 4.65 x 10(9 cells/g of soil, and the soil conditioner Ribumin® at 10 g/pot, either alone or in combination, against Meloidogyne javanica population in tomato plants (3,000 eggs/pot. A suspension of water or Ribumin® alone was applied on the soil as negative control, while a suspension of nematode eggs was applied as positive control. The reduction in the number of galls in roots per plant was 48 and 41% for the treatments Ribumin + MIC 14 + Pc-12 and MIC 14 + Pc-12, respectively. Regarding to the number of eggs per plant, MIC 14 and Pc-12 + Ribumin led to a reduction by 26 and 21%, respectively, compared to the control treatment. Interaction between the nematophagous fungus and the rhizobacterium was positive for the nematode control, even though G. dipsosauri inhibited P. chlamydosporia growth by up to 30% in in vitro tests.

  16. Design and development of fast pneumatic transfer system (PTS) for instrumental neutron activation analysis at Jordan research reactor

    Chung, Yongsam; Kim, Sunha; Moon, Jonghwa; Choi, Jinbok; Lee, Jongmin; Ryu, Jungsu

    2013-01-01

    A pneumatic transfer system (PTS) is one of the important equipment used for an neutron irradiation of a target material for an instrumental neutron activation analysis (INAA) in a research reactor. In particular, a rapid pneumatic transportation of irradiation capsule is essential for an accurate measurement of a short half-life nuclide. Three types of PTS for NAA facility at the Jordan Research and Training Reactor (JRTR) were newly developed for a functional improvement involving a manual and an automatic system which is equipped with programmable logic controller, software, and 13 devices to facilitate optimal operation of the system. In this paper, the designs and construction of these PTS, the operation and control of the system are described. In addition, a functional and operational test of the system were carried out as one of the basic requirement and characteristic parameters, and the results were reported to provide a user information as well as for the management and safety of the reactor

  17. Biological soil crust and disturbance controls on surface hydrology in a semi-arid ecosystem

    Faist, Akasha M; Herrick, Jeffrey E.; Belnap, Jayne; Van Zee, Justin W; Barger, Nichole N

    2017-01-01

    Biological soil crust communities (biocrusts) play an important role in surface hydrologic processes in dryland ecosystems, and these processes may then be dramatically altered with soil surface disturbance. In this study, we examined biocrust hydrologic responses to disturbance at different developmental stages on sandy soils on the Colorado Plateau. Our results showed that all disturbance (trampling, scalping and trampling+scalping) of the early successional light cyanobacterial biocrusts generally reduced runoff. In contrast, trampling well-developed dark-cyano-lichen biocrusts increased runoff and sediment loss relative to intact controls. Scalping did not increase runoff, implying that soil aggregate structure was important to the infiltration process. Well-developed, intact dark biocrusts generally had lower runoff, low sediment loss, and highest aggregate stability whereas the less-developed light biocrusts were highest in runoff and sediment loss when compared to the controls. These results suggest the importance of maintaining the well-developed dark biocrusts, as they are beneficial for lowering runoff and reducing soil loss and redistribution on the landscape. These data also suggest that upslope patches of light biocrust may either support water transport to downslope vegetation patches or alternatively this runoff may place dark biocrust patches at risk of disruption and loss, given that light patches increase runoff and thus soil erosion potential.

  18. Soil pH controls the environmental availability of phosphorus: Experimental and mechanistic modelling approaches

    Devau, Nicolas; Cadre, Edith Le; Hinsinger, Philippe; Jaillard, Benoit; Gerard, Frederic

    2009-01-01

    Inorganic P is the least mobile major nutrient in most soils and is frequently the prime limiting factor for plant growth in terrestrial ecosystems. In this study, the extraction of soil inorganic P with CaCl 2 (P-CaCl 2 ) and geochemical modelling were combined in order to unravel the processes controlling the environmentally available P (EAP) of a soil over a range of pH values (pH ∼ 4-10). Mechanistic descriptions of the adsorption of cations and anions by the soil constituents were used (1-pK Triple Plane, ion-exchange and NICA-Donnan models). These models are implemented into the geochemical code Visual MINTEQ. An additive approach was used for their application to the surface horizon of a Cambisol. The geochemical code accurately reproduced the concentration of extracted P at the different soil pH values (R 2 = 0.9, RMSE = 0.03 mg kg -1 ). Model parameters were either directly found in the literature or estimated by fitting published experimental results in single mineral systems. The strong agreement between measurements and modelling results demonstrated that adsorption processes exerted a major control on the EAP of the soil over a large range of pH values. An influence of the precipitation of P-containing mineral is discounted based on thermodynamic calculations. Modelling results indicated that the variations in P-CaCl 2 with soil pH were controlled by the deprotonation/protonation of the surface hydroxyl groups, the distribution of P surface complexes, and the adsorption of Ca and Cl from the electrolyte background. Iron-oxides and gibbsite were found to be the major P-adsorbing soil constituents at acidic and alkaline pHs, whereas P was mainly adsorbed by clay minerals at intermediate pH values. This study demonstrates the efficacy of geochemical modelling to understand soil processes, and the applicability of mechanistic adsorption models to a 'real' soil, with its mineralogical complexity and the additional contribution of soil organic matter.

  19. Soil pH controls the environmental availability of phosphorus: Experimental and mechanistic modelling approaches

    Devau, Nicolas [INRA, UMR 1222 Eco and Sols - Ecologie Fonctionnelle et Biogeochimie des Sols (INRA-IRD-SupAgro), Place Viala, F-34060 Montpellier (France); Cadre, Edith Le [Supagro, UMR 1222 Eco and Sols - Ecologie Fonctionnelle et Biogeochimie des Sols (INRA-IRD-SupAgro), Place Viala, F-34060 Montpellier (France); Hinsinger, Philippe; Jaillard, Benoit [INRA, UMR 1222 Eco and Sols - Ecologie Fonctionnelle et Biogeochimie des Sols (INRA-IRD-SupAgro), Place Viala, F-34060 Montpellier (France); Gerard, Frederic, E-mail: gerard@supagro.inra.fr [INRA, UMR 1222 Eco and Sols - Ecologie Fonctionnelle et Biogeochimie des Sols (INRA-IRD-SupAgro), Place Viala, F-34060 Montpellier (France)

    2009-11-15

    Inorganic P is the least mobile major nutrient in most soils and is frequently the prime limiting factor for plant growth in terrestrial ecosystems. In this study, the extraction of soil inorganic P with CaCl{sub 2} (P-CaCl{sub 2}) and geochemical modelling were combined in order to unravel the processes controlling the environmentally available P (EAP) of a soil over a range of pH values (pH {approx} 4-10). Mechanistic descriptions of the adsorption of cations and anions by the soil constituents were used (1-pK Triple Plane, ion-exchange and NICA-Donnan models). These models are implemented into the geochemical code Visual MINTEQ. An additive approach was used for their application to the surface horizon of a Cambisol. The geochemical code accurately reproduced the concentration of extracted P at the different soil pH values (R{sup 2} = 0.9, RMSE = 0.03 mg kg{sup -1}). Model parameters were either directly found in the literature or estimated by fitting published experimental results in single mineral systems. The strong agreement between measurements and modelling results demonstrated that adsorption processes exerted a major control on the EAP of the soil over a large range of pH values. An influence of the precipitation of P-containing mineral is discounted based on thermodynamic calculations. Modelling results indicated that the variations in P-CaCl{sub 2} with soil pH were controlled by the deprotonation/protonation of the surface hydroxyl groups, the distribution of P surface complexes, and the adsorption of Ca and Cl from the electrolyte background. Iron-oxides and gibbsite were found to be the major P-adsorbing soil constituents at acidic and alkaline pHs, whereas P was mainly adsorbed by clay minerals at intermediate pH values. This study demonstrates the efficacy of geochemical modelling to understand soil processes, and the applicability of mechanistic adsorption models to a 'real' soil, with its mineralogical complexity and the additional

  20. Control of arsenic mobilization in paddy soils by manganese and iron oxides.

    Xu, Xiaowei; Chen, Chuan; Wang, Peng; Kretzschmar, Ruben; Zhao, Fang-Jie

    2017-12-01

    Reductive mobilization of arsenic (As) in paddy soils under flooded conditions is an important reason for the relatively high accumulation of As in rice, posing a risk to food safety and human health. The extent of As mobilization varies widely among paddy soils, but the reasons are not well understood. In this study, we investigated As mobilization in six As-contaminated paddy soils (total As ranging from 73 to 122 mg kg -1 ) in flooded incubation and pot experiments. Arsenic speciation in the solution and solid phases were determined. The magnitude of As mobilization into the porewater varied by > 100 times among the six soils. Porewater As concentration correlated closely with the concentration of oxalate-extractable As, suggesting that As associated with amorphous iron (oxyhydr)oxides represents the potentially mobilizable pool of As under flooded conditions. Soil containing a high level of manganese oxides showed the lowest As mobilization, likely because Mn oxides retard As mobilization by slowing down the drop of redox potential upon soil flooding and maintaining a higher arsenate to arsenite ratio in the solid and solution phases. Additions of a synthetic Mn oxide (hausmannite) to two paddy soils increased arsenite oxidation, decreased As mobilization into the porewater and decreased As concentrations in rice grain and straw. Consistent with previous studies using simplified model systems or pure mineral phases, the present study shows that Mn oxides and amorphous Fe (oxyhydr)oxides are important factors controlling reductive As mobilization in As-contaminated paddy soils. In addition, this study also suggests a potential mitigation strategy using exogenous Mn oxides to decrease As uptake by rice in paddy soils containing low levels of indigenous Mn oxides, although further work is needed to verify its efficacy and possible secondary effects under field conditions. Copyright © 2017 Elsevier Ltd. All rights reserved.

  1. Pneumatic conveying of sensitive compounds during nuclear fuel fabrication

    Sielck, Franz-Christian; Braehler, Georg [NUKEM Technologies GmbH (Germany)

    2009-07-01

    Any transport of nuclear material is associated with the risk of contamination after release into working areas or environment. stationary installed safe geometry vessels with pneumatic transfer between them offer unique safety features and reduce operating costs. The article describes the case of HTR fuel spheres, where a specially designed conveying system has been developed and the prototype conveyor has been tested.

  2. Pneumatic conveying of sensitive compounds during nuclear fuel fabrication

    Sielck, Franz-Christian; Braehler, Georg

    2009-01-01

    Any transport of nuclear material is associated with the risk of contamination after release into working areas or environment. stationary installed safe geometry vessels with pneumatic transfer between them offer unique safety features and reduce operating costs. The article describes the case of HTR fuel spheres, where a specially designed conveying system has been developed and the prototype conveyor has been tested.

  3. Systems of pneumatic transportation of cement and other fine ...

    Therefore, the operational reliability of such equipment decreases and the process of cleaning of the exhaust air becomes complicated. The solution of the problem of ... of the air expense and pressure during the design of the systems. Keywords: pneumatic transportation, fine materials. dust removal equipment, pape line.

  4. Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors

    Groenhuis, Vincent; Stramigioli, Stefano

    2018-01-01

    In this paper we show that pneumatic stepper motors for MR safe robots can be constructed using rapid prototyping techniques such as 3-D printing and laser-cutting. The designs are lightweight, completely metal-free and fully customizable. Besides MR safe robotic systems, other potential

  5. Considerations of several real effects in pneumatic pellet injection processes

    Ming-Lun Xue.

    1987-10-01

    Several real effects that take place in a pneumatic pellet injector are examined. These are the heat transfer between a high-temperature propellent gas and the metal wall of the injector, and the frictional loss between the propellent and wall. (author)

  6. Pneumatic Dilation versus Laparoscopic Heller's Myotomy for Idiopathic Achalasia

    Boeckxstaens, Guy E.; Annese, Vito; des Varannes, Stanislas Bruley; Chaussade, Stanislas; Costantini, Mario; Cuttitta, Antonello; Elizalde, J. Ignasi; Fumagalli, Uberto; Gaudric, Marianne; Rohof, Wout O.; Smout, André J.; Tack, Jan; Zwinderman, Aeilko H.; Zaninotto, Giovanni; Busch, Olivier R.; Lei, A.; Bartelsman, J.; Hirsch, D.; Klinkenberg-Knol, E. C.; Cuesta, M. A.; Simmermacher, R. K. J.; Kuipers, E. J.; Bonjer, H. J.; Masclee, A. A. M.; Ringers, J.; Lerut, A.; Metman, E. H.; Huten, N.; Letessier, E.; Dousset, B.; Pera, M.; Perez de la Serna, J.; Malesci, Alberto; Andriulli, A.; Scaramuzzi, G.; de Santo, E.

    2011-01-01

    Background Many experts consider laparoscopic Heller's myotomy (LHM) to be superior to pneumatic dilation for the treatment of achalasia, and LHM is increasingly considered to be the treatment of choice for this disorder. Methods We randomly assigned patients with newly diagnosed achalasia to

  7. Intra-operative pneumatic tourniquet - perceptions of use and ...

    applied pressure alone or excessive applied pressure caused by use of faulty equipment. It needs to be emphasised to these surgeons that regular checking of the pneumatic tourniquet apparatus is necessary in order. MRC/UCT Bioenergetics of Exercise Research Unit, Department of. Physiology. University of Cape Town.

  8. Intra-operative pneumatic tourniquet - perceptions of use and ...

    Fifty-four per cent of respondents personally checked the calibration of the pneumatic tourniquet, although 76% of respondents believe that the apparatus needs to be checked at least once per month. More respondents who did not check the tourniquet apparatus than respondents who did check it believe that applied ...

  9. Pneumatic Actuation of a 2-Link Robotic System

    2012r

    2014-10-16

    Oct 16, 2014 ... are appropriate for “mixing, dumping, intermittent feeding, screw clamping ..... Let Aext be Area on which air is applied for extension. Let Aret ... Fext and Fret are the forces provided by the source of the pneumatic compressor.

  10. Transport Velocities of Different Particulate Materials in Pneumatic Conveying

    Hartman, Miloslav; Pohořelý, Michael; Trnka, Otakar

    2006-01-01

    Roč. 60, č. 1 (2006), s. 74-77 ISSN 0366-6352 R&D Projects: GA AV ČR(CZ) IAA4072201 Institutional research plan: CEZ:AV0Z40720504 Keywords : fluidization * particle processing * pneumatic conveying Subject RIV: CI - Industrial Chemistry, Chemical Engineering Impact factor: 0.360, year: 2006

  11. Embedded Triboelectric Active Sensors for Real-Time Pneumatic Monitoring.

    Fu, Xian Peng; Bu, Tian Zhao; Xi, Feng Ben; Cheng, Ting Hai; Zhang, Chi; Wang, Zhong Lin

    2017-09-20

    Pneumatic monitoring sensors have great demands for power supply in cylinder systems. Here, we present an embedded sliding triboelectric nanogenerator (TENG) in air cylinder as active sensors for position and velocity monitoring. The embedded TENG is composed of a circular poly(tetrafluoroethylene) polymer and a triangular copper electrode. The working mechanism as triboelectric active sensors and electric output performance are systematically investigated. By integrating into the pneumatic system, the embedded triboelectric active sensors have been used for real-time air pressure/flow monitoring and energy storage. Air pressures are measured from 0.04 to 0.12 MPa at a step of 0.02 MPa with a sensitivity of 49.235 V/MPa, as well as airflow from 50 to 250 L/min at a step of 50 L/min with a sensitivity of 0.002 μA·min/L. This work has first demonstrated triboelectric active sensors for pneumatic monitoring and may promote the development of TENG in intelligent pneumatic system.

  12. High Efficiency Pneumatic Systems Compressors Hydrodynamics and Termodynamics Process Research

    Paulius Bogdevičius

    2016-12-01

    Full Text Available The paper analyzes pneumatic system, which consists of three piston compressors, pipes and reciever. Designed two cylinder piston compressor with an asynchronous electric motor mathematical model. In the mathematical model has been estimated rod mechanism geometry and kinematic parameters also hudrodynamics and thermodynamic processes going in the cylinders. Also there were made mathematical experiment and presented the results of it.

  13. On the development a pneumatic four-legged mechanism autonomous vertical wall climbing robot

    Mohamad Shukri Zainal Abidin; Shamsudin H.M. Amin . shukri@suria.fke.utm.my

    1999-01-01

    The paper describes the design of a prototype legged mechanism together with suction mechanism, the mechanical design, on-board controller and an initial performance test. The design is implemented in the form of a pneumatically powered multi-legged robot equipped with suction pads at the sole of the feet for wall climbing purpose. The whole mechanism and suction system is controlled by controller which is housed on-board the robot. The gait of the motion depended on the logic control patterns as dictated by the controller. The robot is equipped with sensors both at the front and rear ends that function as an obstacle avoidance facility. Once objects are detected, signals are sent to the controller to start an evasive action that is to move in the opposite direction. The mechanism has been tested and initial results have shown promising potential for an autonomous mobile. (Author)

  14. Soft Pneumatic Actuator Fascicles for High Force and Reliability.

    Robertson, Matthew A; Sadeghi, Hamed; Florez, Juan Manuel; Paik, Jamie

    2017-03-01

    Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they fall short of force output and bandwidth requirements for many tasks. In addition, other general problems remain open, including robustness, controllability, and repeatability. The SPA-pack architecture presented here aims to satisfy these standards of reliability crucial to the field of soft robotics, while also improving the basic performance capabilities of SPAs by borrowing advantages leveraged ubiquitously in biology; namely, the structured parallel arrangement of lower power actuators to form the basis of a larger and more powerful actuator module. An SPA-pack module consisting of a number of smaller SPAs will be studied using an analytical model and physical prototype. Experimental measurements show an SPA pack to generate over 112 N linear force, while the model indicates the benefit of parallel actuator grouping over a geometrically equivalent single SPA scale as an increasing function of the number of individual actuators in the group. For a module of four actuators, a 23% increase in force production over a volumetrically equivalent single SPA is predicted and validated, while further gains appear possible up to 50%. These findings affirm the advantage of utilizing a fascicle structure for high-performance soft robotic applications over existing monolithic SPA designs. An example of high-performance soft robotic platform will be presented to demonstrate the capability of SPA-pack modules in a complete and functional system.

  15. Soft Pneumatic Actuator Fascicles for High Force and Reliability

    Robertson, Matthew A.; Sadeghi, Hamed; Florez, Juan Manuel

    2017-01-01

    Abstract Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they fall short of force output and bandwidth requirements for many tasks. In addition, other general problems remain open, including robustness, controllability, and repeatability. The SPA-pack architecture presented here aims to satisfy these standards of reliability crucial to the field of soft robotics, while also improving the basic performance capabilities of SPAs by borrowing advantages leveraged ubiquitously in biology; namely, the structured parallel arrangement of lower power actuators to form the basis of a larger and more powerful actuator module. An SPA-pack module consisting of a number of smaller SPAs will be studied using an analytical model and physical prototype. Experimental measurements show an SPA pack to generate over 112 N linear force, while the model indicates the benefit of parallel actuator grouping over a geometrically equivalent single SPA scale as an increasing function of the number of individual actuators in the group. For a module of four actuators, a 23% increase in force production over a volumetrically equivalent single SPA is predicted and validated, while further gains appear possible up to 50%. These findings affirm the advantage of utilizing a fascicle structure for high-performance soft robotic applications over existing monolithic SPA designs. An example of high-performance soft robotic platform will be presented to demonstrate the capability of SPA-pack modules in a complete and functional system. PMID:28289573

  16. Initial Design and Experimental Evaluation of a Pneumatic Interference Actuator.

    Nesler, Christopher R; Swift, Tim A; Rouse, Elliott J

    2018-04-01

    Substantial device mass and control complexity can hinder the impact of wearable robotic technologies, such as exoskeletons. Thus, despite promising previous research, the development of a simple, lightweight actuator for these systems has not yet been fully realized. The purpose of this study was to derive and demonstrate a proof-of-concept for a pneumatic interference actuator (PIA)-a lightweight, soft actuator able to produce torque by the self-intersection of a fabric balloon that arises from changes in physical geometry. General closed-form equations are derived to express the expected actuator torque and mechanical work as functions of the balloon geometry, pressure, and deflection angle. Hard and soft cylindrical physical prototypes were constructed to assess the accuracy of the mathematical models. The proposed mathematical model was found to agree with the pressure-volume relationship and successfully predict the maximum torque as a function of geometry, pressure, and deflection at nonzero deflection angles. Peak powers up to 122.1 ± 10.0 W (mean ± standard deviation), with a resting internal pressure of 158.0 ± 0.2 kPa, were observed from the hard actuator prototype. For the soft actuator prototype, peak powers of 97.9 ± 21.1 W were observed at a resting pressure of 166.8 kPa. The work performed was within 3.2% ± 3.4% and 14.4% ± 8.2% of theoretical values across all trials, and within 19.1% ± 4.4% of theoretical values when compared to the torque-angle relationship. This study highlights the promise of utilizing the self-intersection of a PIA to perform human-scale mechanical work, and future research will focus on implementations for wearable robotic systems.

  17. Control of soil moisture with radio frequency in a photovoltaic-powered drip irrigation system

    DURSUN, Mahir; ÖZDEN, Semih

    2015-01-01

    Solar-powered irrigation systems are becoming increasingly widespread. However, the initial setup costs of these systems are very high. To reduce these costs, both the energy usage and the prevention of losses from irrigation systems are very important. In this study, a drip irrigation control system of 1000 dwarf cherry trees was controlled using soil moisture sensors in order to prevent excessive water consumption and energy losses in a solar-powered irrigation system. The control sys...

  18. Pneumatic fractures in Confined Granular Media

    Eriksen, Fredrik K.; Toussaint, Renaud; Jørgen Måløy, Knut; Grude Flekkøy, Eirik; Turkaya, Semih

    2016-04-01

    We will present our ongoing study of the patterns formed when air flows into a dry, non-cohesive porous medium confined in a horizontal Hele-Shaw cell. This is an optically transparent system consisting of two glass plates separated by 0.5 to 1 mm, containing a packing of dry 80 micron beads in between. The cell is rectangular and has an air-permeable boundary (blocking beads) at one short edge, while the other three edges are completely sealed. The granular medium is loosely packed against the semi-permeable boundary and fills about 80 % of the cell volume. This leaves an empty region at the sealed side, where an inlet allows us to set and maintain the air at a constant overpressure (0.1 - 2 bar). For the air trapped inside the cell to relax its overpressure it has to move through the deformable granular medium. Depending on the applied overpressure and initial density of the medium, we observe a range of different behaviors such as seepage through the pore-network with or without an initial compaction of the solid, formation of low density bubbles with rearrangement of particles, granular fingering/fracturing, and erosion inside formed channels/fractures. The experiments are recorded with a high-speed camera at a framerate of 1000 images/s and a resolution of 1024x1024 pixels. We use various image processing techniques to characterize the evolution of the air invasion patterns and the deformations in the surrounding material. The experiments are similar to deformation processes in porous media which are driven by pore fluid overpressure, such as mud volcanoes and hydraulic or pneumatic (gas-induced) fracturing, and the motivation is to increase the understanding of such processes by optical observations. In addition, this setup is an experimental version of the numerical models analyzed by Niebling et al. [1,2], and is useful for comparison with their results. In a directly related project [3], acoustic emissions from the cell plate are recorded during

  19. The Effects of Fungicide, Soil Fumigant, Bio-Organic Fertilizer and Their Combined Application on Chrysanthemum Fusarium Wilt Controlling, Soil Enzyme Activities and Microbial Properties

    Shuang Zhao

    2016-04-01

    Full Text Available Sustained monoculture often leads to a decline in soil quality, in particular to the build-up of pathogen populations, a problem that is conventionally addressed by the use of either fungicide and/or soil fumigation. This practice is no longer considered to be either environmentally sustainable or safe. While the application of organic fertilizer is seen as a means of combating declining soil fertility, it has also been suggested as providing some control over certain soil-borne plant pathogens. Here, a greenhouse comparison was made of the Fusarium wilt control efficacy of various treatments given to a soil in which chrysanthemum had been produced continuously for many years. The treatments comprised the fungicide carbendazim (MBC, the soil fumigant dazomet (DAZ, the incorporation of a Paenibacillus polymyxa SQR21 (P. polymyxa SQR21, fungal antagonist enhanced bio-organic fertilizer (BOF, and applications of BOF combined with either MBC or DAZ. Data suggest that all the treatments evaluated show good control over Fusarium wilt. The MBC and DAZ treatments were effective in suppressing the disease, but led to significant decrease in urease activity and no enhancement of catalase activity in the rhizosphere soils. BOF including treatments showed significant enhancement in soil enzyme activities and microbial communities compared to the MBC and DAZ, evidenced by differences in bacterial/fungi (B/F ratios, Shannon–Wiener indexes and urease, catalase and sucrase activities in the rhizosphere soil of chrysanthemum. Of all the treatments evaluated, DAZ/BOF application not only greatly suppressed Fusarium wilt and enhanced soil enzyme activities and microbial communities but also promoted the quality of chrysanthemum obviously. Our findings suggest that combined BOF with DAZ could more effectively control Fusarium wilt disease of chrysanthemum.

  20. Propulsion System with Pneumatic Artificial Muscles for Powering Ankle-Foot Orthosis

    Veneva, Ivanka; Vanderborght, Bram; Lefeber, Dirk; Cherelle, Pierre

    2013-12-01

    The aim of this paper is to present the design of device for control of new propulsion system with pneumatic artificial muscles. The propulsion system can be used for ankle joint articulation, for assisting and rehabilitation in cases of injured ankle-foot complex, stroke patients or elderly with functional weakness. Proposed device for control is composed by microcontroller, generator for muscles contractions and sensor system. The microcontroller receives the control signals from sensors and modulates ankle joint flex- ion and extension during human motion. The local joint control with a PID (Proportional-Integral Derivative) position feedback directly calculates desired pressure levels and dictates the necessary contractions. The main goal is to achieve an adaptation of the system and provide the necessary joint torque using position control with feedback.

  1. The contribution of mulches to control high soil erosion rates in vineyards in Eastern Spain

    Cerdà, Artemi; Jordán, Antonio; Zavala, Lorena; José Marqués, María; Novara, Agata

    2014-05-01

    Soil erosion take place in degraded ecosystem where the lack of vegetation, drought, erodible parent material and deforestation take place (Borelli et al., 2013; Haregeweyn et al., 2013; Zhao et al., 2013). Agriculture management developed new landscapes (Ore and Bruins, 2012) and use to trigger non-sustainable soil erosion rates (Zema et al., 2012). High erosion rates were measured in agriculture land (Cerdà et al., 2009), but it is also possible to develop managements that will control the soil and water losses, such as organic amendments (Marqués et al., 2005), plant cover (Marqués et al., 2007) and geotextiles (Giménez Morera et al., 2010). The most successful management to restore the structural stability and the biological activity of the agriculture soil has been the organic mulches (García Orenes et al; 2009; 2010; 2012). The straw mulch is also very successful on bare fire affected soil (Robichaud et al., 2013a; 2013b), which also contributes to a more stable soil moisture content (García-Moreno et al., 2013). The objective of this research is to determine the impact of two mulches: wheat straw and chipped branches, on the soil erosion rates in a rainfed vineyard in Eastern Spain. The research site is located in the Les Alcusses Valley within the Moixent municipality. The Mean annual temperature is 13 ºC, and the mean annual rainfall 455 mm. Soil are sandy loam, and are developed at the foot-slope of a Cretaceous limestone range, the Serra Grossa range. The soils use to be ploughed and the features of soil erosion are found after each thunderstorm. Rills are removed by ploughing. Thirty rainfall simulation experiments were carried out in summer 2011 during the summer drought period. The simulated rainfall lasted during 1 hour at a 45 mmh-1 intensity on 1 m2 plots (Cerdà and Doerr, 2010; Cerdà and Jurgensen 2011). Ten experiments were carried out on the control plots (ploughed), 10 on straw mulch covered plots, and 10 on chipped branches covered

  2. Intervention for the control of Soil -transmitted helminthiasis in the community

    Albonico, Marco; Montresor, Antonio; Crompton, DWT; Savioli, Lorenzo

    2017-01-01

    The global strategy for the control of soil-transmitted helminthiasis, based on regular anthelminthic treatment, health education, and improved sanitation standards, is reviewed. The reasons for the development of a control strategy based on population intervention rather than on individual treatment are explained. The evidence and experience from control programmes that created the basis for i) the definition of the intervention package, ii) the identification of the groups at risk, iii) the standardization of the community diagnosis, and iv) the selection of the appropriate intervention for each category in the community are discussed. How to best deliver the appropriate intervention, the impact of the control measures on morbidity and on indicators such as school attendance, cognitive development and productivity are presented. The factors influencing the cost-benefits of helminth control are also considered. The recent progress on the control of soil-transmitted helminth infections is illustrated. Research needs are analysed in relation to the most recent perceptions from private-public partnerships involved in helminth control. The way forward for the control of soil-transmitted helminth infections is described as a multi-disease approach that goes beyond deworming and fosters a pro-poor strategy that supports the aims of the Millennium Development Goals. PMID:16735168

  3. Extreme soil erosion rates in citrus slope plantations and control strategies. A literature review

    Cerdà, Artemi; Ángel González Peñaloza, Félix; Pereira, Paulo; Reyes Ruiz Gallardo, José; García Orenes, Fuensanta; Burguet, María

    2013-04-01

    Soil Erosion is a natural process that shapes the Earth. Due to the impact of agriculture, soil erosion rates increase, landforms show gullies and rills, and soils are depleted. In the Mediterranean, wheat, olive and vineyards were the main agriculture products, but new plantations are being found in sloping terrain due to the drip-irrigation. This new strategy results in the removal of the traditional terraces in order to make suitable for mechanization the agriculture plantation. Citrus is a clear example of the impact of the new chemical agriculture with a high investment in herbicides, pesticides, mechanisation, land levelling and drip computer controlled irrigation systems. The new plantation of citrus orchards is found in the Mediterranean, but also in California, Florida, China and Brazil. Chile, Argentina, and South Africa are other producers that are moving to an industrial production of citrus. This paper shows how the citrus plantations are found as one of the most aggressive plantation due to the increase in soil erosion, and how we can apply successful control strategies. The research into the high erosion rates of citrus orchard built on the slopes are mainly found in China (Wu et al., 1997; Xu et al., 2010; Wang et al., 2011; Wu et al., 2011; Liu et al., 2011; Lü et al., 2011; Xu et al., 2012) and in the Mediterranean (Cerdà and Jurgensen, 2008; 2009; Cerdà et al., 2009a; 2009b; Cerdà et al., 2011; 2012) Most of the research done devoted to the measurements of the soil losses but also some research is done related to the soil properties (Lu et al., 1997; Lü et al., 2012; Xu et al., 2012) and the impact of cover crops to reduce the soil losses (Lavigne et al., 2012; Le Bellec et al., 2012) and the use of residues such as dried citrus peel in order to reduce the soil losses. There are 116 million tonnes of citrus produced yearly, and this affects a large surface of the best land. The citrus orchards are moving from flood irrigated to drip

  4. Controls on surface soil drying rates observed by SMAP and simulated by the Noah land surface model

    Shellito, Peter J.; Small, Eric E.; Livneh, Ben

    2018-03-01

    Drydown periods that follow precipitation events provide an opportunity to assess controls on soil evaporation on a continental scale. We use SMAP (Soil Moisture Active Passive) observations and Noah simulations from drydown periods to quantify the role of soil moisture, potential evaporation, vegetation cover, and soil texture on soil drying rates. Rates are determined using finite differences over intervals of 1 to 3 days. In the Noah model, the drying rates are a good approximation of direct soil evaporation rates, and our work suggests that SMAP-observed drying is also predominantly affected by direct soil evaporation. Data cover the domain of the North American Land Data Assimilation System Phase 2 and span the first 1.8 years of SMAP's operation. Drying of surface soil moisture observed by SMAP is faster than that simulated by Noah. SMAP drying is fastest when surface soil moisture levels are high, potential evaporation is high, and when vegetation cover is low. Soil texture plays a minor role in SMAP drying rates. Noah simulations show similar responses to soil moisture and potential evaporation, but vegetation has a minimal effect and soil texture has a much larger effect compared to SMAP. When drying rates are normalized by potential evaporation, SMAP observations and Noah simulations both show that increases in vegetation cover lead to decreases in evaporative efficiency from the surface soil. However, the magnitude of this effect simulated by Noah is much weaker than that determined from SMAP observations.

  5. [Soil respiration dynamics and its controlling factors of typical vegetation communities on meadow steppes in the western Songnen Plain].

    Wang, Ming; Liu, Xing-Tu; Li, Xiu-Jun; Zhang, Ji-Tao; Wang, Guo-Dong; Lu, Xin-Rui; Li, Xiao-Yu

    2014-01-01

    In order to accurately explore the soil respiration dynamics and its controlling factors of typical vegetation types in the western Songnen Plain, soil respiration rates of Chloris virgata, Puccinellia distans, Phragmites australis and Leymus chinensis communities were measured. The results showed that the diurnal curves of soil respiration rates of the four vegetation communities had simple peak values, which appeared at 11:00-15:00, and the valley values occurred at 21:00-1:00 or 3:00-5:00. The seasonal dynamic patterns of their soil respiration rates were similar, with the maximum (3.21-4.84 micromol CO2 x m(-2) x s(-1)) occurring in July and August and the minimum (0.46-1.51 micromol CO2 x m(-2) x s(-1)) in October. The soil respiration rates of the four vegetation communities had significant exponential correlations with ambient air temperature and soil temperature. Soil moisture, however, only played an important role in affecting the soil respiration rate of C. virgata community while air humidity near the soil surface was significantly correlated with the soil respiration rates of P. australis and L. chinensis communities. The soil salt contents seriously constrained the CO2 dioxide emission, and the soil pH, electrical conductivity (EC), exchangeable sodium percentage (ESP) could explain 87%-91% spatial variations of the soil respiration rate.

  6. Dynamic surface deformation of silicone elastomers for management of marine biofouling: laboratory and field studies using pneumatic actuation.

    Shivapooja, Phanindhar; Wang, Qiming; Szott, Lizzy M; Orihuela, Beatriz; Rittschof, Daniel; Zhao, Xuanhe; López, Gabriel P

    2015-01-01

    Many strategies have been developed to improve the fouling release (FR) performance of silicone coatings. However, biofilms inevitably build on these surfaces over time. Previous studies have shown that intentional deformation of silicone elastomers can be employed to detach biofouling species. In this study, inspired by the methods used in soft-robotic systems, controlled deformation of silicone elastomers via pneumatic actuation was employed to detach adherent biofilms. Using programmed surface deformation, it was possible to release > 90% of biofilm from surfaces in both laboratory and field environments. A higher substratum strain was required to remove biofilms accumulated in the field environment as compared with laboratory-grown biofilms. Further, the study indicated that substratum modulus influences the strain needed to de-bond biofilms. Surface deformation-based approaches have potential for use in the management of biofouling in a number of technological areas, including in niche applications where pneumatic actuation of surface deformation is feasible.

  7. Changing redox potential by controlling soil moisture and addition of inorganic oxidants to dissipate pentachlorophenol in different soils

    Lin Jiajiang; He Yan; Xu Jianming

    2012-01-01

    The potential for dissipation of pentachlorophenol (PCP) was investigated in soils from four different sites in China. These were an umbraqualf (Soil 1), a Plinthudult (Soil 2), a Haplustalf (Soil 3) and an Argiustoll (Soil 4) which were either flooded, to produce anaerobic conditions, or incubated aerobically at 60% water-holding capacity (WHC). The dissipation of PCP in Soil 1 at 60% WHC was higher than under flooded condition, while the opposite occurred in the other three soils. Under flooded conditions, the redox potential decreased significantly in Soil 1 and Soil 4, where sulphate reduction was occurred and the dissipation of PCP was statistically significant (about 96% and 98%, respectively) at the end of incubation. After addition of inorganic oxidants, dissipation of PCP was significantly inhibited by FeCl 3 , while Na 2 SO 4 and NaNO 3 had different effects, depending upon the soil type. - Highlights: ► The extent of the aerobic/anaerobic interface depends upon the soil properties. ► The dissipation of PCP was accelerated in some soils due to the soil-water interface. ► The addition of oxidants inhibited the decrease in soil redox potential. ► Most external oxidants added under flooded condition inhibited PCP dechlorination. - The addition of inorganic oxidants limited the decrease in redox potential and inhibited the reductive dechlorination of pentachlorophenol.

  8. Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

    Takashima, Kazuto; Sugitani, Kazuhiro; Morimoto, Naohiro; Sakaguchi, Seiya; Noritsugu, Toshiro; Mukai, Toshiharu

    2014-12-01

    Shape-memory polymer (SMP) can be deformed by applying a small load above its glass transition temperature (Tg). Shape-memory polymer maintains its shape after it has cooled below Tg and returns to a predefined shape when subsequently heated above Tg. The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred times. Based on the change in stiffness of the SMP in relation to the change in temperature, the present study attempts to evaluate the application of the SMP to soft actuators of a robot. In order to control the temperature of the SMP, we developed an SMP sheet with an embedded electrical heating wire. We formed a uniform, thin SMP sheet without air bubbles using a heat press. The SMP sheet with a heating wire can be heated quickly and can be maintained at a constant temperature. Moreover, the effects of the embedded wire on the mechanical properties in bending and tensile tests were small. Then, we applied the SMP sheet with the embedded electrical heating wire to a pneumatic artificial rubber muscle. The enhanced versatility of SMP sheet applications is demonstrated through a series of experiments conducted using a prototype. The initial shape and bending displacement of the pneumatic artificial rubber muscle can be changed by controlling the temperature of the SMP sheet.

  9. Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

    Alexander Hošovský

    2015-01-01

    Full Text Available To make effective use of model-based control system design techniques, one needs a good model which captures system’s dynamic properties in the range of interest. Here an analytical model of pneumatic muscle actuator with two pneumatic artificial muscles driving a rotational joint is developed. Use of analytical model makes it possible to retain the physical interpretation of the model and the model is validated using open-loop responses. Since it was considered important to design a robust controller based on this model, the effect of changed moment of inertia (as a representation of uncertain parameter was taken into account and compared with nominal case. To improve the accuracy of the model, these effects are treated as a disturbance modeled using the recurrent (Elman neural network. Recurrent neural network was preferred over feedforward type due to its better long-term prediction capabilities well suited for simulation use of the model. The results confirm that this method improves the model performance (tested for five of the measured variables: joint angle, muscle pressures, and muscle forces while retaining its physical interpretation.

  10. Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

    Takashima, Kazuto; Sugitani, Kazuhiro; Morimoto, Naohiro; Sakaguchi, Seiya; Noritsugu, Toshiro; Mukai, Toshiharu

    2014-01-01

    Shape-memory polymer (SMP) can be deformed by applying a small load above its glass transition temperature (T g ). Shape-memory polymer maintains its shape after it has cooled below T g and returns to a predefined shape when subsequently heated above T g . The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred times. Based on the change in stiffness of the SMP in relation to the change in temperature, the present study attempts to evaluate the application of the SMP to soft actuators of a robot. In order to control the temperature of the SMP, we developed an SMP sheet with an embedded electrical heating wire. We formed a uniform, thin SMP sheet without air bubbles using a heat press. The SMP sheet with a heating wire can be heated quickly and can be maintained at a constant temperature. Moreover, the effects of the embedded wire on the mechanical properties in bending and tensile tests were small. Then, we applied the SMP sheet with the embedded electrical heating wire to a pneumatic artificial rubber muscle. The enhanced versatility of SMP sheet applications is demonstrated through a series of experiments conducted using a prototype. The initial shape and bending displacement of the pneumatic artificial rubber muscle can be changed by controlling the temperature of the SMP sheet. (paper)

  11. Design of a pneumatically powered wearable exoskeleton with biomimetic support and actuation

    Sergeyev, A.; Alaraje, N.; Seidel, C.; Carlson, Z.; Breda, B.

    Powered exoskeletons are designed to assist and protect the wearer. Depending on the situation they may be used to protect soldiers and construction workers, aid the survival of people in dangerous environments, or assist patients in rehabilitation. Regardless of the application there are strict requirements for designing and producing exoskeleton suites. They must be durable but light weight and flexible, have reliable power control and modulation, capable of detecting unsafe and invalid motions, and may require significant weight lifting capabilities. In this article we present an on-going research on robotic exoskeleton replicating of human muscle functions. A single wearable knee-joint prototype described in this article combines the use of soft pneumatic muscle-like actuators and a control system based off the users own natural muscle signals. The Pneumatic Exoskeleton uses bioelectrical signals to detect movement intention from the pilot. This paper details the technical design aspects of a lower-limb robotic exoskeleton with possibility of further expansion to fully functioning robotic exoskeleton suit.

  12. Gaseous elemental mercury emissions and CO2 respiration rates in terrestrial soils under controlled aerobic and anaerobic laboratory conditions

    Obrist, Daniel; Fain, Xavier; Berger, Carsen

    2010-01-01

    Mercury (Hg) levels in terrestrial soils are linked to the presence of organic carbon (C). Carbon pools are highly dynamic and subject to mineralization processes, but little is known about the fate of Hg during decomposition. This study evaluated relationships between gaseous Hg emissions from soils and carbon dioxide (CO 2 ) respiration under controlled laboratory conditions to assess potential losses of Hg to the atmosphere during C mineralization. Results showed a linear correlation (r 2 = 0.49) between Hg and CO 2 emissions in 41 soil samples, an effect unlikely to be caused by temperature, radiation, different Hg contents, or soil moisture. Stoichiometric comparisons of Hg/C ratios of emissions and underlying soil substrates suggest that 3% of soil Hg was subject to evasion. Even minute emissions of Hg upon mineralization, however, may be important on a global scale given the large Hg pools sequestered in terrestrial soils and C stocks. We induced changes in CO 2 respiration rates and observed Hg flux responses, including inducement of anaerobic conditions by changing chamber air supply from N 2 /O 2 (80% and 20%, respectively) to pure N 2 . Unexpectedly, Hg emissions almost quadrupled after O 2 deprivation while oxidative mineralization (i.e., CO 2 emissions) was greatly reduced. This Hg flux response to anaerobic conditions was lacking when repeated with sterilized soils, possibly due to involvement of microbial reduction of Hg 2+ by anaerobes or indirect abiotic effects such as alterations in soil redox conditions. This study provides experimental evidence that Hg volatilization, and possibly Hg 2+ reduction, is related to O 2 availability in soils from two Sierra Nevada forests. If this result is confirmed in soils from other areas, the implication is that Hg volatilization from terrestrial soils is partially controlled by soil aeration and that low soil O 2 levels and possibly low soil redox potentials lead to increased Hg volatilization from soils.

  13. Pneumatic Muscles Actuated Lower-Limb Orthosis Model Verification with Actual Human Muscle Activation Patterns

    Dzahir M.A.M

    2017-01-01

    Full Text Available A review study was conducted on existing lower-limb orthosis systems for rehabilitation which implemented pneumatic muscle type of actuators with the aim to clarify the current and on-going research in this field. The implementation of pneumatic artificial muscle will play an important role for the development of the advanced robotic system. In this research a derivation model for the antagonistic mono- and bi-articular muscles using pneumatic artificial muscles of a lower limb orthosis will be verified with actual human’s muscle activities models. A healthy and young male 29 years old subject with height 174cm and weight 68kg was used as a test subject. Two mono-articular muscles Vastus Medialis (VM and Vastus Lateralis (VL were selected to verify the mono-articular muscle models and muscle synergy between anterior muscles. Two biarticular muscles Rectus Femoris (RF and Bicep Femoris (BF were selected to verify the bi-articular muscle models and muscle co-contraction between anterior-posterior muscles. The test was carried out on a treadmill with a speed of 4.0 km/h, which approximately around 1.25 m/s for completing one cycle of walking motion. The data was collected for about one minute on a treadmill and 20 complete cycles of walking motion were successfully recorded. For the evaluations, the mathematical model obtained from the derivation and the actual human muscle activation patterns obtained using the surface electromyography (sEMG system were compared and analysed. The results shown that, high correlation values ranging from 0.83 up to 0.93 were obtained in between the derivation model and the actual human muscle’s model for both mono- and biarticular muscles. As a conclusion, based on the verification with the sEMG muscle activities data and its correlation values, the proposed derivation models of the antagonistic mono- and bi-articular muscles were suitable to simulate and controls the pneumatic muscles actuated lower limb

  14. Litter type control on soil C and N stabilization dynamics in a temperate forest.

    Hatton, Pierre-Joseph; Castanha, Cristina; Torn, Margaret S; Bird, Jeffrey A

    2015-03-01

    While plant litters are the main source of soil organic matter (SOM) in forests, the controllers and pathways to stable SOM formation remain unclear. Here, we address how litter type ((13) C/(15) N-labeled needles vs. fine roots) and placement-depth (O vs. A horizon) affect in situ C and N dynamics in a temperate forest soil after 5 years. Litter type rather than placement-depth controlled soil C and N retention after 5 years in situ, with belowground fine root inputs greatly enhancing soil C (x1.4) and N (x1.2) retention compared with aboveground needles. While the proportions of added needle and fine root-derived C and N recovered into stable SOM fractions were similar, they followed different transformation pathways into stable SOM fractions: fine root transfer was slower than for needles, but proportionally more of the remaining needle-derived C and N was transferred into stable SOM fractions. The stoichiometry of litter-derived C vs. N within individual SOM fractions revealed the presence at least two pools of different turnover times (per SOM fraction) and emphasized the role of N-rich compounds for long-term persistence. Finally, a regression approach suggested that models may underestimate soil C retention from litter with fast decomposition rates. © 2014 John Wiley & Sons Ltd.

  15. Controls on the spatial variability of key soil properties: comparing field data with a mechanistic soilscape evolution model

    Vanwalleghem, T.; Román, A.; Giraldez, J. V.

    2016-12-01

    There is a need for better understanding the processes influencing soil formation and the resulting distribution of soil properties. Soil properties can exhibit strong spatial variation, even at the small catchment scale. Especially soil carbon pools in semi-arid, mountainous areas are highly uncertain because bulk density and stoniness are very heterogeneous and rarely measured explicitly. In this study, we explore the spatial variability in key soil properties (soil carbon stocks, stoniness, bulk density and soil depth) as a function of processes shaping the critical zone (weathering, erosion, soil water fluxes and vegetation patterns). We also compare the potential of a geostatistical versus a mechanistic soil formation model (MILESD) for predicting these key soil properties. Soil core samples were collected from 67 locations at 6 depths. Total soil organic carbon stocks were 4.38 kg m-2. Solar radiation proved to be the key variable controlling soil carbon distribution. Stone content was mostly controlled by slope, indicating the importance of erosion. Spatial distribution of bulk density was found to be highly random. Finally, total carbon stocks were predicted using a random forest model whose main covariates were solar radiation and NDVI. The model predicts carbon stocks that are double as high on north versus south-facing slopes. However, validation showed that these covariates only explained 25% of the variation in the dataset. Apparently, present-day landscape and vegetation properties are not sufficient to fully explain variability in the soil carbon stocks in this complex terrain under natural vegetation. This is attributed to a high spatial variability in bulk density and stoniness, key variables controlling carbon stocks. Similar results were obtained with the mechanistic soil formation model MILESD, suggesting that more complex models might be needed to further explore this high spatial variability.

  16. Controls on deep drainage beneath the root soil zone in snowmelt-dominated environments

    Hammond, J. C.; Harpold, A. A.; Kampf, S. K.

    2017-12-01

    Snowmelt is the dominant source of streamflow generation and groundwater recharge in many high elevation and high latitude locations, yet we still lack a detailed understanding of how snowmelt is partitioned between the soil, deep drainage, and streamflow under a variety of soil, climate, and snow conditions. Here we use Hydrus 1-D simulations with historical inputs from five SNOTEL snow monitoring sites in each of three regions, Cascades, Sierra, and Southern Rockies, to investigate how inter-annual variability on water input rate and duration affects soil saturation and deep drainage. Each input scenario was run with three different soil profiles of varying hydraulic conductivity, soil texture, and bulk density. We also created artificial snowmelt scenarios to test how snowmelt intermittence affects deep drainage. Results indicate that precipitation is the strongest predictor (R2 = 0.83) of deep drainage below the root zone, with weaker relationships observed between deep drainage and snow persistence, peak snow water equivalent, and melt rate. The ratio of deep drainage to precipitation shows a stronger positive relationship to melt rate suggesting that a greater fraction of input becomes deep drainage at higher melt rates. For a given amount of precipitation, rapid, concentrated snowmelt may create greater deep drainage below the root zone than slower, intermittent melt. Deep drainage requires saturation below the root zone, so saturated hydraulic conductivity serves as a primary control on deep drainage magnitude. Deep drainage response to climate is mostly independent of soil texture because of its reliance on saturated conditions. Mean water year saturations of deep soil layers can predict deep drainage and may be a useful way to compare sites in soils with soil hydraulic porosities. The unit depth of surface runoff often is often greater than deep drainage at daily and annual timescales, as snowmelt exceeds infiltration capacity in near-surface soil layers

  17. Effects of rates and time of zeolite application on controlling runoff generation and soil loss from a soil subjected to a freeze-thaw cycle

    Morteza Behzadfar

    2017-06-01

    Full Text Available Many factors such as freeze-thaw (FT cycle influence soil behavior. Application of soil amendments can play an important role on runoff time commencement (RT, volume (RV and soil loss (SL on soils subjected to FT cycles. However, limited studies have been documented on this subject. The present study was therefore carried out under rainfall simulation circumstances to investigate the effect of different rates of zeolite application to control the effects of FT on basic hydrological variables such as runoff production and soil loss. Towards this attempt, the effect of application of different rates of 250, 500 and 750 g m−2 of zeolite applied before, during and after the occurrence of FT cycle on RT, RV and SL was assessed in a completely randomized design. Treatments were set up in two categories viz. control (without zeolite application, and three rates and times of zeolite application in small 0.25 m2-experimental plots in three replications. The results showed that application of zeolite had significant effects on hydrological behavior of soil induced by FT cycles. Application rate of 750 g m−2 prior to FT cycle increased RT and reduced RV and SL at rates of 644%, 68% and 91%, respectively. The results also verified that zeolite could successfully mitigate the impacts of FT cycle on the main soil hydrological variables of soil profile induced by FT cycle. It is accordingly recommended to employ zeolite as an effective amendment to control soil erosion in steep and degraded rangelands where surface soil is exposed to rainfall and runoff.

  18. Vulnerability of Permafrost Soil Carbon to Climate Warming: Evaluating Controls on Microbial Community Composition

    Abstract: Despite the fact that permafrost soils contain up to half of the carbon (C) in terrestrial pools, we have a poor understanding of the controls on decomposition in thawed permafrost. Global climate models assume that decomposition increases linearly with temperature, yet decomposition in th...

  19. Evaluation of steam and soil solarization for Meloidogyne arenaria control in Florida floriculture crops

    Steam and soil solarization were investigated for control of the root-knot nematode Meloidogyne arenaria in two years of field trials on a commercial flower farm in Florida. The objective was to determine if pre-plant steam treatments in combination with solarization, or solarization alone effective...

  20. Prospects for biological soil-borne disease control: application of indigenous versus synthetic microbiomes

    Biological disease control of soil-borne plant diseases has traditionally employed the biopesticide approach whereby single strains or strain mixtures are introduced into production systems through inundative/inoculative release. The approach has significant barriers that have long been recognized,...

  1. Effect of soil solarization using plastic mulch in controlling root-knot ...

    A field experiment was conducted from February to May, 2004 and 2005 planting seasons at the Vegetable Evaluation and Research Station Farm located at Anse Boileau, Seychelles to evaluate the effect of soil solarization using plastic mulch in controlling root-knot nematode infestation and yield of lettuce.

  2. Development of Pneumatic Transfer Irradiation Facility (PTS no.2) for Neutron Activation Analysis at HANARO Research Reactor

    Chung, Y. S.; Moon, J. H.; Kim, S. H.; Sun, G. M.; Baek, S. Y.; Kim, H. R.; Kim, Y. J

    2008-03-15

    A pneumatic transfer irradiation system (PTS) is one of the most important facilities used during neutron irradiation of a target material for instrumental neutron activation analysis (INAA) in a research reactor. In particular, a fast pneumatic transfer system is essential for the measurement of a short half-life nuclide and a delayed neutron counting system. The pneumatic transfer irradiation system (PTS no.2) involving a manual system and an automatic system for delayed neutron activation analysis (DNAA) were reconstructed with new designs of a functional improvement at the HANARO research reactor in 2006. In this technical report, the conception, design, operation and control of PTS no.2 was described. Also the experimental results and the characteristic parameters measured by a mock-up test, a functional operation test and an irradiation test of these systems, such as the transfer time of irradiation capsule, automatic operation control by personal computer, delayed neutron counting system, the different neutron flux, the temperature of the irradiation position with an irradiation time, the radiation dose rate when the rabbit is returned, etc. are reported to provide a user information as well as a reactor's management and safety.

  3. pH controls over methanogenesis and iron reduction along soil depth profile in Arctic tundra

    Zheng, J.; Gu, B.; Wullschleger, S. D.; Graham, D. E.

    2017-12-01

    Increasing soil temperature in the Arctic is expected to accelerate rates of soil organic matter decomposition. However, the magnitude of this impact is uncertain due to the many physical, chemical, and biological processes that control the decomposition pathways. Varying soil redox conditions present a key control over pathways of organic matter decomposition by diverting the flow of reductants among different electron accepting processes and further driving acid-base reactions that alter soil pH. In this study we investigated the pH controls over anaerobic carbon mineralization, methanogenesis, Fe(III) reduction and the interplay between these processes across a range of pH and redox conditions. pH manipulation experiments were conducted by incubating soils representing organic, mineral, cryoturbated transitional layers and permafrost. In the experiments we sought to understand (1) if methanogenesis or Fe(III) reduction had similar pH optima; (2) if this pH response also occurs at `upstream' fermentation process; and (3) if pH alters organo-mineral association or organic matter sorption and desorption and its availability for microbial degradation. Our preliminary results suggest that the common bell-shaped pH response curve provides a good fit for both Fe(III) reduction and methanogenesis, with optimum pH at 6.0-7.0. Exceptions to this were found in transitional layer where methanogenesis rates positively correlated with increasing pH, with maximum rates measured at pH 8.5. It is likely that the transitional layer harbors distinct groups of methanogens that prefer a high pH. Variations in the optimum pH of Fe(III) reduction and methanogenesis may play a significant role in regulating organic matter decomposition pathways and thus greenhouse gas production in thawing soils. These results support biogeochemical modeling efforts to accurately simulate organic matter decomposition under changing redox and pH conditions.

  4. Quality control for measurement of soil samples containing 237Np and 241Am as radiotracer

    Sha Lianmao; Zhang Caihong; Song Hailong; Ren Xiaona; Han Yuhu; Zhang Aiming; Chu Taiwei

    2003-01-01

    This paper reports quality control (QC) for the measurement of soil samples containing 237 Np and 241 Am as radiotracers in migration test of transuranic nuclides. All of the QC were done independently by the QA members of analytical work. It mainly included checking 5%-10% of the total analyzed samples; preparing blank samples, blind replicate sample and spiked samples used as quality control samples to check the quality of analytical work

  5. What is the effect of local controls on the temporal stability of soil water contents?

    Martinez, G.; Pachepsky, Y. A.; Vereecken, H.; Vanderlinden, K.; Hardelauf, H.; Herbst, M.

    2012-04-01

    Temporal stability of soil water content (TS SWC) reflects the spatio-temporal organization of SWC. Factors and their interactions that control this organization, are not completely understood and have not been quantified yet. It is understood that these factors should be classified into groups of local and non-local controls. This work is a first attempt to evaluate the effects of soil properties at a certain location as local controls Time series of SWC were generated by running water flow simulations with the HYDRUS6 code. Bare and grassed sandy loam, loam and clay soils were represented by sets of 100 independent soil columns. Within each set, values of saturated hydraulic conductivity (Ks) were generated randomly assuming for the standard deviation of the scaling factor of ln Ks a value ranging from 0.1 to 1.0. Weather conditions were the same for all of the soil columns. SWC at depths of 0.05 and 0.60 m, and the average water content of the top 1 m were analyzed. The temporal stability was characterized by calculating the mean relative differences (MRD) of soil water content. MRD distributions from simulations, developed from the log-normal distribution of Ks, agreed well with the experimental studies found in the literature. Generally, Ks was the leading variable to define the MRD rank for a specific location. Higher MRD corresponded to the lowest values of Ks when a single textural class was considered. Higher MRD were found in the finer texture when mixtures of textural classes were considered and similar values of Ks were compared. The relationships between the spread of the MRD distributions and the scaling factor of ln Ks were nonlinear. Variation in MRD was higher in coarser textures than in finer ones and more variability was seen in the topsoil than in the subsoil. Established vegetation decreased variability of MRD in the root zone and increased variability below. The dependence of MRD on Ks opens the possibility of using SWC sensor networks to

  6. Differential controls on soil carbon density and mineralization among contrasting forest types in a temperate forest ecosystem

    You, Ye-Ming; Wang, Juan; Sun, Xiao-Lu; Tang, Zuo-Xin; Zhou, Zhi-Yong; Sun, Osbert Jianxin

    2016-01-01

    Understanding the controls on soil carbon dynamics is crucial for modeling responses of ecosystem carbon balance to global change, yet few studies provide explicit knowledge on the direct and indirect effects of forest stands on soil carbon via microbial processes. We investigated tree species, soil, and site factors in relation to soil carbon density and mineralization in a temperate forest of central China. We found that soil microbial biomass and community structure, extracellular enzyme activities, and most of the site factors studied varied significantly across contrasting forest types, and that the associations between activities of soil extracellular enzymes and microbial community structure appeared to be weak and inconsistent across forest types, implicating complex mechanisms in the microbial regulation of soil carbon metabolism in relation to tree species. Overall, variations in soil carbon density and mineralization are predominantly accounted for by shared effects of tree species, soil, microclimate, and microbial traits rather than the individual effects of the four categories of factors. Our findings point to differential controls on soil carbon density and mineralization among contrasting forest types and highlight the challenge to incorporate microbial processes for constraining soil carbon dynamics in global carbon cycle models. PMID:26925871

  7. The history and assessment of effectiveness of soil erosion control measures deployed in Russia

    Valentin Golosov

    2013-09-01

    Full Text Available Research activities aimed at design and application of soil conservation measures for reduction of soil losses from cultivated fields started in Russia in the last quarter of the 19th century. A network of "zonal agrofor-estry melioration experimental stations" was organized in the different landscape zones of Russia in the first half of the 20th century. The main task of the experiments was to develop effective soil conservation measures for Russian climatic,soil and land use conditions. The most widespread and large-scale introduction of coun-termeasures to cope with soil erosion by water and wind into agricultural practice supported by serious governmental investments took place during the Soviet Union period after the Second World War. After the Soviet Union collapse in 1991 ,general deterioration of the agricultural economy sector and the absence of investments resulted in cessation of organized soil conservation measures application at the nation-wide level. However, some of the long-term erosion control measures such as forest shelter belts, artificial slope terracing, water diversion dams above formerly active gully heads survived until the present. In the case study of sediment redistribution within the small cultivated catchment presented in this paper an attempt was made to evaluate average annual erosion rates on arable slopes with and without soil conservation measures for two time intervals. It has been found that application of conservation measures on cultivated slopes within the experimental part of the case study catchment has led to a decrease of average soil loss rates by at least 2. 5 2. 8 times. The figures obtained are in good agreement with previously published results of direct monitoring of snowmelt erosion rates, reporting approximately a 3 -fold decrease of average snowmelt erosion rates in the experimental sub-catchment compared to a traditionally cultivated control sub-catchment. A substantial decrease of soil

  8. Thermokarst dynamics and soil organic matter characteristics controlling initial carbon release from permafrost soils in the Siberian Yedoma region

    Weiss, Niels; Blok, Daan; Elberling, Bo

    2016-01-01

    This study relates soil organic matter (SOM) characteristics to initial soil incubation carbon release from upper permafrost samples in Yedoma region soils of northeastern Siberia, Russia. Carbon (C) and nitrogen (N) content, carbon to nitrogen ratios (C:N), δ13C and δ15N values show clear trends...

  9. Fine scale spatial variability of microbial pesticide degradation in soil: scales, controlling factors, and implications

    Dechesne, Arnaud; Badawi, N.; Aamand, Jens

    2014-01-01

    across pesticide classes: they include some soil characteristics (pH) and some agricultural management practices (pesticide application, tillage), while other potential controlling factors have more conflicting effects depending on the site or the pesticide. Evidence demonstrating the importance......Pesticide biodegradation is a soil microbial function of critical importance for modern agriculture and its environmental impact. While it was once assumed that this activity was homogeneously distributed at the field scale, mounting evidence indicates that this is rarely the case. Here, we...... critically examine the literature on spatial variability of pesticide biodegradation in agricultural soil. We discuss the motivations, methods, and main findings of the primary literature. We found significant diversity in the approaches used to describe and quantify spatial heterogeneity, which complicates...

  10. Soil properties and not inputs control carbon, nitrogen, phosphorus ratios in cropped soils in the long-term

    Frossard, E.; Buchmann, N.; Bünemann, E. K.; Kiba, D. I.; Lompo, F.; Oberson, A.; Tamburini, F.; Traoré, O. Y. A.

    2015-09-01

    Stoichiometric approaches have been applied to understand the relationship between soil organic matter dynamics and biological nutrient transformations. However, very few studies explicitly considered the effects of agricultural management practices on soil C : N : P ratio. The aim of this study was to assess how different input types and rates would affect the C : N : P molar ratios of bulk soil, organic matter and microbial biomass in cropped soils in the long-term. Thus, we analysed the C, N and P inputs and budgets as well as soil properties in three long-term experiments established on different soil types: the Saria soil fertility trial (Burkina Faso), the Wagga Wagga rotation/stubble management/soil preparation trial (Australia), and the DOK cropping system trial (Switzerland). In each of these trials, there was a large range of C, N and P inputs which had a strong impact on element concentrations in soils. However, although C : N : P ratios of the inputs were highly variable, they had only weak effects on soil C : N : P ratios. At Saria, a positive correlation was found between the N : P ratio of inputs and microbial biomass, while no relation was observed between the nutrient ratios of inputs and soil organic matter. At Wagga Wagga, the C : P ratio of inputs was significantly correlated to total soil C : P, N : P and C : N ratios, but had no impact on the elemental composition of microbial biomass. In the DOK trial, a positive correlation was found between the C budget and the C to organic P ratio in soils, while the nutrient ratios of inputs were not related to those in the microbial biomass. We argue that these responses are due to differences in soil properties among sites. At Saria, the soil is dominated by quartz and some kaolinite, has a coarse texture, a fragile structure and a low nutrient content. Thus, microorganisms feed on inputs (plant residues, manure). In contrast, the soil at Wagga Wagga contains illite and haematite, is richer in clay and

  11. Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosis.

    Gordon, Keith E; Sawicki, Gregory S; Ferris, Daniel P

    2006-01-01

    We developed a powered ankle-foot orthosis that uses artificial pneumatic muscles to produce active plantar flexor torque. The purpose of this study was to quantify the mechanical performance of the orthosis during human walking. Three subjects walked at a range of speeds wearing ankle-foot orthoses with either one or two artificial muscles working in parallel. The orthosis produced similar total peak plantar flexor torque and network across speeds independent of the number of muscles used. The orthosis generated approximately 57% of the peak ankle plantar flexor torque during stance and performed approximately 70% of the positive plantar flexor work done during normal walking. Artificial muscle bandwidth and force-length properties were the two primary factors limiting torque production. The lack of peak force and work differences between single and double muscle conditions can be explained by force-length properties. Subjects altered their ankle kinematics between conditions resulting in changes in artificial muscle length. In the double muscle condition greater plantar flexion yielded shorter artificial muscles lengths and decreased muscle forces. This finding emphasizes the importance of human testing in the design and development of robotic exoskeleton devices for assisting human movement. The results of this study outline the mechanical performance limitations of an ankle-foot orthosis powered by artificial pneumatic muscles. This orthosis could be valuable for gait rehabilitation and for studies investigating neuromechanical control of human walking.

  12. Design of a Pneumatic Tool for Manual Drilling Operations in Confined Spaces

    Janicki, Benjamin

    This master's thesis describes the design process and testing results for a pneumatically actuated, manually-operated tool for confined space drilling operations. The purpose of this device is to back-drill pilot holes inside a commercial airplane wing. It is lightweight, and a "locator pin" enables the operator to align the drill over a pilot hole. A suction pad stabilizes the system, and an air motor and flexible drive shaft power the drill. Two testing procedures were performed to determine the practicality of this prototype. The first was the "offset drill test", which qualified the exit hole position error due to an initial position error relative to the original pilot hole. The results displayed a linear relationship, and it was determined that position errors of less than .060" would prevent the need for rework, with errors of up to .030" considered acceptable. For the second test, a series of holes were drilled with the pneumatic tool and analyzed for position error, diameter range, and cycle time. The position errors and hole diameter range were within the allowed tolerances. The average cycle time was 45 seconds, 73 percent of which was for drilling the hole, and 27 percent of which was for positioning the device. Recommended improvements are discussed in the conclusion, and include a more durable flexible drive shaft, a damper for drill feed control, and a more stable locator pin.

  13. Design of a Lightweight Soft Robotic Arm Using Pneumatic Artificial Muscles and Inflatable Sleeves.

    Ohta, Preston; Valle, Luis; King, Jonathan; Low, Kevin; Yi, Jaehyun; Atkeson, Christopher G; Park, Yong-Lae

    2018-04-01

    As robots begin to interact with humans and operate in human environments, safety becomes a major concern. Conventional robots, although reliable and consistent, can cause injury to anyone within its range of motion. Soft robotics, wherein systems are made to be soft and mechanically compliant, are thus a promising alternative due to their lightweight nature and ability to cushion impacts, but current designs often sacrifice accuracy and usefulness for safety. We, therefore, have developed a bioinspired robotic arm combining elements of rigid and soft robotics such that it exhibits the positive qualities of both, namely compliance and accuracy, while maintaining a low weight. This article describes the design of a robotic arm-wrist-hand system with seven degrees of freedom (DOFs). The shoulder and elbow each has two DOFs for two perpendicular rotational motions on each joint, and the hand has two DOFs for wrist rotations and one DOF for a grasp motion. The arm is pneumatically powered using custom-built McKibben type pneumatic artificial muscles, which are inflated and deflated using binary and proportional valves. The wrist and hand motions are actuated through servomotors. In addition to the actuators, the arm is equipped with a potentiometer in each joint for detecting joint angle changes. Simulation and experimental results for closed-loop position control are also presented in the article.

  14. Using elevation gradients to study climate controls on soil carbon dynamics

    Trumbore, S.; Marzaioli, F.; Castanha, C.; Amundson, R.

    2009-04-01

    Elevation gradients provide the opportunity to study vegetation and climate gradients in a setting where other soil forming factors such as parent material and soil age are held constant. We use the observed changes in radiocarbon content of organic matter fractionated by density and other methods to infer the dynamics of soil carbon and how it varies with elevation along transects in the Sierra Nevada mountains in California, USA. In surface litter layers, changes in the radiocarbon content from 1992 to 2006 in litter layers show that these layers are more dynamic than originally inferred from a comparison based on changes between the 1950s and the 1990s. In mineral soils, fractions often considered to be the most slowly cycling (hydrolysis residue) showed large changes in 14C in the last decade. We use incubations to determine the mean age of carbon respired by microbes along the same gradients; these data are compared to incubations from other sites and show that climate and vegetation are a major controls of the mean age of fast-cycling carbon in litter and soils.

  15. Bioengineering Technology to Control River Soil Erosion using Vetiver (Vetiveria Zizaniodes)

    Sriwati, M.; Pallu, S.; Selintung, M.; Lopa, R.

    2018-04-01

    Erosion is the action of surface processes (such as water flow or wind) that removes soil, rock or dissolved material from one location on the earth’s crust, and then transport it away to another location. Bioengineering is an attempt to maximise the use of vegetation components along riverbanks to cope with landslides and erosion of river cliffs and another riverbank damage. This study aims to analyze the bioengineering of Vetiver as a surface layer for soil erosion control using slope of 100, 200, and 300. This study is conducted with 3 variations of rain intensity (I), at 103 mm/hour, 107 mm/hour, and 130 mm/hour by using rainfall simulator tool. In addition, the USLE (Universal Soil Loss Equation) method is used in order to measure the rate of soil erosion. In this study, there are few USLE model parameters were used such as rainfall erosivity factor, soil erodibility factor, length-loss slope and stepness factor, cover management factor, and support practise factor. The results demonstrated that average of reduction of erosion rate using Vetiver, under 3 various rainfalls, namely rainfall intensity 103 mm/hr had reduced 84.971%, rainfall intensity 107 mm/hr had reduced 86.583 %, rainfall intensity 130 mm/hr had reduced 65.851%.

  16. Abiotic and seasonal control of soil-produced CO2 efflux in karstic ecosystems located in Oceanic and Mediterranean climates

    Garcia-Anton, Elena; Cuezva, Soledad; Fernandez-Cortes, Angel; Alvarez-Gallego, Miriam; Pla, Concepcion; Benavente, David; Cañaveras, Juan Carlos; Sanchez-Moral, Sergio

    2017-09-01

    This study characterizes the processes involved in seasonal CO2 exchange between soils and shallow underground systems and explores the contribution of the different biotic and abiotic sources as a function of changing weather conditions. We spatially and temporally investigated five karstic caves across the Iberian Peninsula, which presented different microclimatic, geologic and geomorphologic features. The locations present Mediterranean and Oceanic climates. Spot air sampling of CO2 (g) and δ13CO2 in the caves, soils and outside atmospheric air was periodically conducted. The isotopic ratio of the source contribution enhancing the CO2 concentration was calculated using the Keeling model. We compared the isotopic ratio of the source in the soil (δ13Cs-soil) with that in the soil-underground system (δ13Cs-system). Although the studied field sites have different features, we found common seasonal trends in their values, which suggests a climatic control over the soil air CO2 and the δ13CO2 of the sources of CO2 in the soil (δ13Cs-soil) and the system (δ13Cs-system). The roots respiration and soil organic matter degradation are the main source of CO2 in underground environments, and the inlet of the gas is mainly driven by diffusion and advection. Drier and warmer conditions enhance soil-exterior CO2 interchange, reducing the CO2 concentration and increasing the δ13CO2 of the soil air. Moreover, the isotopic ratio of the source of CO2 in both the soil and the system tends to heavier values throughout the dry and warm season. We conclude that seasonal variations of soil CO2 concentration and its 13C/12C isotopic ratio are mainly regulated by thermo-hygrometric conditions. In cold and wet seasons, the increase of soil moisture reduces soil diffusivity and allows the storage of CO2 in the subsoil. During dry and warm seasons, the evaporation of soil water favours diffusive and advective transport of soil-derived CO2 to the atmosphere. The soil CO2 diffusion is

  17. Simulation of biomass pneumatic drying with ascending swirling movement

    Bombino Matos, Eugenio F.; Pineda Revilla, Edel

    2017-01-01

    Considering the layer form acquired by the particles during the studying process it was necessary to define the relation cheap between the heat and mass transfer area and particles flow to simulate with more precision this kind of drying. The simulations results were compared, by a statistical analysis based in Statgraphics-Centurion V15 program, with the results obtained in others pneumatic bagasse dryers studies and were similar and for that reason it was categorical that is correct the definition made about the relation cheap area/material flow defined in this work and it’s possible to reduce pneumatic dryer height by using this method. This reduction that can be seen by the Height Reduction Sing (HRS) of the drying column, defined in the work, will permit more compact dryers. (author)

  18. Performance characterization of pneumatic single pellet injection system

    Schuresko, D.D.; Milora, S.L.; Hogan, J.T.; Foster, C.A.; Combs, S.K.

    1983-01-01

    The Oak Ridge National Laboratory single-shot pellet injector, which has been used in plasma fueling experiments on ISX and PDX, has been upgraded and extensively instrumented in order to study the gas dyamics of pneumatic pellet injection. An improved pellet transport line was developed which utilizes a 0.3-cm-diam by 100-cm-long guide tube. Pellet gun performance was characterized by measurements of breech and muzzle dynamic pressures and by pellet velocity and mass determinations. Velocities of up to 1.4 km/s were achieved for intact hydrogen pellets using hydrogen propellant at 5-MPa breech pressure. These data have been compared with new pellet acceleration calculations which include the effects of propellant friction, heat transfer, time-dependent boundary conditions, and finite gun geometry. These results provide a basis for the extrapolation of present-day pneumatic injection system performance to velocities in excess of 2 km/s

  19. The Influence of Shaping Air Pressure of Pneumatic Spray Gun

    Chen, Wenzhuo; Chen, Yan; Pan, Haiwei; Zhang, Weiming; Li, Bo

    2018-02-01

    The shaping air pressure is a very important parameter in the application of pneumatic spray gun, and studying its influence on spray flow field and film thickness distribution has practical values. In this paper, Euler-Lagrangian method is adopted to describe the two-phase spray flow of pneumatic painting process, and the air flow fields, spray patterns and dynamic film thickness distributions were obtained with the help of the computational fluid dynamics code—ANSYS Fluent. Results show that with the increase of the shaping air pressure, the air phase flow field spreads in the plane perpendicular to the shaping air hole plane, the spray pattern becomes narrower and flatter, and the width of the dynamic film increases with the reduced maximum value of the film thickness. But the film thickness distribution seems to change little with the shaping air pressure decreasing from 0.6bar to 0.9bar.

  20. Liquid-metal dip seal with pneumatic spring

    Poindexter, A.M.

    1977-01-01

    An improved liquid-metal dip seal for sealing the annulus between rotating plugs in the reactor vessel head of a liquid-metal fast-breeder nuclear reactor has two legs of differing widths communicating under a seal blade; the wide leg is also in communication with cover gas of the reactor and the narrow leg is also in communication with an isolated plug annulus above the seal. The annulus contains inert gas which acts as a pneumatic spring. Upon increasing cover gas pressure which depresses the level in the wide leg and greatly increases the level in the narrow leg, the pneumatic spring is compressed, and resists further level changes, thus preventing radioactive cover gas from bubbling through the seal