Molecular dynamics simulation of liquid structure for undercooled Zr-Nb alloys assisted with electrostatic levitation experiments

Science.gov (United States)

Yang, S. J.; Hu, L.; Wang, L.; Wei, B.

2018-06-01

The liquid structures of undercooled Zr90Nb10, Zr70Nb30 and Zr50Nb50 alloys were studied by molecular dynamics simulation combined with electrostatic levitation experiments. The densities of three alloys were measured by electrostatic levitation to modify the Zr-Nb potential functions by adjusting parameters in potential functions. In simulation, the atomic packing in Zr-Nb alloys was more ordered at lower temperatures. The Voronoi tessellation analyses indicated Nb-centered clusters were easier to form than Zr-centered clusters although the Nb content was less than 50%. The partial pair distribution functions showed that the interactions among Zr atoms are quite different to that among Nb atoms.

New technologies in robotic surgery: the Korean experience.

Science.gov (United States)

Tuliao, Patrick H; Kim, Sang W; Rha, Koon H

2014-01-01

The development of the robotic systems has made surgery an increasingly technology-driven field. Since the introduction of the first robotic platform in 2005, surgical practice in South Korea has also been caught up in the global robotic revolution. Consequently, a market focused on improving the robotic systems was created and Korea has emerged as one of its frontrunners. This article reviews the Korean experience in developing various robotic technologies and then Korea's most recent contributions to the development of new technologies in robotic surgery. The goal of new technologies in the field of robotic surgery has been to improve on the current platforms by eliminating their disadvantages. The pressing goal is to develop a platform that is less bulky, more ergonomic, and capable of providing force feedback to the surgeon. In Korea, the Lapabot and two new robotic systems for single-port laparoscopic surgery are the most recent advances that have been reported. Robotic surgery is rapidly evolving and Korea has stayed in the forefront of its development. These new advancements in technology will eventually produce better robotic platforms that will greatly improve the manner in which surgical care is delivered.

Getting started with robotics in general surgery with cholecystectomy: the Canadian experience

Science.gov (United States)

Jayaraman, Shiva; Davies, Ward; Schlachta, Christopher M.

2009-01-01

Background The value of robotics in general surgery may be for advanced minimally invasive procedures. Unlike other specialties, formal fellowship training opportunities for robotic general surgery are few. As a result, most surgeons currently develop robotic skills in practice. Our goal was to determine whether robotic cholecystectomy is a safe and effective bridge to advanced robotics in general surgery. Methods Before performing advanced robotic procedures, 2 surgeons completed the Intuitive Surgical da Vinci training course and agreed to work together on all procedures. Clinical surgery began with da Vinci cholecystectomy with a plan to begin advanced procedures after at least 10 cholecystectomies. We performed a retrospective review of our pilot series of robotic cholecystectomies and compared them with contemporaneous laparoscopic controls. The primary outcome was safety, and the secondary outcome was learning curve. Results There were 16 procedures in the robotics arm and 20 in the laparoscopic arm. Two complications (da Vinci port-site hernia, transient elevation of liver enzymes) occurred in the robotic arm, whereas only 1 laparoscopic patient (slow to awaken from anesthetic) experienced a complication. None was significant. The mean time required to perform robotic cholecystectomy was significantly longer than laparoscopic surgery (91 v. 41 min, p robotic procedures (14 v. 11 min, p = 0.015). We observed a trend showing longer mean anesthesia time for robotic procedures (23 v. 15 min). Regarding learning curve, the mean operative time needed for the first 3 robotic procedures was longer than for the last 3 (101 v. 80 min); however, this difference was not significant. Since this experience, the team has confidently gone on to perform robotic biliary, pancreatic, gastresophageal, intestinal and colorectal operations. Conclusion Robotic cholecystectomy can be performed reliably; however, owing to the significant increase in operating room resources, it

Getting started with robotics in general surgery with cholecystectomy: the Canadian experience.

Science.gov (United States)

Jayaraman, Shiva; Davies, Ward; Schlachta, Christopher M

2009-10-01

The value of robotics in general surgery may be for advanced minimally invasive procedures. Unlike other specialties, formal fellowship training opportunities for robotic general surgery are few. As a result, most surgeons currently develop robotic skills in practice. Our goal was to determine whether robotic cholecystectomy is a safe and effective bridge to advanced robotics in general surgery. Before performing advanced robotic procedures, 2 surgeons completed the Intuitive Surgical da Vinci training course and agreed to work together on all procedures. Clinical surgery began with da Vinci cholecystectomy with a plan to begin advanced procedures after at least 10 cholecystectomies. We performed a retrospective review of our pilot series of robotic cholecystectomies and compared them with contemporaneous laparoscopic controls. The primary outcome was safety, and the secondary outcome was learning curve. There were 16 procedures in the robotics arm and 20 in the laparoscopic arm. Two complications (da Vinci port-site hernia, transient elevation of liver enzymes) occurred in the robotic arm, whereas only 1 laparoscopic patient (slow to awaken from anesthetic) experienced a complication. None was significant. The mean time required to perform robotic cholecystectomy was significantly longer than laparoscopic surgery (91 v. 41 min, p robotic procedures (14 v. 11 min, p = 0.015). We observed a trend showing longer mean anesthesia time for robotic procedures (23 v. 15 min). Regarding learning curve, the mean operative time needed for the first 3 robotic procedures was longer than for the last 3 (101 v. 80 min); however, this difference was not significant. Since this experience, the team has confidently gone on to perform robotic biliary, pancreatic, gastresophageal, intestinal and colorectal operations. Robotic cholecystectomy can be performed reliably; however, owing to the significant increase in operating room resources, it cannot be justified for routine use. Our

Vision Guided Intelligent Robot Design And Experiments

Science.gov (United States)

Slutzky, G. D.; Hall, E. L.

1988-02-01

The concept of an intelligent robot is an important topic combining sensors, manipulators, and artificial intelligence to design a useful machine. Vision systems, tactile sensors, proximity switches and other sensors provide the elements necessary for simple game playing as well as industrial applications. These sensors permit adaption to a changing environment. The AI techniques permit advanced forms of decision making, adaptive responses, and learning while the manipulator provides the ability to perform various tasks. Computer languages such as LISP and OPS5, have been utilized to achieve expert systems approaches in solving real world problems. The purpose of this paper is to describe several examples of visually guided intelligent robots including both stationary and mobile robots. Demonstrations will be presented of a system for constructing and solving a popular peg game, a robot lawn mower, and a box stacking robot. The experience gained from these and other systems provide insight into what may be realistically expected from the next generation of intelligent machines.

Atom probe tomographic studies of precipitation in Al-0.1Zr-0.1Ti (at.%) alloys.

Science.gov (United States)

Knipling, Keith E; Dunand, David C; Seidman, David N

2007-12-01

Atom probe tomography was utilized to measure directly the chemical compositions of Al(3)(Zr(1)-(x)Ti(x)) precipitates with a metastable L1(2) structure formed in Al-0.1Zr-0.1Ti (at.%) alloys upon aging at 375 degrees C or 425 degrees C. The alloys exhibit an inhomogeneous distribution of Al(3)(Zr(1)-(x)Ti(x)) precipitates, as a result of a nonuniform dendritic distribution of solute atoms after casting. At these aging temperatures, the Zr:Ti atomic ratio in the precipitates is about 10 and 5, respectively, indicating that Ti remains mainly in solid solution rather than partitioning to the Al(3)(Zr(1)-(x)Ti(x)) precipitates. This is interpreted as being due to the very small diffusivity of Ti in alpha-Al, consistent with prior studies on Al-Sc-Ti and Al-Sc-Zr alloys, where the slower diffusing Zr and Ti atoms make up a small fraction of the Al(3)(Zr(1)-(x)Ti(x)) precipitates. Unlike those alloys, however, the present Al-Zr-Ti alloys exhibit no interfacial segregation of Ti at the matrix/precipitate heterophase interface, a result that may be affected by a significant disparity in the evaporation fields of the alpha-Al matrix and Al(3)(Zr(1)-(x)Ti(x)) precipitates and/or a lack of local thermodynamic equilibrium at the interface.

Experiences in Developing an Experimental Robotics Course Program for Undergraduate Education

Science.gov (United States)

Jung, Seul

2013-01-01

An interdisciplinary undergraduate-level robotics course offers students the chance to integrate their engineering knowledge learned throughout their college years by building a robotic system. Robotics is thus a core course in system and control-related engineering education. This paper summarizes the experience of developing robotics courses…

Evidence of icosahedral short-range order in Zr70Cu30 and Zr70Cu29Pd1 metallic glasses

DEFF Research Database (Denmark)

Saksl, K.; Franz, H.; Jovari, P.

2003-01-01

Change in local atomic environment during crystallization of Zr-based glassy alloys was studied by extended x-ray absorption fine structure (EXAFS) spectroscopy. The formation of icosahedral quasicrystalline phase followed by crystallization of tetragonal CuZr2 has been observed in the Zr70Cu29Pd1...... glassy alloy during annealing up to 850 K. On the other hand, the binary Zr70Cu30 alloy shows a single glassy to crystalline CuZr2 phase transformation. The local atomic environment of as-quenched Zr70Cu30 alloy is matched to an icosahedral local atomic configuration, which is similar to that of the as......-quenched Zr70Cu29Pd1 alloy and the alloy annealed at 593 K containing icosahedral phase. Considering that the supercooled liquid region appears prior to crystallization in the Zr70Cu30 glassy alloy, the observed results support the theory claiming a strong correlation between the existence of local...

Effect of alloying Mo on mechanical strength and corrosion resistance of Zr-1% Sn-1% Nb-1% Fe alloy

International Nuclear Information System (INIS)

Sugondo

2011-01-01

It had been done research on Zr-1%Sn-1%Nb-1%Fe-(x)%Mo alloy. The ingot was prepared by means of electrical electrode technique. The chemical analysis was identified by XRF, the metallography examination was perform by an optical microscope, the hardness test was done by Vickers microhardness, and the corrosion test was done in autoclave. The objective of this research were making Zr-1%Sn-1%Nb-1%Fe-(x)%Mo alloy with Mo concentration; comparing effect of Mo concentration to metal characteristics of Zr-1%Sn-1%Nb-1%Fe which covered microstructure; composition homogeneity, mechanical strength; and corrosion resistance in steam, and determining the optimal Mo concentration in Zr-1%Sn-1%Nb-1%Fe-(x)% Mo alloy for nuclear fuel cladding which had corrosion resistance and high hardness. The results were as follow: The alloying Mo refined grains at concentration in between 0,1%-0,3% and the concentration more than that could coarsened grains. The hardness of the Zr-1%Sn-1%Nb-1%Fe-(x)%Mo alloy was controlled either by the flaw or the dislocation, the intersection of the harder alloying element, the solid solution of the alloying element and the second phase formation of ZrMo 2 . The corrosion rate of the Zr-1%Sn-1%Nb-1%Fe-(x)%Mo alloy was controlled by the second phase of ZrMo 2 . The 0.3% Mo concentration in Zr-1%Sn-1%Nb-1%Fe-(x)%Mo alloy was the best for second phase formation. The Mo concentration in between 0,3-0,5% in Zr-1%Sn-1%Nb-1%Fe-(x)%Mo alloy was good for the second phase formation and the solid solution. (author)

Hydrogen storage behavior of ZrCo1-xNix alloys

International Nuclear Information System (INIS)

Jat, Ram Avtar; Parida, S.C.; Agarwal, Renu; Kulkarni, S.G.

2012-01-01

Intermetallic compound ZrCo is proposed as a candidate material for storage, supply and recovery of hydrogen isotopes in International Thermonuclear Experimental Reactor (ITER) Storage and Delivery System (SDS). However, it has been reported that upon repeated hydriding-dehydriding cycles, ZrCo undergoes disproportionation as per the reaction; 2ZrCo + H 2 ↔ ZrH 2 + ZrCO 2 . This results in reduction in hydrogen storage capacity of ZrCo, which is not a desirable property for SDS. Konishi et al. reported that the disproportionation reaction can be suppressed by decreasing the desorption temperature. It is anticipated that suitable ternary alloying of ZrCo can elevated the hydrogen equilibrium pressure and hence decrease the desorption temperature for supply of 100 kPa of hydrogen. In this study, we have investigated the effect of Ni content on the hydrogenation behavior of ZrCo 1-x Ni x alloys

A remote lab for experiments with a team of mobile robots.

Science.gov (United States)

Casini, Marco; Garulli, Andrea; Giannitrapani, Antonio; Vicino, Antonio

2014-09-04

In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab.

A Remote Lab for Experiments with a Team of Mobile Robots

Directory of Open Access Journals (Sweden)

Marco Casini

2014-09-01

Full Text Available In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab.

[Anesthesia experiences on laparoscopic nephrectomy with da Vinci S robotics].

Science.gov (United States)

Mou, Ling; Lan, Zhixun

2015-09-01

To summarize the clinical anesthesia experiences in 20 patients who underwent laparoscopic nephrectomy with da Vinci S robotics.
 Anesthesia data of 20 patients from Sichuan Provincial People's Hospital, who underwent laparoscopic nephrectomy with da Vinci S robotics from August 2014 to November 2014, were analyzed and summarized. The anesthesia time, operation time, CO(2) pneumoperitoneum time, PaCO(2) and PETCO(2) were recorded.
 All patients were anesthetized and underwent surgery with da Vinci S robotics. The anesthesia time was (220±14) min, the operation time was (187±11) min, and the CO(2) pneumoperitoneum time was (180±13) min. The PaCO(2) and PETCO(2) were significantly elevated at 1.5 h after operation compared with those at the baseline (before pneumoperitoneum) (Pda vinci S robotics. However, the duration of CO(2) pneumoperitoneum is significantly increased compared to that of other surgical procedures, resulting in high airway resistance and acid-base disturbance.

Hydrogen isotope storage behavior of Zr1-xTixCo alloys

International Nuclear Information System (INIS)

Jat, Ram Avtar; Pati, Subhasis; Parida, S.C.; Agarwal, Renu; Mukerjee, S.K.

2016-01-01

Tritium storage properties similar to uranium make ZrCo as a suitable candidate material for storage, supply and recovery of hydrogen isotopes in various tritium facilities. Beside non-radioactive, nonpyrophoric at room temperature and higher storage capacity (H/f.u. up to 3, f.u. = ZrCo), it has been reported that upon repeated hydriding-dehydriding cycles, ZrCo undergoes dis-proportionation as per the reaction; ZrCo + H 2 ↔ ZrH 2 + ZrCo 2 . The present study is aimed to investigate the effect of Ti content on the hydrogen storage behavior of Zr 1-x Ti x Co alloys and the hydrogen isotope effect

Developing a robotic pancreas program: the Dutch experience.

Science.gov (United States)

Nota, Carolijn L; Zwart, Maurice J; Fong, Yuman; Hagendoorn, Jeroen; Hogg, Melissa E; Koerkamp, Bas Groot; Besselink, Marc G; Molenaar, I Quintus

2017-01-01

Robot-assisted surgery has been developed to overcome limitations of conventional laparoscopy aiming to further optimize minimally invasive surgery. Despite the fact that robotics already have been widely adopted in urology, gynecology, and several gastro-intestinal procedures, like colorectal surgery, pancreatic surgery lags behind. Due to the complex nature of the procedure, surgeons probably have been hesitant to apply minimally invasive techniques in pancreatic surgery. Nevertheless, the past few years pancreatic surgery has been catching up. An increasing number of procedures are being performed laparoscopically and robotically, despite it being a highly complex procedure with high morbidity and mortality rates. Since the complex nature and extensiveness of the procedure, the start of a robotic pancreatic program should be properly prepared and should comply with several conditions within high-volume centers. Robotic training plays a significant role in the preparation. In this review we discuss the different aspects of preparation when working towards the start of a robotic pancreas program against the background of our nationwide experience in the Netherlands.

Initial experience with the new da Vinci single-port robot-assisted platform.

Science.gov (United States)

Ballestero Diego, R; Zubillaga Guerrero, S; Truan Cacho, D; Carrion Ballardo, C; Velilla Diez, G; Calleja Hermosa, P; Gutiérrez Baños, J L

2017-06-01

To describe our experience in the first cases of urological surgeries performed with the da Vinci single-port robot-assisted platform. We performed 5 single-port robot-assisted surgeries (R-LESS) between May and October 2014. We performed 3 ureteral reimplant surgeries, one ureteropyeloplasty in an inverted kidney and 1 partial nephrectomy. The perioperative and postoperative results were collected, as well as a report of the complications according to the Clavien classification system. Of the 5 procedures, 4 were performed completely by LESS, while 1 procedure was reconverted to multiport robot-assisted surgery. There were no intraoperative complications. We observed perioperative complications in 4 patients, all of which were grade 1 or 2. The mean surgical time was 262minutes (range, 230-300). In our initial experience with the da Vinci device, R-LESS surgery was feasible and safe. There are still a number of limitations in its use, which require new and improved R-LESS platforms. Copyright © 2016 AEU. Publicado por Elsevier España, S.L.U. All rights reserved.

Laboratory experiments in mobile robot navigation

International Nuclear Information System (INIS)

Kar, Asim; Pal, Prabir K.

1997-01-01

Mobile robots have potential applications in remote surveillance and operation in hazardous areas. To be effective, they must have the ability to navigate on their own to desired locations. Several experimental navigational runs of a mobile robot developed have been conducted. The robot has three wheels of which the front wheel is steered and the hind wheels are driven. The robot is equipped with an ultrasonic range sensor, which is turned around to get range data in all directions. The range data is fed to the input of a neural net, whose output steers the robot towards the goal. The robot is powered by batteries (12V 10Ah). It has an onboard stepper motor controller for driving the wheels and the ultrasonic setup. It also has an onboard computer which runs the navigation program NAV. This program sends the range data and configuration parameters to the operator''s console program OCP, running on a stationary PC, through radio communication on a serial line. Through OCP, an operator can monitor the progress of the robot from a distant control room and intervene if necessary. In this paper the control modules of the mobile robot, its ways of operation and also results of some of the experimental runs recorded are reported. It is seen that the trained net guides the mobile robot through gaps of 1m and above to its destination with about 84% success measured over a small sample of 38 runs

Experiences of a Motivational Interview Delivered by a Robot: Qualitative Study

Science.gov (United States)

Galvão Gomes da Silva, Joana; Kavanagh, David J; Belpaeme, Tony; Taylor, Lloyd; Beeson, Konna

2018-01-01

Background Motivational interviewing is an effective intervention for supporting behavior change but traditionally depends on face-to-face dialogue with a human counselor. This study addressed a key challenge for the goal of developing social robotic motivational interviewers: creating an interview protocol, within the constraints of current artificial intelligence, which participants will find engaging and helpful. Objective The aim of this study was to explore participants’ qualitative experiences of a motivational interview delivered by a social robot, including their evaluation of usability of the robot during the interaction and its impact on their motivation. Methods NAO robots are humanoid, child-sized social robots. We programmed a NAO robot with Choregraphe software to deliver a scripted motivational interview focused on increasing physical activity. The interview was designed to be comprehensible even without an empathetic response from the robot. Robot breathing and face-tracking functions were used to give an impression of attentiveness. A total of 20 participants took part in the robot-delivered motivational interview and evaluated it after 1 week by responding to a series of written open-ended questions. Each participant was left alone to speak aloud with the robot, advancing through a series of questions by tapping the robot’s head sensor. Evaluations were content-analyzed utilizing Boyatzis’ steps: (1) sampling and design, (2) developing themes and codes, and (3) validating and applying the codes. Results Themes focused on interaction with the robot, motivation, change in physical activity, and overall evaluation of the intervention. Participants found the instructions clear and the navigation easy to use. Most enjoyed the interaction but also found it was restricted by the lack of individualized response from the robot. Many positively appraised the nonjudgmental aspect of the interview and how it gave space to articulate their motivation for

Nanotube morphology changes for Ti-Zr alloys as Zr content increases

International Nuclear Information System (INIS)

Kim, Won-Gi; Choe, Han-Cheol; Ko, Yeong-Mu; Brantley, William A.

2009-01-01

Nanotube morphology changes in Ti-Zr alloys as Zr content increases have been investigated. Ti-Zr (10, 20, 30 and 40 wt.%) alloys were prepared by arc melting and heat treated for 24 h at 1000 o C in an argon atmosphere. TiO 2 nanotubes were formed on the Ti-Zr alloys by anodization in H 3 PO 4 containing 0.5 wt.% NaF. Electrochemical experiments were performed using a conventional three-electrode configuration with a platinum counter electrode and a saturated calomel reference electrode. Samples were embedded in epoxy resin, leaving an area of 10 mm 2 exposed to the electrolyte. Anodization was carried out using a scanning potentiostat, and all experiments were conducted at room temperature. Microstructures of the alloys were examined by optical microscopy (OM), field emission scanning electron microscopy (FE-SEM) and x-ray diffraction (XRD). The Ti-Zr alloy microstructures observed by OM and FE-SEM changed from a lamellar structure to a needle-like structure with increasing Zr content. The microstructures also changed from β phase to increasing amounts of α phase as the Zr content increased. The number of large nanotubes formed by anodization decreased, and the number of small nanotubes increased, as the Zr content increased. The mean inner diameter ranged from approximately 150 to 200 nm with a tube-wall thickness of about 20 nm. The interspace between the nanotubes was approximately 60, 70, 100 and 130 nm for Zr contents of 10, 20, 30 and 40 wt.%, respectively.

Cation mobility in NASICON compounds Li1-xZr2-xNbx(PO4)3 and Li1+xZr2-xScx(PO4)3

International Nuclear Information System (INIS)

Stenina, I.A.; Yaroslavtsev, A.B.; Aliev, A.D.; Antipov, E.V.; Velikodnyj, Yu.A.; Rebrov, A.I.

2002-01-01

Compounds featuring NASICON structure of the composition Li 1-x Zr 2-x Nb x (PO 4 ) 3 and Li 1+x Zr 2-x Sc x (PO 4 ) 3 were studied by the method of X-ray phase analysis and 7 Li and 31 P NMR. Structure of Li 0.8 Zr 1.8 Nb 0.2 (PO 4 ) 3 was refined on the basis of X-ray powder pattern. It is shown that cationic disordering in LiZr 2 (PO 4 ) 3 is stimulated both by cationic vacancies and interstitial atoms formation. The cationic vacancies are characterized by a higher mobility. The level of intrinsic disordering was estimated and the Frenkel constant for the compound was calculated [ru

Experiences of a Motivational Interview Delivered by a Robot: Qualitative Study.

Science.gov (United States)

Galvão Gomes da Silva, Joana; Kavanagh, David J; Belpaeme, Tony; Taylor, Lloyd; Beeson, Konna; Andrade, Jackie

2018-05-03

Motivational interviewing is an effective intervention for supporting behavior change but traditionally depends on face-to-face dialogue with a human counselor. This study addressed a key challenge for the goal of developing social robotic motivational interviewers: creating an interview protocol, within the constraints of current artificial intelligence, which participants will find engaging and helpful. The aim of this study was to explore participants' qualitative experiences of a motivational interview delivered by a social robot, including their evaluation of usability of the robot during the interaction and its impact on their motivation. NAO robots are humanoid, child-sized social robots. We programmed a NAO robot with Choregraphe software to deliver a scripted motivational interview focused on increasing physical activity. The interview was designed to be comprehensible even without an empathetic response from the robot. Robot breathing and face-tracking functions were used to give an impression of attentiveness. A total of 20 participants took part in the robot-delivered motivational interview and evaluated it after 1 week by responding to a series of written open-ended questions. Each participant was left alone to speak aloud with the robot, advancing through a series of questions by tapping the robot's head sensor. Evaluations were content-analyzed utilizing Boyatzis' steps: (1) sampling and design, (2) developing themes and codes, and (3) validating and applying the codes. Themes focused on interaction with the robot, motivation, change in physical activity, and overall evaluation of the intervention. Participants found the instructions clear and the navigation easy to use. Most enjoyed the interaction but also found it was restricted by the lack of individualized response from the robot. Many positively appraised the nonjudgmental aspect of the interview and how it gave space to articulate their motivation for change. Some participants felt that the

Electrochemical Properties of Hydrogen-Storage Alloys ZrMn{sub 2}Ni{sub x} and ZrMnNi{sub 1+x} for Ni-MH Secondary Battery

Energy Technology Data Exchange (ETDEWEB)

Park, Hye Ryoung [Faculty of Applied Chemistry, Chonnam National University, Kwangju (Korea); Kwon, Ik Hyun [Automobile High-Technology Research Institute, Division of Advanced Materials Engineering, Chonbuk National University, Chonju (Korea)

2001-04-01

In order to improve the performance of AB{sub 2}-type hydrogen-storage alloys for Ni-MH secondary battery, AB{sub 2}-type alloys, ZrMn{sub 2}Ni{sub x}(x=0.0, 0.3, 0.6, 0.9 and 1.2) and ZrMnNi{sub 1+x}(x=0.0, 0.1, 0.2, 0.3 and 0.4) were prepared as the Zr-Mn-Ni three component alloys. The hydrogen-storage and the electrochemical properties were investigated. The C14 Laves phase formed in all alloys of ZrMn{sub 2}Ni{sub x}(x=0.0 {approx} 1.2). The equilibrium plateau pressure of the alloy, ZrMn{sub 2}Ni{sub 0.6}-H{sub 2} system, was about 0.5 atm at 30 degree C. Among these alloys, ZrMn{sub 2}Ni{sub 0.6} was the easiest to activate, and it had the largest discharge capacity as well as the best cycling performance. The C14 Laves phase also formed in all alloys of ZrMnNi{sub 1+x}(x=0.0 {approx} 0.4). The equilibrium plateau pressure of the alloy, ZrMnNi{sub 1.0}-H{sub 2} system, was about 0.45 atm at 30 degree C. Among these alloys, ZrMnNi{sub 1.0} was the easiest to activate, taking only 3 charge-discharge cycles, and it had the largest discharge capacity of 42 mAh/g. Among these alloys, ZrMn{sub 2}Ni{sub x}(x=0.0 {approx} 1.2) and ZrMnNi{sub 1+x}(x=0.0 {approx} 0.4), ZrMnNi{sub 1.0} had the largest discharge capacity (maximum value of 42 mAh/g), and it showed the fastest activation and good cycling performance. 23 refs., 4 figs., 2 tabs.

Acceptance of an assistive robot in older adults: a mixed-method study of human–robot interaction over a 1-month period in the Living Lab setting

Directory of Open Access Journals (Sweden)

Wu YH

2014-05-01

Full Text Available Ya-Huei Wu,1,2 Jérémy Wrobel,1,2 Mélanie Cornuet,1,2 Hélène Kerhervé,1,2 Souad Damnée,1,2 Anne-Sophie Rigaud1,21Hôpital Broca, Assistance Publique – Hôpitaux de Paris, 2Research Team 4468, Faculté de Médecine, Université Paris Descartes, Paris, FranceBackground: There is growing interest in investigating acceptance of robots, which are increasingly being proposed as one form of assistive technology to support older adults, maintain their independence, and enhance their well-being. In the present study, we aimed to observe robot-acceptance in older adults, particularly subsequent to a 1-month direct experience with a robot.Subjects and methods: Six older adults with mild cognitive impairment (MCI and five cognitively intact healthy (CIH older adults were recruited. Participants interacted with an assistive robot in the Living Lab once a week for 4 weeks. After being shown how to use the robot, participants performed tasks to simulate robot use in everyday life. Mixed methods, comprising a robot-acceptance questionnaire, semistructured interviews, usability-performance measures, and a focus group, were used.Results: Both CIH and MCI subjects were able to learn how to use the robot. However, MCI subjects needed more time to perform tasks after a 1-week period of not using the robot. Both groups rated similarly on the robot-acceptance questionnaire. They showed low intention to use the robot, as well as negative attitudes toward and negative images of this device. They did not perceive it as useful in their daily life. However, they found it easy to use, amusing, and not threatening. In addition, social influence was perceived as powerful on robot adoption. Direct experience with the robot did not change the way the participants rated robots in their acceptance questionnaire. We identified several barriers to robot-acceptance, including older adults’ uneasiness with technology, feeling of stigmatization, and ethical

The Thermodynamic Characterization of ZrCo–H, HfCo−H, HfNi−H and Zr{sub 1–x}HfxNi(Co) Alloy–H Systems

Energy Technology Data Exchange (ETDEWEB)

Flanagan, Ted B., E-mail: ted.flanagan@uvm.edu; Noh, Hak; Luo, Suifang

2016-08-25

ZrCo and HfCo intermetallic compounds have the same cubic (CsCl-type) structure and their ternary (Zr{sub 1−x}Hf{sub x})Co alloys are also cubic. ZrNi and HfNi intermetallic compounds have the orthorhombic structure (CrB-type) and the ternary (Zr{sub 1−x}Hf{sub x})Ni alloys also have this structure. Thermodynamic data for hydride formation and decomposition in ZrCo, HfCo and HfNi intermetallic compounds have been determined from reaction calorimetry and from pressure-composition isotherms. Thermodynamic data have been determined for the three ternary alloys: (Zr{sub 0.75}Hf{sub 0.25})Co, (Zr{sub 0.50}Hf{sub 0.50})Co, and (Zr{sub 0.25}Hf{sub 0.75})Co and the four ternary alloys: (Zr{sub 0.875}Hf{sub 0.125})Ni, (Zr{sub 0.75}Hf{sub 0.25})Ni, (Zr{sub 0.50}Hf{sub 0.50})Ni, and (Zr{sub 0.25}Hf{sub 0.75})Ni. This offers the opportunity to learn how the thermodynamic properties of the ternary alloy-H systems change with the stoichiometry of alloys with the same structure. - Highlights: • Calorimetric enthalpies determined for H absorption by ZrCo, HfCo, HfNi are determined. • Ternary alloys, e.g., Zr{sub 1−x}Hf{sub x}Ni, prepared and characterized by x-ray diffraction. • Isotherms for the ternary alloys give thermodynamic parameters for H solution.

Towards EvoBot: A liquid-handling robot able to automatize and optimize experiments based on real-time feedback

DEFF Research Database (Denmark)

Faina, Andres; Nejatimoharrami, Farzad; Støy, Kasper

The EVOBLISS project combines scientific approaches from robotics, artificial intelligence, chemistry, and microbiology and aims to capitalize on the state of the art in these disparate disciplines and combine them together into a coherent project to produce i) a generally useful, expandable...... for improved function. Scientifically, we will investigate the possibility of optimizing artificial chemical life, microbial ecosystems, and nanoparticles and their physiochemical, dynamic environments using robot facilitated, artificial evolution. This paper deals with the first goal of the EVOBLISS project......Bot robot which was used to show the feasibility of this approach [1]. This robot was able to perform proof of concept experiments, but was too fragile to conduct systematic scientific experiments in artificial chemical life. Furthermore, the EvoBot robot will increase the features of the SplotBot robot...

Development of AMS procedure for measurement of 93Zr

Science.gov (United States)

Lu, Wenting; Collon, Philippe; Kashiv, Yoav; Bowers, Matthew; Robertson, Daniel; Schmitt, Christopher

2011-10-01

The procedure for measuring 93Zr (t1/2 = 1.5 Ma) by AMS is currently being developed at the Nuclear Science Lab at the University of Notre Dame and we report on first experiments performed in this direction. AMS detection of 93Zr can potentially be applied to address astrophysical and environmental issues: (1) the measurement of the 92Zr(n,γ)93Zr reaction cross-section at nucleosynthesis s-process relevant temperatures, (2) the search for potential live 93Zr from a supernova in deep sea sediments, (3) hydrological and radioactive waste tracing. The measurement of 93Zr requires adequate separation from its stable isobar 93Nb. We are currently working on optimizing this separation by using the GasFilled Magnet technique with additional multiple dE measurements in a focal plane ionization chamber.

Comparative study of local atomic structures in Zr{sub 2}Cu{sub x}Ni{sub 1−x} (x = 0, 0.5, 1) metallic glasses

Energy Technology Data Exchange (ETDEWEB)

Huang, Yuxiang [Department of Physics, South University of Science and Technology of China, Shenzhen, Guangdong 518055 (China); Huang, Li, E-mail: huangl@sustc.edu.cn [Department of Physics, South University of Science and Technology of China, Shenzhen, Guangdong 518055 (China); Ames Laboratory, U.S. Department of Energy, Ames, Iowa 50011 (United States); Wang, C. Z.; Ho, K. M. [Ames Laboratory, U.S. Department of Energy, Ames, Iowa 50011 (United States); Department of Physics, Iowa State University, Ames, Iowa 50011 (United States); Kramer, M. J. [Ames Laboratory, U.S. Department of Energy, Ames, Iowa 50011 (United States); Materials Science and Engineering, Iowa State University, Ames, Iowa 50011 (United States)

2015-11-21

Extensive analysis has been performed to understand the key structural motifs accounting for the difference in glass forming ability in the Zr-Cu and Zr-Ni binary alloy systems. Here, the reliable atomic structure models of Zr{sub 2}Cu{sub x}Ni{sub 1−x} (x = 0, 0.5, 1) are constructed using the combination of X-ray diffraction experiments, ab initio molecular dynamics simulations and a constrained reverse Monte Carlo method. We observe a systematic variation of the interatomic distance of different atomic pairs with respect to the alloy composition. The ideal icosahedral content in all samples is limited, despite the high content of five-fold symmetry motifs. We also demonstrate that the population of Z-clusters in Zr{sub 2}Cu glass is much higher than that in the Zr{sub 2}Ni and Zr{sub 2}Cu{sub 0.5}Ni{sub 0.5} samples. And Z12 〈0, 0, 12, 0〉 Voronoi polyhedra clusters prefer to form around Cu atoms, while Ni-centered clusters are more like Z11 〈0, 2, 8, 1〉 clusters, which is less energetically stable compared to Z12 clusters. These two different structural properties may account for the higher glass forming ability of Zr{sub 2}Cu alloy than that of Zr{sub 2}Ni alloy.

Robotic Inguinal Hernia Repair: Technique and Early Experience.

Science.gov (United States)

Arcerito, Massimo; Changchien, Eric; Bernal, Oscar; Konkoly-Thege, Adam; Moon, John

2016-10-01

Laparoscopic inguinal hernia repair has been shown to have multiple advantages compared with open repair such as less postoperative pain and earlier resume of daily activities with a comparable recurrence rate. We speculate robotic inguinal hernia repair may yield equivalent benefits, while providing the surgeon added dexterity. One hundred consecutive robotic inguinal hernia repairs with mesh were performed with a mean age of 56 years (25-96). Fifty-six unilateral hernias and 22 bilateral hernias were repaired amongst 62 males and 16 females. Polypropylene mesh was used for reconstruction. All but, two patients were completed robotically. Mean operative time was 52 minutes per hernia repair (45-67). Five patients were admitted overnight based on their advanced age. Regular diet was resumed immediately. Postoperative pain was minimal and regular activity was achieved after an average of four days. One patient recurred after three months in our earlier experience and he was repaired robotically. Mean follow-up time was 12 months. These data, compared with laparoscopic approach, suggest similar recurrence rates and postoperative pain. We believe comparative studies with laparoscopic approach need to be performed to assess the role robotic surgery has in the treatment of inguinal hernia repair.

Thermal expansion of phosphates with the NaZr2(PO4)3 structure containing lanthanides and zirconium: R0.33Zr2(PO4)3 (R = Nd, Eu, Er) and Er0.33(1–x) Zr0.25xZr2(PO4)3

International Nuclear Information System (INIS)

Volgutov, V. Yu.; Orlova, A. I.

2015-01-01

Phosphates R 0.33 Zr 2 (PO 4 ) 3 (R = Nd, Eu, or Er) and Er 0.33(1–x) Zr 0.25 Zr 2 (PO 4 ) 3 (x = 0, 0.25, 0.5, 0.75, 1.0) of the NaZr 2 (PO 4 ) 3 family have been synthesized and investigated by high-temperature X-ray diffraction. The crystallochemical approach is used to obtain compounds with expected small and controllable thermal-expansion parameters. Phosphates with close-to-zero thermal-expansion parameters, including those with low thermal-expansion anisotropy, have been obtained: Nd 0.33 Zr 2 (PO 4 ) 3 with α a =–2.21 × 10 −6 °C −1 , α c = 0.81 × 10 −6 °C −1 , and Δα = 3.02 × 10 −6 °C –1 and Er 0.08 Zr 0.19 Zr 2 (PO 4 ) 3 with α a =–1.86 × 10 −6 °C −1 , α c = 1.73 × 10 −6 °C −1 , and Δα = 3.58 × 10 −6 °C −1

Oxidation of Zr and thin (0.2-4 nm) Zr films on Ag: An ESCA investigation

International Nuclear Information System (INIS)

Steiner, P.; Sander, I.; Siegwart, B.; Huefner, S.

1987-01-01

The oxidation of polycrystalline Zr under 10 -8 -10 -3 mbar oxygen pressure in the temperature range 25 0 -350 0 C is obtained from ESCA experiments. Changes in the ESCA spectra for thin Zr films on Ag oxidized at 250 0 C are observed and compared to the bulk Zr-metal. Thin Ag overlayers on Zr show a catalytic increase of the room temperature oxidation of Zr. (orig.)

Robotic colorectal surgery: previous laparoscopic colorectal experience is not essential.

Science.gov (United States)

Sian, Tanvir Singh; Tierney, G M; Park, H; Lund, J N; Speake, W J; Hurst, N G; Al Chalabi, H; Smith, K J; Tou, S

2018-06-01

A background in minimally invasive colorectal surgery (MICS) has been thought to be essential prior to robotic-assisted colorectal surgery (RACS). Our aim was to determine whether MICS is essential prior to starting RACS training based on results from our initial experience with RACS. Two surgeons from our centre received robotic training through the European Academy of Robotic Colorectal Surgery (EARCS). One surgeon had no prior formal MICS training. We reviewed the first 30 consecutive robotic colorectal procedures from a prospectively maintained database between November 2014 and January 2016 at our institution. Fourteen patients were male. Median age was 64.5 years (range 36-82) and BMI was 27.5 (range 20-32.5). Twelve procedures (40%) were performed by the non-MICS-trained surgeon: ten high anterior resections (one conversion), one low anterior resection and one abdomino-perineal resection of rectum (APER). The MICS-trained surgeon performed nine high and four low anterior resections, one APER and in addition three right hemicolectomies and one abdominal suture rectopexy. There were no intra-operative complications and two patients required re-operation. Median post-operative stay was five days (range 1-26). There were two 30-day re-admissions. All oncological resections had clear margins and median node harvest was 18 (range 9-39). Our case series demonstrates that a background in MICS is not essential prior to starting RACS training. Not having prior MICS training should not discourage surgeons from considering applying for a robotic training programme. Safe and successful robotic colorectal services can be established after completing a formal structured robotic training programme.

Da Vinci robot-assisted system for thymectomy: experience of 55 patients in China.

Science.gov (United States)

Jun, Yi; Hao, Li; Demin, Li; Guohua, Dong; Hua, Jing; Yi, Shen

2014-09-01

Da Vinci robot-assisted thymectomy has been used in the past several years in China, however, practical experience in performing this approach in China remains limited. Thus, the study aimed to evaluate the experience of da Vinci robot-assisted thymectomy in China. From June 2010 to December 2012, 55 patients with diseases of the thymus underwent thymectomy using the da Vinci surgical HD robotic system. The clinical data of the da Vinci robot-assisted thymectomies were compared with the data of video-assisted thoracoscopic thymectomies in the same period. All da Vinci robot operations were successful. This is a retrospective analysis which demonstrated that compared with video-assisted thoracoscopic thymectomy in the same period, the clinical outcomes of da Vinci robot-assisted thymectomy were not significantly different. The da Vinci robot-assisted thymectomy is a safe, minimally invasive, and convenient operation, and shows promise for general thoracic surgery in China. Copyright © 2014 John Wiley & Sons, Ltd.

Acceptance of an assistive robot in older adults: a mixed-method study of human-robot interaction over a 1-month period in the Living Lab setting.

Science.gov (United States)

Wu, Ya-Huei; Wrobel, Jérémy; Cornuet, Mélanie; Kerhervé, Hélène; Damnée, Souad; Rigaud, Anne-Sophie

2014-01-01

There is growing interest in investigating acceptance of robots, which are increasingly being proposed as one form of assistive technology to support older adults, maintain their independence, and enhance their well-being. In the present study, we aimed to observe robot-acceptance in older adults, particularly subsequent to a 1-month direct experience with a robot. Six older adults with mild cognitive impairment (MCI) and five cognitively intact healthy (CIH) older adults were recruited. Participants interacted with an assistive robot in the Living Lab once a week for 4 weeks. After being shown how to use the robot, participants performed tasks to simulate robot use in everyday life. Mixed methods, comprising a robot-acceptance questionnaire, semistructured interviews, usability-performance measures, and a focus group, were used. Both CIH and MCI subjects were able to learn how to use the robot. However, MCI subjects needed more time to perform tasks after a 1-week period of not using the robot. Both groups rated similarly on the robot-acceptance questionnaire. They showed low intention to use the robot, as well as negative attitudes toward and negative images of this device. They did not perceive it as useful in their daily life. However, they found it easy to use, amusing, and not threatening. In addition, social influence was perceived as powerful on robot adoption. Direct experience with the robot did not change the way the participants rated robots in their acceptance questionnaire. We identified several barriers to robot-acceptance, including older adults' uneasiness with technology, feeling of stigmatization, and ethical/societal issues associated with robot use. It is important to destigmatize images of assistive robots to facilitate their acceptance. Universal design aiming to increase the market for and production of products that are usable by everyone (to the greatest extent possible) might help to destigmatize assistive devices.

Diffusion behavior for Se and Zr in sodium-bentonite

International Nuclear Information System (INIS)

Sato, Haruo; Yui, Mikazu; Yoshikawa, Hideki

1995-01-01

Apparent diffusion coefficients for Se and Zr in bentonite were measured by in-diffusion method at room temperature using water-saturated sodium-bentonite, Kunigel V1 reg-sign containing 50wt% Na-smectite as a major mineral was used as the bentonite material. The experiments were carried out in the dry density range of 400--1,800 kg/m 3 . Bentonite samples were immersed with distilled water and saturated before the experiments. The experiments for Se were carried out under N 2 atmospheric condition (O 2 : 2.5ppm). Those for Zr were carried out under aerobic condition. The apparent diffusion coefficients decrease with increasing density of the bentonite. Since dominant species of Se in the pore water is predicted to be SeO 3 2- , Se may be retarded by anion-exclusion because of negative charge on the surface of the bentonite and little sorption. The dominant species of Zr in the porewater is predicted to be Zr(OH) 5 - or HZrO 3 - . Distribution coefficient measured for Zr on the bentonite was about 1.0 m 3 /kg from batch experiments. Therefore, the retardation may be caused by combination of the sorption and the anion-exclusion. A modeling for the diffusion mechanisms in the bentonite were discussed based on an electric double layer theory. Comparison between the apparent diffusion coefficients predicted by the model and the measured ones shows a good agreement

Heat-capacity measurement on (Zr1-ySny)Ox from 325 to 905 K

International Nuclear Information System (INIS)

Tsuji, Toshihide; Amaya, Masaki; Naito, Keiji

1993-01-01

Heat capacities of (Zr 1-y Sn y )O 0.17 and (Zr 1-y Sn y )O 0.28 (y=0-0.07) having α''-ZrO ∼1/6 and α''-ZrO x type crystal structures, respectively, were measured from 325 to 905 K by using an adiabatic scanning calorimeter. Two kinds of heat capacity anomalies were observed for all samples. The anomaly at lower temperatures is attributed to a nonequilibrium phenomenon. Another anomaly at higher temperatures is assigned to an order-disorder rearrangement of oxygen atoms. The transition temperature, transition enthalpy and entropy changes due to the order-disorder transition decreased with increasing tin content, indicating that arrangement of oxygen atoms in the lower temperature phase may be partially disordered by substituting tin for zirconium. The entropy change due to the order-disorder transition for (Zr 1-y Sn y )O 0.17 and (Zr 1-y Sn y )O 0.28 solid solutions is compared with the theoretical value. The solubility limits of (Zr 1-y Sn y )O 0.17 and (Zr 1-y Sn y )O 0.28 were determined from the variation of lattice constants, transition temperature, transition enthalpy and entropy changes against tin content. (orig.)

Features of ultrafine-grained structure forming in Zr-1Nb alloy

Energy Technology Data Exchange (ETDEWEB)

Stepanova, Ekaterina N.; Prosolov, Konstantin A. [National Research Tomsk Polytechnic University, Tomsk (Russian Federation); Grabovetskaya, Galina P.; Mishin, Ivan P. [Institute of Strength Physics and Materials Science of Siberian Branch of Russian Academy of Sciences, Tomsk (Russian Federation)

2013-07-01

Ultrafine-grained structure forming by the method combined reversible hydrogenation and hot pressing in Zr-1Nb alloy was investigated. Preliminary hydrogenation to concentrations of (0.14–0.4) % at 873 K is found to lead to yield strength decreasing in Zr-1Nb alloy during hot pressing by 1,5–2 times. During uniaxial compression at (70–72) % under isothermal conditions at a temperature of 873 K in Zr-1Nb alloy, hydrogenated to concentration of 0.22 %, homogeneous ultrafine grained structure with an average grain size of 0,4 P m was formed. Key words: zirconium alloy, ultrafine-grained structure, hydrogen.

Fine structure of the giant M1 resonance in 90Zr.

Science.gov (United States)

Rusev, G; Tsoneva, N; Dönau, F; Frauendorf, S; Schwengner, R; Tonchev, A P; Adekola, A S; Hammond, S L; Kelley, J H; Kwan, E; Lenske, H; Tornow, W; Wagner, A

2013-01-11

The M1 excitations in the nuclide 90Zr have been studied in a photon-scattering experiment with monoenergetic and linearly polarized beams from 7 to 11 MeV. More than 40 J(π)=1+ states have been identified from observed ground-state transitions, revealing the fine structure of the giant M1 resonance with a centroid energy of 9 MeV and a sum strength of 4.17(56) μ(N)(2). The result for the total M1 strength and its fragmentation are discussed in the framework of the three-phonon quasiparticle-phonon model.

A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation

Science.gov (United States)

2016-05-01

5.2 Gunnery 34 5.3 Driverless Vehicle Transport 36 6. Discussion 38 6.1 Lessons Learned 38 6.1.1 Problem No. 1: CARVE Does Not Always Load...gunnery user interface GUI setup 5.3 Driverless Vehicle Transport A third, and most recent, type of mission used for HRI experimentation investigated a...specific non-combat operation of driverless vehicles for passenger transit. One example is an experiment motivated by the Autonomous Robotics for

Americium and plutonium in phosphates of trigonal structure (NZP type) Am1/3[Zr2(PO4)3] and Pu1/4[Zr2(PO4)3

International Nuclear Information System (INIS)

Bykov, D.M.; Orlova, A.I.; Tomilin, S.V.; Lizin, A.A.; Lukinykh, A.N.

2006-01-01

Am 1/3 [Zr 2 (PO 4 ) 3 ] and Pu 1/4 [Zr 2 (PO 4 ) 3 ] phosphates are synthesized and are investigated by X-ray diffraction method. Compounds have triclinic lattices and lattice parameters are determined. Possibility of actinide inclusion into hollows of framework of NZP type is shown for the first time. It is proposed that inclusion of Pu and Am highly-charged cations into framework hollows decreases crystal structure symmetry up to primitive trigonal one. Rate of Pu leaching from ceramics on Pu 1/4 [Zr 2 (PO 4 ) 3 ] basis are measured [ru

The merits of a robot: a Dutch experience.

Science.gov (United States)

Mobach, Mark P

2006-01-01

To determine the merits of a robot at the community pharmacy in a quasi-experiment. The applied methods for data-collection were barcode-time measurements, direct observations, time-interval studies, and tally at a Dutch community pharmacy. The topics consisted of workload, waiting times, congestion, slack, general work, counter work, and work at the consultation room. The topics were studied in pre-test and post-test stages, each stage during six weeks. By using these topics and some additional data from the pharmacy, the economics of the robot were also assessed. The workload decreased with 15 prescriptions per person per day. The waiting times decreased with one minute and 18 seconds per dispensing process, reducing the wait until counter contact. The day congestion decreased with one hour 27 minutes and 36 seconds, and the day slack increased with 28 minutes. The analysis of the general work showed no appreciable difference in the bulk of the care-related activities and the other activities. However, some work was re-shuffled: 7% increase at counter work and 7% decrease at logistics. Moreover, statistically significant increases were observed at counter work (5%) and robot work (4%), and significant decreases at telephone (3%) and filling work in presence of the patient (4%). The counter tally study showed a rise in care-related activities with 8%. Moreover, it also illuminated a statistically significant decrease at no information (11%) and an increase at only social (2%). The consultation room was never used during the study. The pharmacy economics of the robot showed that the robot had high estimated costs for purchase, depreciation, and maintenance: EUR 187,024 in the first year. Moreover, the robot had positive impact on waiting times, congestion, staffing, logistics, and care-related work, which was estimated on EUR 91,198 in the first year. The estimated payback time of the robot was three years. An introduction of the robot may indeed have the often

Experiments in teleoperator and autonomous control of space robotic vehicles

Science.gov (United States)

Alexander, Harold L.

1991-01-01

A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

Dilatational behaviour of ZrNb1 fuel cans of a WWER-type reactor during a loss-of-coolant accident

International Nuclear Information System (INIS)

Adam, E.; Stephan, M.; Wetzel, L.

1987-01-01

Based on an assessment of various factors of influence on the performance of fuel cans during normal operation and imaginable accidents, the necessity of studying creep and burst behaviour of WWER-type fuel cans of ZrNb1 under simulated LOCA conditions has been proved and an experimental facility designed for this purpose is described. Control of fuel can temperature is accomplished through a minicomputer during the creep and bursts experiments. With this, various temperature loading profiles of the fuel cans can be realized. Experimental results on dilatational behaviour of ZrNb1 fuel cans from isothermal creep and burst experiments in air are presented and compared with values for Zircaloy. (author)

Corrosion rate transients observed by linear polarization techniques at Zr-1%Nb alloy

International Nuclear Information System (INIS)

Beran, J.; Cerny, K.

1997-01-01

Momentary corrosion rate of Zr-1%Nb alloy during nonisothermal autoclave experiments at temperature up to 328 deg. C in various solutions was determined by T/R p values (T - absolute temperature, R p - polarization resistance), multiplied by temperature independent conversion factor. This factor was found by comparison of conventional corrosion loss evaluation with electrochemical measurements. Corrosion rate transients in boric acid solutions and in lithium hydroxide differed significantly. Great differences were also found in stabilized corrosion rates at the end of experiments. Temperature irregularities caused considerable changes in corrosion rate. (author). 5 refs, 5 figs, 1 tab

Corrosion rate transients observed by linear polarization techniques at Zr-1%Nb alloy

Energy Technology Data Exchange (ETDEWEB)

Beran, J; Cerny, K [ZJS SKODA plc., Pelzen (Czech Republic)

1997-02-01

Momentary corrosion rate of Zr-1%Nb alloy during nonisothermal autoclave experiments at temperature up to 328 deg. C in various solutions was determined by T/R{sub p} values (T - absolute temperature, R{sub p}- polarization resistance), multiplied by temperature independent conversion factor. This factor was found by comparison of conventional corrosion loss evaluation with electrochemical measurements. Corrosion rate transients in boric acid solutions and in lithium hydroxide differed significantly. Great differences were also found in stabilized corrosion rates at the end of experiments. Temperature irregularities caused considerable changes in corrosion rate. (author). 5 refs, 5 figs, 1 tab.

Annotating STEAP1 regulation in prostate cancer with 89Zr immuno-PET.

Science.gov (United States)

Doran, Michael G; Watson, Philip A; Cheal, Sarah M; Spratt, Daniel E; Wongvipat, John; Steckler, Jeffrey M; Carrasquillo, Jorge A; Evans, Michael J; Lewis, Jason S

2014-12-01

Antibodies and antibody-drug conjugates targeting the cell surface protein 6 transmembrane epithelial antigen of prostate 1 (STEAP1) are in early clinical development for the treatment of castration-resistant prostate cancer (PCa). In general, antigen expression directly affects the bioactivity of therapeutic antibodies, and the biologic regulation of STEAP1 is unusually complicated in PCa. Paradoxically, STEAP1 can be induced or repressed by the androgen receptor (AR) in different human PCa models, while also expressed in AR-null PCa. Consequently, there is an urgent need to translate diagnostic strategies to establish which regulatory mechanism predominates in patients to situate the appropriate therapy within standard of care therapies inhibiting AR. To this end, we prepared and evaluated (89)Zr-labeled MSTP2109A ((89)Zr-2109A), a radiotracer for PET derived from a fully humanized monoclonal antibody to STEAP1 in preclinical PCa models. (89)Zr-2109A specifically localized to the STEAP1-positive human PCa models CWR22Pc, 22Rv1, and PC3. Moreover, (89)Zr-2109A sensitively measured treatment-induced changes (∼66% decline) in STEAP1 expression in CWR22PC in vitro and in vivo, a model we showed to express STEAP1 in an AR-dependent manner. These findings highlight the ability of immuno-PET with (89)Zr-2109A to detect acute changes in STEAP1 expression and argue for an expansion of ongoing efforts to image PCa patients with (89)Zr-2109A to maximize the clinical benefit associated with antibodies or antibody-drug conjugates to STEAP1. © 2014 by the Society of Nuclear Medicine and Molecular Imaging, Inc.

Acceptance of an assistive robot in older adults: a mixed-method study of human–robot interaction over a 1-month period in the Living Lab setting

Science.gov (United States)

Wu, Ya-Huei; Wrobel, Jérémy; Cornuet, Mélanie; Kerhervé, Hélène; Damnée, Souad; Rigaud, Anne-Sophie

2014-01-01

Background There is growing interest in investigating acceptance of robots, which are increasingly being proposed as one form of assistive technology to support older adults, maintain their independence, and enhance their well-being. In the present study, we aimed to observe robot-acceptance in older adults, particularly subsequent to a 1-month direct experience with a robot. Subjects and methods Six older adults with mild cognitive impairment (MCI) and five cognitively intact healthy (CIH) older adults were recruited. Participants interacted with an assistive robot in the Living Lab once a week for 4 weeks. After being shown how to use the robot, participants performed tasks to simulate robot use in everyday life. Mixed methods, comprising a robot-acceptance questionnaire, semistructured interviews, usability-performance measures, and a focus group, were used. Results Both CIH and MCI subjects were able to learn how to use the robot. However, MCI subjects needed more time to perform tasks after a 1-week period of not using the robot. Both groups rated similarly on the robot-acceptance questionnaire. They showed low intention to use the robot, as well as negative attitudes toward and negative images of this device. They did not perceive it as useful in their daily life. However, they found it easy to use, amusing, and not threatening. In addition, social influence was perceived as powerful on robot adoption. Direct experience with the robot did not change the way the participants rated robots in their acceptance questionnaire. We identified several barriers to robot-acceptance, including older adults’ uneasiness with technology, feeling of stigmatization, and ethical/societal issues associated with robot use. Conclusion It is important to destigmatize images of assistive robots to facilitate their acceptance. Universal design aiming to increase the market for and production of products that are usable by everyone (to the greatest extent possible) might help to

Influence of Zr substitution on the stabilization of ThMn12-type (Nd1−αZrα(Fe0.75Co0.2511.25Ti0.75N1.2−1.4 (α = 0–0.3 compounds

Directory of Open Access Journals (Sweden)

N. Sakuma

2016-05-01

Full Text Available The influence of Zr substitution in ThMn12 compounds was investigated using strip casting alloys. It was found that Zr substitution stabilized (Nd1−αZrα(Fe0.75Co0.2511.25Ti0.75N1.2−1.4 (α = 0–0.3 compounds. Specifically, a reduction in the lattice constant along the a-axis was observed. Energy-dispersive X-ray spectroscopy mapping combined with Cs-corrected scanning transmission electron microscopy indicated that Zr atoms preferentially occupied Nd 2a sites. Both the magnetic anisotropy field and saturation polarization were maximum at Zr substitution ratio α = 0.1. The (Nd1−αZrα(Fe0.75Co0.2511.25Ti0.75N1.2−1.4 (α = 0–0.3 compounds displayed higher saturation polarization than Nd2Fe14B at high temperatures.

Zr-92(d,p)Zr-93 and Zr-92(d,t)Zr-91

Science.gov (United States)

Baron, N.; Fink, C. L.; Christensen, P. R.; Nickels, J.; Torsteinsen, T.

1972-01-01

The structures of Zr-93 and Zr-91 were studied by the stripping reaction Zr-92(d,p)Zr-93 and the pick-up reaction Zr-92(d,t)Zr-91 using 13 MeV incident deuterons. The reaction product particles were detected by counter telescope. Typical spectra from the reactions were analyzed by a nonlinear least squares peak fitting program which included a background search. Spin and parity assignments to observed excited levels were made by comparing experimental angular distributions with distorted wave Born approximation calculations.

Biological Properties of Ti-Nb-Zr-O Nanostructures Grown on Ti35Nb5Zr Alloy

Directory of Open Access Journals (Sweden)

Zhaohui Li

2012-01-01

Full Text Available Surface modification of low modulus implant alloys with oxide nanostructures is one of the important ways to achieve favorable biological behaviors. In the present work, amorphous Ti-Nb-Zr-O nanostructures were grown on a peak-aged Ti35Nb5Zr alloy through anodization. Biological properties of the Ti-Nb-Zr-O nanostructures were investigated through in vitro bioactivity testings, stem cell interactions, and drug release experiments. The Ti-Nb-Zr-O nanostructures demonstrated a good capability of inducing apatite formation after immersion in simulated body fluids (SBFs. Drug delivery experiment based on gentamicin and the Ti-Nb-Zr-O nanostructures indicated that a high drug loading content could result in a prolonged release process and a higher quantity of drug residues in the oxide nanostructures after drug release. Quick stem cell adhesion and spreading, as well as fast formation of extracellular matrix materials on the surfaces of the Ti-Nb-Zr-O nanostructures, were found. These findings make it possible to further explore the biomedical applications of the Ti-Nb-Zr-O nanostructure modified alloys especially clinical operation of orthopaedics by utilizing the nanostructures-based drug-release system.

Does previous open surgical experience have any influence on robotic surgery simulation exercises?

Science.gov (United States)

Cumpanas, Alin Adrian; Bardan, Razvan; Ferician, Ovidiu Catalin; Latcu, Silviu Constantin; Duta, Ciprian; Lazar, Fulger Octavian

2017-12-01

Within the last years, there has been a trend in many hospitals to switch their surgical activity from open/laparoscopic procedures to robotic surgery. Some open surgeons have been shifting their activity to robotic surgery. It is still unclear whether there is a transfer of open surgical skills to robotic ones. To evaluate whether such transfer of skills occurs and to identify which specific skills are more significantly transferred from the operative table to the console. Twenty-five volunteers were included in the study, divided into 2 groups: group A (15 participants) - medical students (without any surgical experience in open, laparoscopic or robotic surgery); and group B (10 participants) - surgeons with exclusively open surgical experience, without any previous laparoscopic or robotic experience. Participants were asked to complete 3 robotic simulator console exercises structured from the easiest one (Peg Board) to the toughest one (Sponge Suture). Overall scores for each exercise as well as specific metrics were compared between the two groups. There were no significant differences between overall scores of the two groups for the easiest task. Overall scores were better for group B as the exercises got more complex. For the intermediate and high-difficulty level exercises, most of the specific metrics were better for group B, with the exception of the working master space item. Our results suggest that the open surgical skills transfer to robotic skills, at least for the very beginning of the training process.

Cu-Zr-Ag bulk metallic glasses based on Cu8Zr5 icosahedron

International Nuclear Information System (INIS)

Xia Junhai; Qiang Jianbing; Wang Yingmin; Wang Qing; Dong Chuang

2007-01-01

Based on the cluster line criterion, the Ag addition into the Cu 8 Zr 5 cluster composition is investigated for the search of ternary Cu-Zr-Ag bulk metallic glasses with high glass forming abilities. Two initial binary compositions Cu 0.618 Zr 0.382 and Cu 0.64 Zr 0.36 are selected. The former one corresponds to a deep eutectic point; it is also the composition of the Cu 8 Zr 5 icosahedron, which is derived from the Cu 8 Zr 3 structure. The latter one, which can be regarded as the Cu 8 Zr 5 cluster plus a glue atom Cu, is the best glass-forming composition in the Cu-Zr binary system. Two composition lines (Cu 0.618 Zr 0.382 ) 1-x Ag x and (Cu 0.64 Zr 0.36 ) 1-x Ag x are thus constructed in the Cu-Zr-Ag system by linking these two compositions with the third constitute Ag. A series of Cu-Zr-Ag bulk metallic glasses are found with 2-8 at.% Ag contents in both composition lines. The optimum composition (Cu 0.618 Zr 0.382 ) 0.92 Ag 0.08 within the searched region with the highest T g /T l = 0.633, is located along the cluster line (Cu 0.618 Zr 0.382 ) 1-x Ag x , where the deep eutectic Cu 0.618 Zr 0.382 exactly corresponds to the dense packing cluster Cu 8 Zr 5 . The alloying mechanism is discussed in the light of atomic size and electron concentration factors

Using the visitor experiences for mapping the possibilities of implementing a robotic guide in outdoor sites

NARCIS (Netherlands)

Karreman, Daphne Eleonora; van Dijk, Elisabeth M.A.G.; Evers, Vanessa

2012-01-01

FROG (Fun Robotic Outdoor Guide) is a project that aims to develop an outdoor robotic guide that enriches the visitor experience in touristic sites. This paper is a first step toward a guide robot and presents a case study on how to analyze the visitors’ experience and examine opportunities for a

Initial Clinical Experience With Surgical Technique of Robot-assisted Transperitoneal Laparoscopic Partial Nephrectomy

Directory of Open Access Journals (Sweden)

Cheng-Kuang Yang

2009-12-01

Conclusion: Robot-assisted LPN is feasible and may be a viable alternative to open or LPN in selected patients with small exophytic renal tumors. Compared with standard LPN, the robotic assisted LPN approach with precise renal reconstruction under a safe warm ischemia time is feasible and can be easily adopted by those with experience in robot-assisted surgery.

Influence of Temperature to Thermal Properties of U-Zr Alloy With The Zr Content Variation

International Nuclear Information System (INIS)

Aslina-Br-Ginting; Masrukan; M-Husna-Al-Hasa

2007-01-01

Have been done thermal of characteristic covering heat stability, heat capacities, enthalpy and also phase changes from uranium, zirkonium and U-Zr alloy with the Zr content variation of Zr 2 %, 6 %, 10% and 14% weight. Change of the temperature and composition anticipated will cause the characteristic of thermal to uranium metal, zirkonium and also U-Zr alloy. Therefore at this research was conducted using analysis influence of temperature to thermal of characteristic of uranium, zirkonium and U-Zr alloy with the Zr content variation by using DTA and DSC. Result of analysis indicate that the uranium metal at temperature 662 o C stable in phase α. Above at temperature, uranium metal experience of the phase change indicated by formed the thermochemical reaction as much 3 endothermic peak. At temperature 667.16 o C, happened by the phase change of α become the phase β with the enthalpy 2,3034 cal/g, at temperature 773.05 o C happened by the phase change β becoming phase γ 2,8725 cal/g and also at temperature 1125.26 the o C uranium metal experience the phenomenon become to melt with the enthalpy 2,1316 cal/g. (author)

Nuclear orientation of 9597Nb and 95Zr in ZrFe2

International Nuclear Information System (INIS)

Krane, K.S.; Olsen, C.E.; Rosenblum, S.S.; Steyert, W.A.

1976-01-01

The angular distribution anisotropies of γ rays were measured following the decays of 95 , 97 Nb and 95 Zr oriented at low temperatures in the ferromagnetic Laves phase compound ZrFe 2 . The magnetic hyperfine field of Nb in ZrFe 2 was deduced to be 9.4+-1.6 T; that of Zr in ZrFe 2 was estimated to be 15+-4 T. The nuclear magnetic moment of 97 Nb was deduced to be μ = (7.5+-1.4) μ/subN/

Synthesis of Zr2WP2O12/ZrO2 Composites with Adjustable Thermal Expansion

Directory of Open Access Journals (Sweden)

Zhiping Zhang

2017-11-01

Full Text Available Zr2WP2O12/ZrO2 composites were fabricated by solid state reaction with the goal of tailoring the thermal expansion coefficient. XRD, SEM and TMA were used to investigate the composition, microstructure, and thermal expansion behavior of Zr2WP2O12/ZrO2 composites with different mass ratio. Relative densities of all the resulting Zr2WP2O12/ZrO2 samples were also tested by Archimedes' methods. The obtained Zr2WP2O12/ZrO2 composites were comprised of orthorhombic Zr2WP2O12 and monoclinic ZrO2. As the increase of the Zr2WP2O12, the relative densities of Zr2WP2O12/ZrO2 ceramic composites increased gradually. The coefficient of thermal expansion of the Zr2WP2O12/ZrO2 composites can be tailored from 4.1 × 10−6 K−1 to −3.3 × 10−6 K−1 by changing the content of Zr2WP2O12. The 2:1 Zr2WP2O12/ZrO2 specimen shows close to zero thermal expansion from 25 to 700°C with an average linear thermal expansion coefficient of −0.09 × 10−6 K−1. These adjustable and near zero expansion ceramic composites will have great potential application in many fields.

Synthesis of Zr2WP2O12/ZrO2 Composites with Adjustable Thermal Expansion.

Science.gov (United States)

Zhang, Zhiping; Sun, Weikang; Liu, Hongfei; Xie, Guanhua; Chen, Xiaobing; Zeng, Xianghua

2017-01-01

Zr 2 WP 2 O 12 /ZrO 2 composites were fabricated by solid state reaction with the goal of tailoring the thermal expansion coefficient. XRD, SEM and TMA were used to investigate the composition, microstructure, and thermal expansion behavior of Zr 2 WP 2 O 12 /ZrO 2 composites with different mass ratio. Relative densities of all the resulting Zr 2 WP 2 O 12 /ZrO 2 samples were also tested by Archimedes' methods. The obtained Zr 2 WP 2 O 12 /ZrO 2 composites were comprised of orthorhombic Zr 2 WP 2 O 12 and monoclinic ZrO 2 . As the increase of the Zr 2 WP 2 O 12 , the relative densities of Zr 2 WP 2 O 12 /ZrO 2 ceramic composites increased gradually. The coefficient of thermal expansion of the Zr 2 WP 2 O 12 /ZrO 2 composites can be tailored from 4.1 × 10 -6 K -1 to -3.3 × 10 -6 K -1 by changing the content of Zr 2 WP 2 O 12 . The 2:1 Zr 2 WP 2 O 12 /ZrO 2 specimen shows close to zero thermal expansion from 25 to 700°C with an average linear thermal expansion coefficient of -0.09 × 10 -6 K -1 . These adjustable and near zero expansion ceramic composites will have great potential application in many fields.

The merits of a robot : A Dutch experience

NARCIS (Netherlands)

Mobach, M.P.

2006-01-01

Purpose: To determine the merits of a robot at the community pharmacy in a quasi-experiment. Method: The applied methods for data-collection were barcode-time measurements, direct observations, time-interval studies, and tally at a Dutch community pharmacy. The topics consisted of workload, waiting

Neutron imaging of Zr-1%Nb fuel cladding material containing hydrogen

International Nuclear Information System (INIS)

Svab, E.; Meszaros, Gy.; Somogyvari, Z.; Balasko, M.; Koeroesi, F.

2004-01-01

Hydrogen distribution and hydride phases were analyzed in reactor fuel cladding pressure tube Zr-1%Nb material up to 13,300 ppm. From neutron diffraction measurements, formation of cubic δ-ZrH 2 and a small amount of tetragonal γ-ZrH was established. Texture effects were analyzed by imaging plate technique. From neutron radiography images a linear model was set up that adequately described the relationship between gray levels and nominal H-concentrations. The H-distribution was unveiled by 3D intensity histograms and fractal analysis of multilevel-segmented neutron radiography images

Experiments on co-operating robot arms

International Nuclear Information System (INIS)

Arthaya, B.; De Schutter, J.

1994-01-01

When two robots manipulate a common object or perform a single task together, a closed-kinematic chain is formed. If both robots are controlled under position control only, at a certain phase during the manipulation, the interaction forces may become unacceptably high. The interaction forces are caused by the kinematic as well as the dynamic errors in the robot position controller. In order to avoid this problem, a synchronized motion between both robots has to be generated, not only by controlling the position (velocity) of the two end-effectors, but also by controlling the interaction forces between them. In order to generate a synchronized motion, the first robot controller continuously modifies the task frame velocity corresponding to the velocity of the other robot. This implies that the velocity of the other robot is used as feed-forward information in order to anticipate its motion. This approach results in a better tracking behaviour

Experiments on mobile robot stereo vision system calibration under hardware imperfection

Directory of Open Access Journals (Sweden)

Safin Ramil

2018-01-01

Full Text Available Calibration is essential for any robot vision system for achieving high accuracy in deriving objects metric information. One of typical requirements for a stereo vison system in order to obtain better calibration results is to guarantee that both cameras keep the same vertical level. However, cameras may be displaced due to severe conditions of a robot operating or some other circumstances. This paper presents our experimental approach to the problem of a mobile robot stereo vision system calibration under a hardware imperfection. In our experiments, we used crawler-type mobile robot «Servosila Engineer». Stereo system cameras of the robot were displaced relative to each other, causing loss of surrounding environment information. We implemented and verified checkerboard and circle grid based calibration methods. The two methods comparison demonstrated that a circle grid based calibration should be preferred over a classical checkerboard calibration approach.

Filigree Robotics

DEFF Research Database (Denmark)

Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

2016-01-01

Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

Structure of zirconium-93 and zirconium-91 as shown by the reactions Zr-92(d,p)Zr-93 and Zr-92(d,t)Zr-91

Science.gov (United States)

Baron, N.; Leonard, R. F.; Stewart, W. M.; Fink, C. L.; Christensen, P. R.; Nickles, J.; Thorsteinsen, T. F.

1972-01-01

Deuterons of 13-MeV incident energy were scattered from Zr-92(d,p)Zr-93. The Zr-92(d,p)Zr-93 data analysis resulted in the location of 47 levels up to an excitation energy of 4.84 MeV, and the spins of 43 of these levels were identified. Essentially all the strength of the 2d5/2, 3s1/2, 2d3/2, and 1g7/2 shells was observed; and the excitation energy of their centroids was computed to be 0.00, 1.21, 2.23, and 2.37 MeV, respectively. Also, 43 percent of the 1h11/2 strength, 21 percent of the 2f7/2 strength, and 3 percent of the 3p3/2 strength were observed. In addition, the Zr-92(d,t)Zr-91 data analysis resulted in the location of 26 levels up to an excitation energy of 4.01 MeV, and the spins of 21 of these levels were identified. Most of the expected strength of the 2d5/2 and 1g9/2 shells was obtained, and the excitation energy of their centroids was computed to be 0.31 and 3.19 MeV, respectively. In addition, six l=1 states are populated belonging to either the 2p1/2 or 2p3/2 shells.

Deuterium absorption and material phase characteristics of Zr2Fe

International Nuclear Information System (INIS)

Nobile, A.; Mosley, W.C.; Holder, J.S.; Brooks, K.N.

1992-01-01

Scanning electron microscope (SEM) images of polished surfaces, electron probe microanalysis, and X-ray powder diffractometry indicated the presence of a continuous Zr 2 Fe phase with secondary phases of ZrFe 2 , Zr 5 FeSn, α-Zr, and Zr 6 Fe 3 O. A statistically-designed experiment to determine the effects of temperature, time, and vacuum quality On activation of St 198 revealed that when activated at low temperature (350 degrees C) deuterium absorption rate was slower when the vacuum quality was pwr (2.5 Pa vs. 3x10 -4 Pa). However, at higher activation temperature (500 degrees C), deuterium absorption rate was fast and was independent of vacuum quality. Deuterium pressure-composition-temperature (P-C-T) data are reported for St 198 in the temperature range 200--500 degrees C. The P-C-T data over the full range of deuterium loading and at temperatures of 350 degrees C and below is described by: K 0e -(ΔH α /RT)=PD 2 q 2 /(q*-q) 2 where ΔHα and K 0 have values of 101.8 kJ·mole -1 and 3.24x10 -8 Pa -1 , and q* is 15.998 kPa·L -1 ·g -1 . At higher temperatures, one or more secondary reactions in the solid phase occur that slowly consume D 2 from the gas phase. XRD suggests these reactions to be: 2 Zr 2 FeD x → x ZrD 2 + x/3 ZrFe 2 + (2 - 2/3x) Zr 2 Fe and Zr 2 FeD x + (2 -1/2x) D 2 → ZrD 2 + Fe, where 0 < x < 3. Reaction between gas phase deuterium and Zr2FC formed in the first reaction accounts for the observed consumption of deuterium from the gas phase by this reaction

Understanding hydride formation in Zr-1Nb alloy through microstructural characterization

International Nuclear Information System (INIS)

Neogy, S.; Srivastava, D.; Tewari, R.; Singh, R.N.; Dey, G.K.; De, P.K.; Banerjee, S.

2003-07-01

In this study the experimental results of hydride formation and their microstructure evolution in Zr-1Nb alloy is presented. This Zr-1Nb binary alloy and other Zr-1 Nb based ternary and quaternary alloys are being used as fuel tube materials and have the potential for meeting the requirement of high burn up fuel. Hydriding of Zr-1Nb alloy having a microstructure comprising equiaxed α grains and a uniform distribution of spherical particles of the β phase has been carried out in this study. The specimens have been hydrided by gaseous charging method to different hydrogen levels. The microstructures of hydrided samples were examined as a function of hydrogen content. The formation of δ hydride in slow cooled specimens and formation of γ hydride in rapidly cooled specimens has been studied with their morphology, habit plane and orientation relationship with the α matrix in view. The habit planes of either type of hydride phase has been determined and compared with those observed in other Zr-Nb alloys. The orientation relationship between the α matrix and the δ hydride was found to be the following: (0001) α // (111) δ and [1120] α // [110] δ . The orientation relationship between the α matrix and the γ hydride was of the following type: (0001) α // (111) γ and [1120] α // [110] γ . The internal structure of both types of hydride has been examined. The effect of the presence of the spherical β phase particles in the a matrix on the growth of the hydride plates has been investigated. (author)

In-channel experiments on vertical swimming with bacteria-like robots

OpenAIRE

Tabak, Ahmet Fatih; Yeşilyurt, Serhat; Yesilyurt, Serhat

2013-01-01

Bio-inspired micro-robots are of great importance as to implement versatile microsystems for a variety of in vivo and in vitro applications in medicine and biology. Accurate models are necessary to understand the swimming and rigidbody dynamics of such systems. In this study, a series of experiments are conducted with a two-link cm-scale bioinspired robot moving vertically without a tether, in siliconefilled narrow cylindrical glass channels. Swimming velocities are obtained for a set of v...

Initial experience with robotic pancreatic surgery in Singapore: single institution experience with 30 consecutive cases.

Science.gov (United States)

Goh, Brian K P; Low, Tze-Yi; Lee, Ser-Yee; Chan, Chung-Yip; Chung, Alexander Y F; Ooi, London L P J

2018-05-24

Presently, the worldwide experience with robotic pancreatic surgery (RPS) is increasing although widespread adoption remains limited. In this study, we report our initial experience with RPS. This is a retrospective review of a single institution prospective database of 72 consecutive robotic hepatopancreatobiliary surgeries performed between 2013 and 2017. Of these, 30 patients who underwent RPS were included in this study of which 25 were performed by a single surgeon. The most common procedure was robotic distal pancreatectomy (RDP) which was performed in 20 patients. This included eight subtotal pancreatectomies, two extended pancreatecto-splenectomies (en bloc gastric resection) and 10 spleen-saving-RDP. Splenic preservation was successful in 10/11 attempted spleen-saving-RDP. Eight patients underwent pancreaticoduodenectomies (five hybrid with open reconstruction), one patient underwent a modified Puestow procedure and one enucleation of uncinate tumour. Four patients had extended resections including two RDP with gastric resection and two pancreaticoduodenectomies with vascular resection. There was one (3.3%) open conversion and seven (23.3%) major (>Grade II) morbidities. Overall, there were four (13.3%) clinically significant (Grade B) pancreatic fistulas of which three required percutaneous drainage. These occurred after three RDP and one robotic enucleation. There was one reoperation for port-site hernia and no 30-day/in-hospital mortalities. The median post-operative stay was 6.5 (range: 3-36) days and there were six (20%) 30-day readmissions. Our initial experience showed that RPS can be adopted safely with a low open conversion rate for a wide variety of procedures including pancreaticoduodenectomy. © 2018 Royal Australasian College of Surgeons.

Electrochemical characterization of Pt-CeO{sub 2}/C and Pt-Ce{sub x}Zr{sub 1-x}O{sub 2}/C catalysts for ethanol electro-oxidation

Energy Technology Data Exchange (ETDEWEB)

Bai, Yuxia; Qiu, Xinping; Xi, Jingyu; Wang, Jianshe; Li, Jinfeng; Zhu, Wentao; Chen, Liquan [Key Laboratory of Organic Optoelectronics and Molecular Engineering, Department of Chemistry, Tsinghua University, Beijing 100084 (China); Wu, Jianjun [Key Laboratory of Organic Optoelectronics and Molecular Engineering, Department of Chemistry, Tsinghua University, Beijing 100084 (China); Department of Chemistry, Shijiazhuang College, Shijiazhuang 050801 (China)

2007-04-24

Pt-CeO{sub 2}/C and a series of Pt-Ce{sub x}Zr{sub 1-x}O{sub 2}/C catalyst powders with different Ce/Zr ratio were prepared and evaluated in terms of the electrochemical activity for ethanol electro-oxidation using cyclic voltammetry (CV), steady state polarization experiments and CO-stripping technique at room temperature. XRD results show that Ce{sub x}Zr{sub 1-x}O{sub 2} and Pt coexist in the Pt-Ce{sub x}Zr{sub 1-x}O{sub 2}/C catalyst and Ce{sub x}Zr{sub 1-x}O{sub 2} has no effect on the crystalline lattice of Pt. TEM results show that the Pt and Ce{sub x}Zr{sub 1-x}O{sub 2} particles dispersed uniformly over the surface of the carbon black. Cyclic voltammetry results show that the mass activity and specific activity of Pt-CeO{sub 2}/C for ethanol electro-oxidation is higher than that of Pt/C. The structure and Ce/Zr ratio of Pt-Ce{sub x}Zr{sub 1-x}O{sub 2}/C has effect on the catalytic activity of catalysts. CO-stripping voltammetry showed that the inclusion of CeO{sub 2} and Ce{sub x}Zr{sub 1-x}O{sub 2} favors the CO oxidation at lower potential. (author)

Interaction of Au with thin ZrO2 films: influence of ZrO2 morphology on the adsorption and thermal stability of Au nanoparticles.

Science.gov (United States)

Pan, Yonghe; Gao, Yan; Kong, Dandan; Wang, Guodong; Hou, Jianbo; Hu, Shanwei; Pan, Haibin; Zhu, Junfa

2012-04-10

The model catalysts of ZrO(2)-supported Au nanoparticles have been prepared by deposition of Au atoms onto the surfaces of thin ZrO(2) films with different morphologies. The adsorption and thermal stability of Au nanoparticles on thin ZrO(2) films have been investigated using synchrotron radiation photoemission spectroscopy (SRPES) and X-ray photoelectron spectroscopy (XPS). The thin ZrO(2) films were prepared by two different methods, giving rise to different morphologies. The first method utilized wet chemical impregnation to synthesize the thin ZrO(2) film through the procedure of first spin-coating a zirconium ethoxide (Zr(OC(2)H(5))(4)) precursor onto a SiO(2)/Si(100) substrate at room temperature followed by calcination at 773 K for 12 h. Scanning electron microscopy (SEM) investigations indicate that highly porous "sponge-like nanostructures" were obtained in this case. The second method was epitaxial growth of a ZrO(2)(111) film through vacuum evaporation of Zr metal onto Pt(111) in 1 × 10(-6) Torr of oxygen at 550 K followed by annealing at 1000 K. The structural analysis with low energy electron diffraction (LEED) of this film exhibits good long-range ordering. It has been found that Au forms smaller particles on the porous ZrO(2) film as compared to those on the ordered ZrO(2)(111) film at a given coverage. Thermal annealing experiments demonstrate that Au particles are more thermally stable on the porous ZrO(2) surface than on the ZrO(2)(111) surface, although on both surfaces, Au particles experience significant sintering at elevated temperatures. In addition, by annealing the surfaces to 1100 K, Au particles desorb completely from ZrO(2)(111) but not from porous ZrO(2). The enhanced thermal stability for Au on porous ZrO(2) can be attributed to the stronger interaction of the adsorbed Au with the defects and the hindered migration or coalescence resulting from the porous structures. © 2012 American Chemical Society

First-principles study on stability, and growth strategies of small AlnZr (n=1-9) clusters

Science.gov (United States)

Li, Zhi; Zhou, Zhonghao; Wang, Hongbin; Li, Shengli; Zhao, Zhen

2016-09-01

The geometries, relative stability as well as growth strategies of the AlnZr (n=1-9) clusters are investigated with spin polarized density functional theory: BLYP. The results reveal that the AlnZr clusters are more likely to form the dense accumulation structures than the AlN (N=1-10) clusters. The average binding energies of AlnZr are higher than those of AlN clusters. The AlnZr (n=3, 5, and 7) clusters are more stable than others by the differences of the total binding energies. Mülliken population analysis for the AlnZr clusters shows that the electron's adsorption ability of Zr is slightly lower than that of Al except for AlZr cluster. Local peaks of the HOMO-LUMO gap curve are found at n=3, 5, and 7. The reaction energies of AlnZr are higher, which means that AlnZr clusters are easier to react with Al clusters. Zr atom preferential reacts with Al2 cluster. Local peaks of the magnetic dipole moments are found at n=2, 5, and 8.

AMS of 93Zr: Passive absorber versus gas-filled magnet

Science.gov (United States)

Hain, Karin; Deneva, Boyana; Faestermann, Thomas; Fimiani, Leticia; Gómez-Guzmán, José Manuel; Koll, Dominik; Korschinek, Gunther; Ludwig, Peter; Sergeyeva, Victoria; Thiollay, Nicolas

2018-05-01

Two different isobar separation techniques were tested for the detection of the long-lived fission product 93Zr (T1/2 = 1.64 · 106 a) using Accelerator Mass Spectrometry (AMS), i.e. a passive absorber and a gas-filled magnet, respectively. Both techniques were used in combination with a Time-of-Flight path for the identification of the stable neighboring isotopes 92Zr and 94Zr. The passive absorber was represented by a stack of silicon nitride foils for high flexibility regarding the thickness for optimal isobar separation. Ion beams with a large variety of energies, between 80 and 180 MeV, were provided for this experiment by the tandem accelerator at the Maier-Leibnitz Laboratory in Garching, Germany. With these beams, the stopping powers of 93Zr and 93Nb as a function of energy were determined experimentally and compared to the results obtained with the simulation program SRIM. Considerable discrepancies regarding the energy dependence of the two stopping power curves relative to each other were found. The lowest detection limit for 93Zr achieved with the passive absorber setup was 93Zr/Zr = 1 · 10-10. In comparison, by optimizing the gas-filled magnet set-up, 93Nb was suppressed by around six orders of magnitude and a detection limit of 93Zr/Zr = 5 · 10-11 was obtained. To our knowledge, these results represent the lowest detection limit achieved for 93Zr until now.

1st Iberian Robotics Conference

CERN Document Server

Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

2014-01-01

This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...

Robot-assisted radiofrequency ablation of primary and secondary liver tumours: early experience

International Nuclear Information System (INIS)

Abdullah, Basri Johan Jeet; Yeong, Chai Hong; Goh, Khean Lee; Yoong, Boon Koon; Ho, Gwo Fuang; Yim, Carolyn Chue Wai; Kulkarni, Anjali

2014-01-01

Computed tomography (CT)-compatible robots, both commercial and research-based, have been developed with the intention of increasing the accuracy of needle placement and potentially improving the outcomes of therapies in addition to reducing clinical staff and patient exposure to radiation during CT fluoroscopy. In the case of highly inaccessible lesions that require multiple plane angulations, robotically assisted needles may improve biopsy access and targeted drug delivery therapy by avoidance of the straight line path of normal linear needles. We report our preliminary experience of performing radiofrequency ablation of the liver using a robotic-assisted CT guidance system on 11 patients (17 lesions). Robotic-assisted planning and needle placement appears to have high accuracy, is technically easier than the non-robotic-assisted procedure, and involves a significantly lower radiation dose to both patient and support staff. (orig.)

Robot-assisted radiofrequency ablation of primary and secondary liver tumours: early experience

Energy Technology Data Exchange (ETDEWEB)

Abdullah, Basri Johan Jeet [University of Malaya, Department of Biomedical Imaging, Faculty of Medicine, Kuala Lumpur (Malaysia); Yeong, Chai Hong [University of Malaya, University of Malaya Research Imaging Centre, Faculty of Medicine, Kuala Lumpur (Malaysia); Goh, Khean Lee [University of Malaya, Department of Internal Medicine, Faculty of Medicine, Kuala Lumpur (Malaysia); Yoong, Boon Koon [University of Malaya, Department of Surgery, Faculty of Medicine, Kuala Lumpur (Malaysia); Ho, Gwo Fuang [University of Malaya, Department of Oncology, Faculty of Medicine, Kuala Lumpur (Malaysia); Yim, Carolyn Chue Wai [University of Malaya, Department of Anesthesia, Faculty of Medicine, Kuala Lumpur (Malaysia); Kulkarni, Anjali [Perfint Healthcare Corporation, Florence, OR (United States)

2014-01-15

Computed tomography (CT)-compatible robots, both commercial and research-based, have been developed with the intention of increasing the accuracy of needle placement and potentially improving the outcomes of therapies in addition to reducing clinical staff and patient exposure to radiation during CT fluoroscopy. In the case of highly inaccessible lesions that require multiple plane angulations, robotically assisted needles may improve biopsy access and targeted drug delivery therapy by avoidance of the straight line path of normal linear needles. We report our preliminary experience of performing radiofrequency ablation of the liver using a robotic-assisted CT guidance system on 11 patients (17 lesions). Robotic-assisted planning and needle placement appears to have high accuracy, is technically easier than the non-robotic-assisted procedure, and involves a significantly lower radiation dose to both patient and support staff. (orig.)

Learning Robotics in a Science Museum Theatre Play: Investigation of Learning Outcomes, Contexts and Experiences

Science.gov (United States)

Peleg, Ran; Baram-Tsabari, Ayelet

2017-12-01

Theatre is often introduced into science museums to enhance visitor experience. While learning in museums exhibitions received considerable research attention, learning from museum theatre has not. The goal of this exploratory study was to investigate the potential educational role of a science museum theatre play. The study aimed to investigate (1) cognitive learning outcomes of the play, (2) how these outcomes interact with different viewing contexts and (3) experiential learning outcomes through the theatrical experience. The play `Robot and I', addressing principles in robotics, was commissioned by a science museum. Data consisted of 391 questionnaires and interviews with 47 children and 20 parents. Findings indicate that explicit but not implicit learning goals were decoded successfully. There was little synergy between learning outcomes of the play and an exhibition on robotics, demonstrating the effect of two different physical contexts. Interview data revealed that prior knowledge, experience and interest played a major role in children's understanding of the play. Analysis of the theatrical experience showed that despite strong identification with the child protagonist, children often doubted the protagonist's knowledge jeopardizing integration of scientific content. The study extends the empirical knowledge and theoretical thinking on museum theatre to better support claims of its virtues and respond to their criticism.

Child's culture-related experiences with a social robot at diabetes camps

NARCIS (Netherlands)

Neerincx, A.; Sacchitelli, F.; Kaptein, R.; Pal, S. van der; Oleari, E.; Neerincx, M.A.

2016-01-01

This paper investigates the experiences of Italian and Dutch children while interacting with a social robot that is designed to support their diabetes self-management. Observations of children's behaviors and analyses of questionnaires at diabetes camps, showed positive experiences with variation

Early Experience of Robotic Hysterectomy for Treatment of Benign Uterine Disease.

Science.gov (United States)

Gutierrez, Ana Luiza; Binda, Márcia Luisa Montalvão Appel; Ramos, José Geraldo Lopes

2016-09-01

Objectives  To demonstrate the initial experience of robotic hysterectomy to treat benign uterine disease at a university hospital in Brazil. Methods  A cross-sectional study was conducted to review data from the first twenty patients undergoing robotic hysterectomy at our hospital. The surgeries were performed from November 2013 to August 2014, all of them by the same surgeon. The patients were reviewed for preoperative characteristics, including age, body mass index (BMI), indications for the hysterectomy and previous surgeries. Data of operative times, complications, postoperative pain and length of hospital stay were also collected. Results  The total operating room time was 252.9 minutes, while the operative time was 180.7 minutes and the console time was 136.6 minutes. Docking time was 4.2 minutes, and the average undocking time was 1.9 minutes. There was a strong correlation between the operative time and the patient's BMI ( r  = 0.670; p  = 0.001). The console time had significant correlation with the uterine weight and the patient's BMI ( r  = 0.468; p  = 0.037). A learning curve was observed during docking and undocking times. Conclusion  Despite its high cost, the robotic surgery is gaining more space in gynecological surgery. By the results obtained in our hospital, this surgical proposal proved to be feasible and safe. Our initial experience demonstrated a learning curve in some ways. Thieme Publicações Ltda Rio de Janeiro, Brazil.

Final report on in-reactor creep-fatigue deformation behaviour of a CuCrZr alloy: COFAT 1

DEFF Research Database (Denmark)

Singh, Bachu Narain; Tähtinen, S.; Moilanen, P.

CrZr(HT1) alloy exposed concurrently to flux of neutrons and creep-fatigue cyclic loading directly in a fission reactor. Special experimental facilities were designed and fabricated for this purpose. A number of in-reactor creep-fatigue experiments were successfully carried out in the BR-2 reactor at Mol...

Microstructural characterization of Zr1Nb alloy after hot rolling

Energy Technology Data Exchange (ETDEWEB)

Souza, A.C. [Universidade Estadual do Mato Grosso do Sul (UEMS), MS (Brazil); Rossi, J.L.; Martinez, L.G.; Mucsi, C.S. [Instituto de Pesquisas Energéticas e Nucleares (IPEN/CNEN-SP), São Paulo, SP (Brazil); Tsakiropoulos, P. [University of Sheffield (United Kingdom); Ceoni, F.C.; Grandini, C.R. [Universidade Estadual Paulista Julio de Mesquita Filho (UNESP), SP (Brazil)

2016-07-01

Full text: The different research lines within the scope in engineering and materials science have developed new materials that can be used in different industrial sectors, such as, energy, health and transportation. For the nuclear industry, for example, the Zr alloys, are of great interest due to its good mechanical properties, excellent corrosion resistance and above all, the high permeability to thermal neutrons. In the health sector, the zirconium poses one of the lowest Young's modulus when compared to other metallic biomaterials, e.g., pure Zr is 68 GPa, bone mineral hydroxyapatite is 80 GPa, for Ti alloys is 90 GPa and above, for Nb is 105 GPa and stainless steels above 189 GPa. This is particularly important for implants in bones, whose elasticity modulus can reach 30 GPa and it is desirable an as close match as possible. However, the zirconium alloys, have great chemical affinity with oxygen and nitrogen. Moreover, oxides and nitrides may form during the melting process, heat treatment and hot rolling, changing the physic-chemical properties of the alloy. This experimental work shows the results of the evolution of the microstructure after hot rolling of the Zr1Nb alloy. It was possible to confirm the absence of formation of oxides and nitrides, thus confirming the of the experimental method of melting and hot rolling of the Zr1Nb alloy. (author)

Evolving self-assembly in autonomous homogeneous robots: experiments with two physical robots.

Science.gov (United States)

Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Christensen, Anders Lyhne; Dorigo, Marco

2009-01-01

This research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research works in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.

Determination of Nb and Zr in U-Nb-Zr alloys by ICP-AES

International Nuclear Information System (INIS)

Wang Cuiping; Dong Shizhe; Li Lin; He Meiying

2003-01-01

The U-Nb-Zr alloy sample is dissolved by HNO 3 , H 2 O 2 and HF, and the contents of Nb and Zr in the sample are determined on the JY-70 II type ICP-AES by using the internal standard synchronous dilution method. The range of determination is 1%-10% and 0.33%-3.33%, respectively for Nb and Zr. The relative standard deviation is better than 3.2% for Nb, and 2.5% for Zr. The method is rapid and convenient for determining Nb and Zr in U-Nb-Zr alloy sample

Unusual morphology of the omega phase in a Zr-1.75 At. pct Ni alloy

International Nuclear Information System (INIS)

Srivastava, D.; Mukhopadhyay, P.; Ramadasan, E.; Banerjee, S.

1993-01-01

The observations reported in the present communication were made in the course of a microstructural investigation on dilute Zr-Ni alloys. The alloys were prepared from nuclear-grade sponge zirconium and high-purity nickel by nonconsumable arc melting. Repeated melting was carried out to enhance homogeneity. A master alloy was used in the preparation of very dilute alloys. The observations reported here clearly indicate that the formation of the ω phase on β quenching, can occur in the binary Zr-Ni system at very low solute concentrations, suggesting that nickel is a strong ω stabilizer. Such a situation is known to obtain in the binary Zr-Mo system also. However, the unusual ω morphology observed in the present work has not been reported in the context of dilute Zr-Mo alloys. The appearance of sharp ω reflections and the absence of streaking and diffuse distributions in the selected area electron diffraction (SAD) patterns suggest that the Zr-1.75 at. pct Ni composition lies toward the solute lean end of the composition range associated with the formation of the athermal ω phase in the binary Zr-Ni system. In a more dilute Zr-Ni alloy (Zr-1.30 at. pct Ni), no athermal ω could be observed in β quenched specimens. The absence of streaking is also consistent with the fact that the ω phase in the β quenched Zr-1.75 at. pct Ni alloy did not occur in the form of very fine precipitates. The unusual ω morphology encountered in this work merits further investigation

Laser and electron beam welding study on niobium based Nb-1Zr-0.1C alloy

International Nuclear Information System (INIS)

Badgujar, B.P.; Kushwaha, R.P.; Tewari, R.; Dey, G.K.

2016-01-01

The refractory metal based alloys are most suitable for the structural applications in high temperature reactors envisaged to operate at temperature higher than 1000°C. The Nb-1Zr-0.1C (wt. %) is being considered for structural applications in the proposed Compact High Temperature Reactors (CHTR). The welding of this alloy is a difficult task due to its reactive nature and higher thermal conductivity. Laser and Electron Beam (EB) welds were produced on sheet of Nb-1Zr-0.1C alloy at various processing parameters and their effects on weld quality was studied by characterizing their optical and SEM micrographs and microhardness profile. The joining efficiency of both welding processes were also studied. The laser welds done in air with argon shielding showed higher hardness values compared to EB welds indicating need for adequate shielding. This study will help to find the optimized welding parameters to produce defect free welds of Nb-1Zr-0.1C alloy. (author)

Laparoscopic hand-assisted versus robotic-assisted laparoscopic sleeve gastrectomy: experience of 103 consecutive cases.

Science.gov (United States)

Kannan, Umashankkar; Ecker, Brett L; Choudhury, Rashikh; Dempsey, Daniel T; Williams, Noel N; Dumon, Kristoffel R

2016-01-01

Laparoscopic sleeve gastrectomy has become a stand-alone procedure in the treatment of morbid obesity. There are very few reports on the use of robotic approach in sleeve gastrectomy. The purpose of this retrospective study is to report our early experience of robotic-assisted laparoscopic sleeve gastrectomy (RALSG) using a proctored training model with comparison to an institutional cohort of patients who underwent laparoscopic hand-assisted sleeve gastrectomy (LASG). University hospital. The study included 108 patients who underwent sleeve gastrectomy either via the laparoscopic-assisted or robot-assisted approach during the study period. Of these 108 patients, 62 underwent LASG and 46 underwent RALSG. The console surgeon in the RALSG is a clinical year 4 (CY4) surgery resident. All CY4 surgery residents received targeted simulation training before their rotation. The console surgeon is proctored by the primary surgeon with assistance as needed by the second surgeon. The patients in the robotic and laparoscopic cohorts did not have a statistical difference in their demographic characteristics, preoperative co-morbidities, or complications. The mean operating time did not differ significantly between the 2 cohorts (121 min versus 110 min, P = .07). Patient follow-up in the LSG and RALSG were 91% and 90% at 3 months, 62% and 64% at 6 months, and 60% and 55% at 1 year, respectively. The mean percentage estimated weight loss (EWL%) at 3 months, 6 months, and 1 year was greater in the robotic group but not statistically significant (27 versus 22 at 3 mo [P = .05] and 39 versus 34 at 6 mo [P = .025], 57 versus 48 at 1 yr [P = .09]). There was no mortality in either group. Early results of our experience with RALSG indicate low perioperative complication rates and comparable weight loss with LASG. The concept of a stepwise education model needs further validation with larger studies. Copyright © 2016 American Society for Bariatric Surgery. Published by Elsevier Inc

Two years of experience with robot-assisted anti-reflux surgery

DEFF Research Database (Denmark)

Sanberg Jensen, Jonas; Kold Antonsen, Henning; Durup, Jesper

2017-01-01

Background and aims Robot-assisted anti-reflux surgery (RAAS) is an alternative to conventional laparoscopic anti-reflux surgery (CLAS). The purpose of this study was to evaluate initial Danish experiences with robot-assisted anti-reflux surgery compared to conventional laparoscopic anti-reflux...... significantly dependent on type of fundic wrap with reoperation of Nissen fundoplication being dysphagia and reoperation of Toupet being recurrent reflux (p = 0.008). There was no clearly determined learning curve. Conclusions RAAS was safe, feasible and with equal efficacy to CLAS. There were however...

A low-cost, computer-controlled robotic flower system for behavioral experiments.

Science.gov (United States)

Kuusela, Erno; Lämsä, Juho

2016-04-01

Human observations during behavioral studies are expensive, time-consuming, and error prone. For this reason, automatization of experiments is highly desirable, as it reduces the risk of human errors and workload. The robotic system we developed is simple and cheap to build and handles feeding and data collection automatically. The system was built using mostly off-the-shelf components and has a novel feeding mechanism that uses servos to perform refill operations. We used the robotic system in two separate behavioral studies with bumblebees (Bombus terrestris): The system was used both for training of the bees and for the experimental data collection. The robotic system was reliable, with no flight in our studies failing due to a technical malfunction. The data recorded were easy to apply for further analysis. The software and the hardware design are open source. The development of cheap open-source prototyping platforms during the recent years has opened up many possibilities in designing of experiments. Automatization not only reduces workload, but also potentially allows experimental designs never done before, such as dynamic experiments, where the system responds to, for example, learning of the animal. We present a complete system with hardware and software, and it can be used as such in various experiments requiring feeders and collection of visitation data. Use of the system is not limited to any particular experimental setup or even species.

High-temperature strength of Nb-1%Zr alloy for irradiation-capsules inner-shell

International Nuclear Information System (INIS)

Nomura, Yasushi; Nakata, Hirokatsu; Tanaka, Mitsuo; Fukaya, Kiyoshi.

1978-04-01

Coated fuel particles in capsules will be irradiated at about 1600 0 C in JMTR. Nb-1%Zr alloy was chosen for inner shell material of the capsules because of its sufficient strength at 1000 0 C and low induced radioactivity. Nb-1%Zr ingot produced by electron beam melting was formed into seamless tubes by hollowing and swaging, followed by annealing. Creep test in helium flow and tensile test in vacuum were made to examine mechanical strength of the Nb-1%Zr tubes at 1000 0 C. Following are the results; 1) 0.2% yield stress at 1000 0 C is about 6 kg/mm 2 . 2) 3000 hr creep rupture stress at 1000 0 C is about 6 kg/mm 2 . (auth.)

Processing and microstructure of Nb-1 percent Zr-0.1 percent C alloy sheet

Science.gov (United States)

Uz, Mehmet; Titran, Robert H.

1992-01-01

A systematic study was carried out to evaluate the effects of processing on the microstructure of Nb-1 wt. pct. Zr-0.1 wt. pct. C alloy sheet. The samples were fabricated by cold rolling different sheet bars that were single-, double- or triple-extruded at 1900 K. Heat treatment consisted on one- or two-step annealing of different samples at temperatures ranging from 1350 to 1850 K. The assessment of the effects of processing on microstructure involved characterization of the precipitates including the type, crystal structure, chemistry and distribution within the material as well as an examination of the grain structure. A combination of various analytical and metallographic techniques were used on both the sheet samples and the residue extracted from them. The results show that the relatively coarse orthorhombic Nb2C carbides in the as-rolled samples transformed to rather fine cubic monocarbides of Nb and Zr with varying Zr/Nb ratios upon subsequent heat treatment. The relative amount of the cubic carbides and the Zr/Nb ratio increased with increasing number of extrusions prior to cold rolling. Furthermore, the size and the aspect ratio of the grains appear to be strong functions of the processing history of the material. These and other results obtained will be presented with the emphasis on a possible relationship between processing and microstructure.

Robotic repair of vesicovaginal fistula - initial experience

Directory of Open Access Journals (Sweden)

Ankush Jairath

2016-02-01

Full Text Available ABSTRACT Objective The most common acquired fistula of the urinary tract is Vesicovaginal fistulae (VVF (1 posing social stigmata for the patient as well as a surgical challenge for the urologist. Here we present our initial experience with Robotic assisted laparoscopic repair of VVF, its safety and efficacy. Materials and Methods Seven out of eight fistulas were post hysterectomy; five had undergone abdominal while two had laparoscopic hysterectomy while one was due to prolonged labour. Two had associated ureteric injury. All underwent robotic assisted laparoscopic trans abdominal extravesical approach. Three 8 mm ports for robotic arms, one 12 mm port for camera and another 12 mm for assistant were used in a fan shaped manner. All had preoperative ureteric catheter placed. Bladder was closed in two layers and vagina in one layer. Omental flap placed in all cases except two where it was not possible. Drain and per urethral catheter placed in all cases. Double J stents were placed in two cases requiring ureteric implantation additionally. Results The mean age of presentation was 39.25 years (26-47 range with mean BMI being 26.25 kg/m2 (21-32 range. Mean duration between insult and repair was 9.37 months (3-24 months. Only in single case there was history of previous repair attempt. On cystoscopy four had supratrigonal VVF and four were trigonal with mean size of 13.37 mm (7-20 mm. Mean operative time was 117.5 minutes (90-150. There were no intraoperative/postoperative complications or need for open conversion. Mean haemoglobin drop was 1.4 gm/dL (0.3-2 gm. Drain was removed once 24-48 hours output is negligible. One patient had post-operative urinary leak at 2 weeks which ceased with continuation of catheterisation for another 2 weeks. Catheter was removed after voiding cystourethrogram showed no leak at 2-3 weeks postoperatively. Mean duration of drain was 3.75 days (3-5 and per urethral catheterisation (which was removed after voiding

Robotic surgery in complicated gynecologic diseases: Experience of Tri-Service General Hospital in Taiwan

Directory of Open Access Journals (Sweden)

Shun-Jen Tan

2012-03-01

Conclusion: The present analyses include various complicated gynecologic conditions, which make the estimation of the effectiveness of robotic surgery in each situation individually not appropriate. However, our experiences do show that robotic surgery is feasible and safe for patients with complicated gynecologic diseases.

Influence of barocryodeformation on microplastic properties of alloy Zr-1%Nb

International Nuclear Information System (INIS)

Mogil'nikova, T.T.; Khaimovich, P.A.; Zamler, E.G.

2013-01-01

Microplastic properties of zirconium and Zr-1%Nb have been studied by the method of internal friction. Properties change was judged by the dependence of the internal friction δ from the growing tension below the macroscopic elastic limit. The dependence δ = f (τ) for Zr-1%Nb after barocryodeforming at 77 K to 30 and 50 % is nonmonotonic. Discovered two microplastic elastic limit that characterizing onset of irreversible processes. Nonmonotonic δ = f (τ) due to the evolution during loading of the microstructure that formed at the preliminary deformation

Oxide layers of Zr-1% Nb under PWR primary circuit conditions

International Nuclear Information System (INIS)

Nagy, Gabor; Kerner, Zsolt; Battistig, Gabor; Pinter-Csordas, Anna; Balogh, Janos; Pajkossy, Tamas

2001-01-01

Oxide layers were grown on Zr-1% Nb under conditions simulating those in VVER-type pressurised water reactors (PWRs), viz. in borate solutions in an autoclave at 290 deg. C. The layers were characterised by various methods: their respective thickness values were determined by weight gain measurements, Rutherford backscattering (RBS), nuclear reaction analysis (NRA) and scanning electron microscopy (SEM); the electrical properties were tested by electrochemical impedance spectroscopy. The results show that the oxide layer on Zr-1% Nb is homogeneous and somewhat thicker than that on Zircaloy-4

Mechanical properties of irradiated and non-irradiated Zr1%Nb and Zircaloy claddings

International Nuclear Information System (INIS)

Griger, Agnes

2004-01-01

The mechanical properties of irradiated and non-irradiated Zr1%Nb were determined and they were compared with the analogous properties of Zircaloy-4 to establish connections between the evolution of mechanical parameters of Zr1%Nb and Zircaloy-4 cladding materials and the measure of irradiation. Samples were irradiated in the vertical channels of the Budapest Research Reactor for different time periods at 50-65 C temperature. The measure of irradiation (fluent) for different samples was estimated by means of flux measurement and using the effective irradiation time. Post irradiation uniaxial tension tests in transverse direction were carried out on ring specimens. The mechanical parameters of the Zr1%Nb alloy significantly improve due to the effect of irradiation. However, the values of mechanical parameters do not further increase when the fluent increases above 10 20 n/cm 2 . These results are in good accordance with the Russian ones [1]. Contrary to the behaviour of Zr1%Nb alloy, the mechanical parameters of the Zircaloy practically do not change on the effect of irradiation. The originally high values of ultimate tensile strength and yield stress change only slightly with the increasing fluent in the investigated fluent-region. (Author)

Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

Science.gov (United States)

Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

2017-01-01

Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

In situ synthesis and formation mechanism of ZrC and ZrB2 by combustion synthesis from the Co-Zr-B4C system

Directory of Open Access Journals (Sweden)

Mengxian Zhang

2015-09-01

Full Text Available ZrC-ZrB2-based composites were prepared by combustion synthesis (CS reaction from 10 wt.% to 50 wt.% Co-Zr-B4C powder mixtures. With increasing Co contents, the particle sizes of near-spherical ZrC and platelet-like ZrB2 decreased from 1 μm to 0.5 μm and from 5 μm to 2 μm, respectively. In addition, the formation mechanism of ZrC and ZrB2 was explored by the phase transition and microstructure evolution on the combustion wave quenched sample in combination with differential scanning calorimeter analysis. The results showed that the production of ZrC was ascribed to the solid-solid reaction between Zr and C and the precipitation from the Co-Zr-B-C melt, while ZrB2 was prepared from the saturated liquid. The low B concentration in the Co-Zr-B-C liquid and high cooling rate during the CS process led to the presence of Co2B and ZrCo3B2 in the composites. The addition of Co in the Co-Zr-B4C system not only prevented ZrC and ZrB2 particulates from growing, but also promoted the occurrence of ZrC-ZrB2-forming reaction.

Robotic radical hysterectomy with pelvic lymphadenectomy: our early experience.

Science.gov (United States)

Vasilescu, C; Sgarbură, O; Tudor, St; Popa, M; Turcanu, A; Florescu, A; Herlea, V; Anghel, R

2009-01-01

Robotic surgery overcomes some limitations of laparoscopic surgery for prostate, rectal and uterine cancer. In this study we analyze the feasibility of robotic radical hysterectomy with pelvic lymphadenectomy in gynecological cancers in a developping program of robotic surgery. This prospective study started the 1st of March 2008. Since then, 250 cases of robotic surgery were performed out of which 29 cases addressed gynecological conditions. We selected all radical interventions summing up to 19 cases. Our final group consisted of 19 patients, a gedbetween 30 and 78 years old, with an average age of 53.22 years (+/- 10.03). Twelve patients were diagnosed with cervical cancer, the rest of them with endometrial cancer. Mean operative time was 180 +/- 23.45 min. Oral intake were started the next day after the operation and the patients were discharged 3.5 (+/- 1.2) days postoperatively. There were 3 urinary complications in patients with tumors adherent to the urinary bladder. We believe that robotic radical hysterectomy with pelvic lymphadenectomy in gynecological cancers is a rapid, feasible, and secure method that should be used whenever available. However further prospective studies and late follow-up results are needed in order to fully assess the value of this new technology.

Creep behaviour of ZrNb1 fuel cans in argon and steam

International Nuclear Information System (INIS)

Adam, E.; Stephan, M.; Wetzel, L.

1988-01-01

The paper is concerned with experimental investigations on the creep behaviour of fuel cans made of the ZrNb1 alloy. The isobaric-isothermal creep tests were performed in the range of temperatures from 990 K to 1290 K and with differential pressures over the can between 1.0 MPa and 2.5 MPa. They were characterized by linear heating of the test cans with 2 K/s until a given temperature was reached, followed by maintaining the cans at a constant temperature (Δ = ± 3 K) and loading it with purified argon produced internal pressure. The experiments were carried out in both an argon atmosphere surrounding the cans from outside and steam. (author)

The anisotropy of Hf diffusion in α-Zr

International Nuclear Information System (INIS)

Hood, G.M.; Zou, H.; Roy, J.A.; Schultz, R.J.; Matsuura, N.; Jackson, J.A.

1995-07-01

Hf diffusion coefficients (D) have been measured in the temperature interval 870-1100 K, in directions parallel (D pa ) and perpendicular (D pe ) to the c-axis of double-faced, single crystal specimens of both high-purity (HP) and nominally pure (NP) α-Zr single crystals. The diffusion profiles were measured by secondary ion mass spectrometry. Hf diffusion in HP α-Zr is characterised by an activation energy of about 3.0 eV and a pre-exponential factor of about 10 -5 m 2 /s. The anisotropy ratio, D pa /D pe is ∼ 1.0 for the NP specimens. A dependence of D on diffusion time/depth is indicated for some NP experiments on NP Zr. (author). 7 refs., 2 tabs., 3 figs

Comparative study of the core level photoemission of the ZrB{sub 2} and ZrB{sub 12}

Energy Technology Data Exchange (ETDEWEB)

Huerta, L. [Instituto de Investigaciones en Materiales, Universidad Nacional Autonoma de Mexico, 04510 Mexico D.F. (Mexico); Duran, A. [Centro de Nanociencias y Nanotecnologia, Universidad Nacional Autonoma de Mexico, Apartado Postal 2681, Ensenada, Baja California 22800 (Mexico); Falconi, R. [Division Academica de Ciencias Basicas, Universidad Juarez Autonoma de Tabasco, Cunduacan, Tabasco, CP 86690, AP 24 (Mexico); Flores, M. [Departamento de Ingenieria de Proyectos, CUCEI, Universidad de Guadalajara, AP 307, Zapopan Jal 45101 (Mexico); Escamilla, R., E-mail: rauleg@servidor.unam.m [Instituto de Investigaciones en Materiales, Universidad Nacional Autonoma de Mexico, 04510 Mexico D.F. (Mexico)

2010-05-01

X-ray photoelectron spectroscopy (XPS) and ultraviolet photoelectron spectroscopy (UPS) were used to investigate the binding energies and valence band for ZrB{sub 2} and ZrB{sub 12}. The Zr 3d and B 1s core levels were identified. The Zr 3d core level shows a spin-orbit split 3d{sub 5/2} and 3d{sub 3/2} while that for B 1s core level exhibited a single symmetric peak, these being typical of zirconium and boride signals. Comparing the Zr 3d and B 1s core levels with metallic Zr, B{sub 2}O{sub 3} and ZrO{sub 2} reference materials only a negative chemical shift for Zr 3d associated to ZrB{sub 2} was observed, which suggests that the charge transfer model based on the concept of electronegativity was not applicable to explain the superconductivity in the ZrB{sub 12} sample. The measured valence band using UPS is consistent with the band-structure calculations indicating a higher density of states (DOS) at E{sub F} for ZrB{sub 12} respect to ZrB{sub 2}. Finally, we found that the weak mixed B-p and Zr-d states for ZrB{sub 12} is crucial for the superconductivity due to the state population increased the DOS at the E{sub F}.

Magnetic Compton scattering study of Laves phase ZrFe2 and Sc doped ZrFe2: Experiment and Green function based relativistic calculations

Science.gov (United States)

Bhatt, Samir; Mund, H. S.; Kumar, Kishor; Bapna, Komal; Dashora, Alpa; Itou, M.; Sakurai, Y.; Ahuja, B. L.

2018-05-01

Spin momentum densities of ferromagnetic ZrFe2 and Zr0.8Sc0.2Fe2 have been measured using magnetic Compton scattering with 182.65 keV circularly polarized synchrotron radiations. Site specific spin moments, which are responsible for the formation of total spin moment, have been deduced from Compton line shapes. At room temperature, the computed spin moment of ZrFe2 is found to be slightly higher than that of Sc doped ZrFe2 which is in consensus with the magnetization data. To compare the experimental data, we have also computed magnetic Compton profiles (MCPs), total and partial spin projected density of states (DOS) and the site specific spin moments using spin-polarized relativistic Korringa-Kohn-Rostoker method. It is observed that the spin moment at Fe site is aligned antiparallel to that of Zr site in both ZrFe2 and Zr0.8Sc0.2Fe2. The MCP results when compared with vibrating sample magnetometer based magnetization data, show a very small contribution of orbital moment in the formation of total magnetic moments in both the compounds. The DOS of ferromagnetic ground state of ZrFe2 and Zr0.8Sc0.2Fe2 are interpreted on the basis of a covalent magnetic model beyond the Stoner rigid band model. It appears that on alloying between a magnetic and a non-magnetic partner (with low valence), a polarization develops on the non-magnetic atom which is anti-parallel to that of the magnetic atom.

Influence of Zr substitution on the stabilization of ThMn{sub 12}-type (Nd{sub 1−α}Zr{sub α})(Fe{sub 0.75}Co{sub 0.25}){sub 11.25}Ti{sub 0.75}N{sub 1.2−1.4} (α = 0–0.3) compounds

Energy Technology Data Exchange (ETDEWEB)

Sakuma, N.; Yano, M.; Kato, A. [Toyota Motor Corporation, 1200 Mishuku, Susono, Shizuoka 410-1193 (Japan); Technology Research Association of Magnetic Materials for High-Efficiency Motors (MagHEM) Higashifuji-Branch, 1200 Mishuku, Susono, Shizuoka 410-1193 (Japan); Suzuki, S.; Kuno, T.; Urushibata, K.; Kobayashi, K. [Shizuoka Institute of Science and Technology, 2200-2 Toyosawa, Fukuroi, Shizuoka 437-8555 (Japan); Manabe, A. [Technology Research Association of Magnetic Materials for High-Efficiency Motors (MagHEM) Higashifuji-Branch, 1200 Mishuku, Susono, Shizuoka 410-1193 (Japan)

2016-05-15

The influence of Zr substitution in ThMn{sub 12} compounds was investigated using strip casting alloys. It was found that Zr substitution stabilized (Nd{sub 1−α}Zr{sub α})(Fe{sub 0.75}Co{sub 0.25}){sub 11.25}Ti{sub 0.75}N{sub 1.2−1.4} (α = 0–0.3) compounds. Specifically, a reduction in the lattice constant along the a-axis was observed. Energy-dispersive X-ray spectroscopy mapping combined with Cs-corrected scanning transmission electron microscopy indicated that Zr atoms preferentially occupied Nd 2a sites. Both the magnetic anisotropy field and saturation polarization were maximum at Zr substitution ratio α = 0.1. The (Nd{sub 1−α}Zr{sub α})(Fe{sub 0.75}Co{sub 0.25}){sub 11.25}Ti{sub 0.75}N{sub 1.2−1.4} (α = 0–0.3) compounds displayed higher saturation polarization than Nd{sub 2}Fe{sub 14}B at high temperatures.

Robot-assisted radical cystectomy with intracorporeal neobladder diversion: The Karolinska experience.

Science.gov (United States)

Collins, Justin W; Sooriakumaran, P; Sanchez-Salas, R; Ahonen, R; Nyberg, T; Wiklund, N P; Hosseini, A

2014-07-01

The aim of this report is to describe our surgical technique of totally intracorporeal robotic assisted radical cystectomy (RARC) with neobladder formation. Between December 2003 and March 2013, a total of 147 patients (118 male, 29 female) underwent totally intracorporeal RARC for urinary bladder cancer. We also performed a systematic search of Medline, Embase and PubMed databases using the terms RARC, robotic cystectomy, robot-assisted, totally intracorporeal RARC, intracorporeal neobladder, intracorporeal urinary diversion, oncological outcomes, functional outcomes, and complication rates. The mean age of our patients was 64 years (range 37-87). On surgical pathology 47% had pT1 or less disease, 27% had pT2, 16% had pT3 and 10% had pT4. The mean number of lymph nodes removed was 21 (range 0-60). 24% of patients had lymph node positive dAQ1isease. Positive surgical margins occurred in 6 cases (4%). Mean follow-up was 31 months (range 4-115 months). Two patients (1.4%) died within 90 days of their operation. Using Kaplan-Meier analysis, overall survival and cancer specific survival at 60 months was 68% and 69.6%, respectively. 80 patients (54%) received a continent diversion with totally intracorporeal neobladder formation. In the neobladder subgroup median total operating time was 420 minutes (range 265-760). Daytime continence and satisfactory sexual function or potency at 12 months ranged between 70-90% in both men and women. Our experience with totally intracorporeal RARC demonstrates acceptable oncological and functional outcomes that suggest this is a viable alternative to open radical cystectomy.

Self-supervised learning as an enabling technology for future space exploration robots: ISS experiments on monocular distance learning

Science.gov (United States)

van Hecke, Kevin; de Croon, Guido C. H. E.; Hennes, Daniel; Setterfield, Timothy P.; Saenz-Otero, Alvar; Izzo, Dario

2017-11-01

Although machine learning holds an enormous promise for autonomous space robots, it is currently not employed because of the inherent uncertain outcome of learning processes. In this article we investigate a learning mechanism, Self-Supervised Learning (SSL), which is very reliable and hence an important candidate for real-world deployment even on safety-critical systems such as space robots. To demonstrate this reliability, we introduce a novel SSL setup that allows a stereo vision equipped robot to cope with the failure of one of its cameras. The setup learns to estimate average depth using a monocular image, by using the stereo vision depths from the past as trusted ground truth. We present preliminary results from an experiment on the International Space Station (ISS) performed with the MIT/NASA SPHERES VERTIGO satellite. The presented experiments were performed on October 8th, 2015 on board the ISS. The main goals were (1) data gathering, and (2) navigation based on stereo vision. First the astronaut Kimiya Yui moved the satellite around the Japanese Experiment Module to gather stereo vision data for learning. Subsequently, the satellite freely explored the space in the module based on its (trusted) stereo vision system and a pre-programmed exploration behavior, while simultaneously performing the self-supervised learning of monocular depth estimation on board. The two main goals were successfully achieved, representing the first online learning robotic experiments in space. These results lay the groundwork for a follow-up experiment in which the satellite will use the learned single-camera depth estimation for autonomous exploration in the ISS, and are an advancement towards future space robots that continuously improve their navigation capabilities over time, even in harsh and completely unknown space environments.

Experimental investigation of the Zr corner of the ternary Zr-Nb-Fe phase diagram

Energy Technology Data Exchange (ETDEWEB)

Granovsky, M.S. E-mail: granovsk@cnea.gov.ar; Canay, M.; Lena, E.; Arias, D

2002-04-01

Intermediate phases in the Zr-rich region of the Zr-Nb-Fe system have been investigated by X-ray diffraction, optical and electron microscopy and electron microprobe analysis. The chemical composition ranges covered by the alloys studied here are: (41-97) at.% Zr, (32-0.9) at.% Nb and (0.6-38) at.% Fe. The phases found in this region were: the solid solutions {alpha}-Zr and {beta}-Zr, the intermetallic Zr{sub 3}Fe with less than 0.2 at.% Nb in solution, two new ternary intermetallic compounds (Zr+Nb){sub 2}Fe '{lambda}{sub 1}' with a cubic Ti{sub 2}Ni-type structure in the composition range (2.4-13) at.% Nb and (31-33) at.% Fe, and (Fe+Nb){sub 2}Zr '{lambda}{sub 2}' indexed as hexagonal Laves phase MgZn{sub 2} type (C14) with a wide range of compositions close to (35-37) at.% Zr, (12-31) at.% Nb and (32-53) at.% Fe.

Experimental investigation of the Zr corner of the ternary Zr-Nb-Fe phase diagram

International Nuclear Information System (INIS)

Granovsky, M.S.; Canay, M.; Lena, E.; Arias, D.

2002-01-01

Intermediate phases in the Zr-rich region of the Zr-Nb-Fe system have been investigated by X-ray diffraction, optical and electron microscopy and electron microprobe analysis. The chemical composition ranges covered by the alloys studied here are: (41-97) at.% Zr, (32-0.9) at.% Nb and (0.6-38) at.% Fe. The phases found in this region were: the solid solutions α-Zr and β-Zr, the intermetallic Zr 3 Fe with less than 0.2 at.% Nb in solution, two new ternary intermetallic compounds (Zr+Nb) 2 Fe 'λ 1 ' with a cubic Ti 2 Ni-type structure in the composition range (2.4-13) at.% Nb and (31-33) at.% Fe, and (Fe+Nb) 2 Zr 'λ 2 ' indexed as hexagonal Laves phase MgZn 2 type (C14) with a wide range of compositions close to (35-37) at.% Zr, (12-31) at.% Nb and (32-53) at.% Fe

Experimental investigation and thermodynamic modeling of the Ga–Zr system

Energy Technology Data Exchange (ETDEWEB)

Luo, Wei [School of Material Science and Engineering, Central South University, Changsha, Hunan 410083 (China); State Key Laboratory of Powder Metallurgy, Central South University, Changsha, Hunan 410083 (China); Liu, Shuhong, E-mail: shhliu@csu.edu.cn [School of Material Science and Engineering, Central South University, Changsha, Hunan 410083 (China); Tang, Ying [School of Material Science and Engineering, Central South University, Changsha, Hunan 410083 (China); Yin, Ming [Thermal Processing Technology Center, Illinois Institute of Technology (IIT), 10 West 32nd Street, Chicago, IL 60616 (United States); Sundman, Bosse [INSTN, CEA Saclay, 91191 Gif-sur-Yvette Cedex (France); Du, Yong [School of Material Science and Engineering, Central South University, Changsha, Hunan 410083 (China); Nash, Philip [Thermal Processing Technology Center, Illinois Institute of Technology (IIT), 10 West 32nd Street, Chicago, IL 60616 (United States); Tao, Huijin [State Key Laboratory of Powder Metallurgy, Central South University, Changsha, Hunan 410083 (China)

2014-02-25

Highlights: • Phase equilibria of the Ga–Zr system were investigated by experiment. • Δ{sub f}Hs for intermetallic compounds were computed via first–principles calculations. • The enthalpy of formation at 298 K for αGaZr was measured by calorimetry. • A set of self-consistent thermodynamic parameters was obtained. -- Abstract: Phase equilibria of the Ga–Zr system were investigated by experiment and thermodynamic modeling. In the experimental part, eleven alloys were prepared by melting the pure elements and annealed. Both the as-cast and annealed samples were analyzed by X-ray diffraction, optical microscopy, and scanning electron microscope. The annealed alloys were investigated by differential thermal analysis and electron probe microanalysis. In order to assist the thermodynamic modeling, the enthalpies of formation at 0 K for the GaZr{sub 2}, Ga{sub 3}Zr{sub 5}, Ga{sub 2}Zr{sub 3}, Ga{sub 4}Zr{sub 5}, αGaZr, Ga{sub 3}Zr{sub 2}, Ga{sub 5}Zr{sub 3}, Ga{sub 2}Zr and Ga{sub 3}Zr phases were computed via first-principles calculations. The enthalpy of formation at 298 K for the αGaZr was measured by high temperature reaction calorimetry. Based on the experimental phase diagram data from the present work and the literature as well as the present first-principles calculations, the Ga–Zr system was critically assessed by means of CALPHAD approach. The calculated phase diagram and thermodynamic properties agree well with the available experimental data.

Experiments in robotic sensorimotor control during grasp

International Nuclear Information System (INIS)

Stansfield, S.A.

1993-01-01

A series of experiments is presented, using a robot manipulator, which attempt to reproduce human sensorimotor control during grasping. The work utilizes a multifingered, dexterous robot hand equipped with a fingertip force sensor to explore dynamic grasp force adjustment during manipulation. The work is primarily concerned with the relationship between the weight of an object and the grasp force required to lift it. Too weak a grasp is unstable and the object will slip from the hand. Too strong a grasp may damage the object and/or the manipulator. An algorithm is presented which reproduces observed human behavior during grasp-and-lift tasks. The algorithm uses tactile information from the sensor to dynamically adjust the grasp force during lift. It is assumed that there is no a priori knowledge about the object to be manipulated. The effects of different arm/hand postures and object surfaces is explored. Finally, the use of sensory data to detect unexpected object motion and to signal transitions between manipulation phases--with the coincident triggering of new motor programs--is investigated

Oxiding and hydriding properties of Zr-1Nb cladding material in comparison with zircaloys

Energy Technology Data Exchange (ETDEWEB)

Vrtilkova, V; Molin, L [Nuclear Fuel Inst., Zbraslav (Czech Republic); Valach, M [Nuclear Research Inst., Rez plc (Czech Republic)

1997-02-01

This paper presents an overview of experimental research related to the Zr-1Nb corrosion behaviour in water and steam environment performed in the Czech Republic. Presented work is focused on the differences between Zr1Nb and Zircaloy corrosion performance. The effects of steam pressure, temperature transients and preoxidation are discussed. (author). 14 refs, 15 figs.

Zr/ZrC modified layer formed on AISI 440B stainless steel by plasma Zr-alloying

Energy Technology Data Exchange (ETDEWEB)

Shen, H.H.; Liu, L.; Liu, X.Z.; Guo, Q.; Meng, T.X.; Wang, Z.X.; Yang, H.J.; Liu, X.P., E-mail: liuxiaoping@tyut.edu.cn

2016-12-01

Highlights: • A Zr/ZrC modified layer was formed on AISI 440B stainless steel using plasma surface Zr-alloying. • The thickness of the modified layer increases with alloying temperature and time. • Formation mechanism of the modified layer is dependent on the mutual diffusion of Zr and substrate elements. • The modified surface shows an improved wear resistance. - Abstract: The surface Zr/ZrC gradient alloying layer was prepared by double glow plasma surface alloying technique to increase the surface hardness and wear resistance of AISI 440B stainless steel. The microstructure of the Zr/ZrC alloying layer formed at different alloying temperatures and times as well as its formation mechanism were discussed by using scanning electron microscopy, glow discharge optical emission spectrum, X-ray diffraction and X-ray photoelectron spectroscopy. The adhesive strength, hardness and tribological property of the Zr/ZrC alloying layer were also evaluated in the paper. The alloying surface consists of the Zr-top layer and ZrC-subsurface layer which adheres strongly to the AISI 440B steel substrate. The thickness of the Zr/ZrC alloying layer increases gradually from 16 μm to 23 μm with alloying temperature elevated from 900 °C to 1000 °C. With alloying time from 0.5 h to 4 h, the alloyed depth increases from 3 μm to 30 μm, and the ZrC-rich alloyed thickness vs time is basically parabola at temperature of 1000 °C. Both the hardness and wear resistance of the Zr/ZrC alloying layer obviously increase compared with untreated AISI 440B steel.

Dendritic solidification in undercooled Ni-Zr-Al melts: Experiments and modeling

Energy Technology Data Exchange (ETDEWEB)

Galenko, P.K., E-mail: Peter.Galenko@dlr.de [Institut fuer Materialsphysik im Weltraum, Deutsches Zentrum fuer Luft- und Raumfahrt (DLR), D-51170 Koeln (Germany); Reutzel, S.; Herlach, D.M. [Institut fuer Materialsphysik im Weltraum, Deutsches Zentrum fuer Luft- und Raumfahrt (DLR), D-51170 Koeln (Germany); Fries, S.G. [ICAMS, Ruhr-Universitaet Bochum, Stiepeler Strasse 129, D-44780 Bochum (Germany)] [SGF Scientific Consultancy, Arndtstr 9, D-52064 Aachen (Germany); Steinbach, I. [ICAMS, Ruhr-Universitaet Bochum, Stiepeler Strasse 129, D-44780 Bochum (Germany); Apel, M. [ACCESS eV, Intzestrasse 5, D-52072 Aachen (Germany)

2009-12-15

The kinetics of dendritic solidification in a ternary Ni{sub 98}Zr{sub 1}Al{sub 1} alloy is investigated experimentally in a range of melt undercoolings 40K{<=}{Delta}T{<=}320K. The growth velocity is measured for samples processed by the electromagnetic levitation technique using a high-speed video camera. With {Delta}T{<=}220K the measured growth rates are the same as those of a binary Ni{sub 99}Zr{sub 1} alloy. In the regime of rapid solidification, especially within the regime of thermal dendritic growth at {Delta}T{>=}220K, growth rates are decreased. Sharp-interface modeling predicts growth rates over the whole range of undercooling. Phase-field simulations give quantitative predictions for the dendritic growth velocity in the solute-controlled growth regime. Results show that the composition and temperature dependency of the thermodynamic data, e.g. liquidus slope and solute partition coefficient, are important for describing the alloys. Our findings give improved sharp-interface model predictions compared to calculations based on an approximation of the thermodynamic data derived from binary phase diagrams.

Physical properties of molten core materials: Zr-Ni and Zr-Cr alloys measured by electrostatic levitation

Energy Technology Data Exchange (ETDEWEB)

Ohishi, Yuji, E-mail: ohishi@see.eng.osaka-u.ac.jp [Graduate School of Engineering, Osaka University (Japan); Kondo, Toshiki [Graduate School of Engineering, Osaka University (Japan); Ishikawa, Takehiko [Japan Aerospace Exploration Agency (Japan); SOKEN-DAI (Graduate University for Advanced Studies) (Japan); Okada, Junpei T. [Institute for Materials Research, Tohoku University (Japan); Watanabe, Yuki [Advanced Engineering Services Co. Ltd. (Japan); Muta, Hiroaki; Kurosaki, Ken [Graduate School of Engineering, Osaka University (Japan); Yamanaka, Shinsuke [Graduate School of Engineering, Osaka University (Japan); Research Institute of Nuclear Engineering, University of Fukui (Japan)

2017-03-15

It is important to understand the behaviors of molten core materials to investigate the progression of a core meltdown accident. In the early stages of bundle degradation, low-melting-temperature liquid phases are expected to form via the eutectic reaction between Zircaloy and stainless steel. The main component of Zircaloy is Zr and those of stainless steel are Fe, Ni, and Cr. Our group has previously reported physical property data such as viscosity, density, and surface tension for Zr-Fe liquid alloys using an electrostatic levitation technique. In this study, we report the viscosity, density, and surface tension of Zr-Ni and Zr-Cr liquid alloys (Zr{sub 1-x}Ni{sub x} (x = 0.12 and 0.24) and Zr{sub 0.77}Cr{sub 0.23}) using the electrostatic levitation technique. - Highlights: • The physical properties of Zr-Ni and Zr-Cr liquid alloys have been measured Zr{sub 1-x}Ni{sub x} (x = 0.12 and 0.24) and Zr{sub 77}Cr{sub 23}. • The measurement was conducted using the electrostatic levitation technique. • The density, viscosity, and surface tension of each liquid alloy were measured.

Physical properties of molten core materials: Zr-Ni and Zr-Cr alloys measured by electrostatic levitation

International Nuclear Information System (INIS)

Ohishi, Yuji; Kondo, Toshiki; Ishikawa, Takehiko; Okada, Junpei T.; Watanabe, Yuki; Muta, Hiroaki; Kurosaki, Ken; Yamanaka, Shinsuke

2017-01-01

It is important to understand the behaviors of molten core materials to investigate the progression of a core meltdown accident. In the early stages of bundle degradation, low-melting-temperature liquid phases are expected to form via the eutectic reaction between Zircaloy and stainless steel. The main component of Zircaloy is Zr and those of stainless steel are Fe, Ni, and Cr. Our group has previously reported physical property data such as viscosity, density, and surface tension for Zr-Fe liquid alloys using an electrostatic levitation technique. In this study, we report the viscosity, density, and surface tension of Zr-Ni and Zr-Cr liquid alloys (Zr 1-x Ni x (x = 0.12 and 0.24) and Zr 0.77 Cr 0.23 ) using the electrostatic levitation technique. - Highlights: • The physical properties of Zr-Ni and Zr-Cr liquid alloys have been measured Zr 1-x Ni x (x = 0.12 and 0.24) and Zr 77 Cr 23 . • The measurement was conducted using the electrostatic levitation technique. • The density, viscosity, and surface tension of each liquid alloy were measured.

Regularities of recrystallization in rolled Zr single crystals

International Nuclear Information System (INIS)

Isaenkova, M; Perlovich, Yu; Fesenko, V; Krymskaya, O; Krapivka, N; Thu, S S

2015-01-01

Experiments by rolled single crystals give a more visible conception of the operating mechanisms of plastic deformation and the following recrystallization, than experiments by polycrystals. Studies by usage of X-ray diffraction methods were conducted by Zr single crystals. It was revealed, that regions of the α-Zr matrix, deformed mainly by twinning, are characterized with decreased tendency to recrystallization. Orientations of recrystallized α-Zr grains correspond to “slopes” of maxima in the rolling texture, where the level of crystalline lattice distortion is maximal and the number of recrystallization nuclei is most of all. (paper)

In situ NAP-XPS spectroscopy during methane dry reforming on ZrO2/Pt(1 1 1) inverse model catalyst

Science.gov (United States)

Rameshan, C.; Li, H.; Anic, K.; Roiaz, M.; Pramhaas, V.; Rameshan, R.; Blume, R.; Hävecker, M.; Knudsen, J.; Knop-Gericke, A.; Rupprechter, G.

2018-07-01

Due to the need of sustainable energy sources, methane dry reforming is a useful reaction for conversion of the greenhouse gases CH4 and CO2 to synthesis gas (CO  +  H2). Syngas is the basis for a wide range of commodity chemicals and can be utilized for fuel production via Fischer–Tropsch synthesis. The current study focuses on spectroscopic investigations of the surface and reaction properties of a ZrO2/Pt inverse model catalyst, i.e. ZrO2 particles (islands) grown on a Pt(1 1 1) single crystal, with emphasis on in situ near ambient pressure x-ray photoelectron spectroscopy (NAP-XPS) during MDR reaction. In comparison to technological systems, model catalysts facilitate characterization of the surface (oxidation) state, surface adsorbates, and the role of the metal-support interface. Using XPS and infrared reflection absorption spectroscopy we demonstrated that under reducing conditions (UHV or CH4) the ZrO2 particles transformed to an ultrathin ZrO2 film that started to cover (wet) the Pt surface in an SMSI-like fashion, paralleled by a decrease in surface/interface oxygen. In contrast, (more oxidizing) dry reforming conditions with a 1:1 ratio of CH4 and CO2 were stabilizing the ZrO2 particles on the model catalyst surface (or were even reversing the strong metal support interaction (SMSI) effect), as revealed by in situ XPS. Carbon deposits resulting from CH4 dissociation were easily removed by CO2 or by switching to dry reforming conditions (673–873 K). Thus, at these temperatures the active Pt surface remained free of carbon deposits, also preserving the ZrO2/Pt interface.

Crystallization of Zr₂Pd_xCu_1-x and Zr₂Ni_xCu_1-x Metallic Glass

Energy Technology Data Exchange (ETDEWEB)

Xu, Min [Iowa State Univ., Ames, IA (United States)

2008-01-01

One interesting aspect of rretallic glasses is the numerous instances of the deviation of the phase selection from the amorphous state to thermodynamically stable phases during the crystallization process. Their devitrification pathways allow us to study the relationship between the original amorphous structure and their crystalline counter parts. Among the various factors of phase selections, size and electronic effects have been most extensively studied. Elucidating the phase selection process of a glassy alloy will be helpful to fill in the puzzle of the changes from disordered to ordered structures. In this thesis, Two model Zr₂Pd_xCu_1-x and Zr₂Ni_xCu_1-x (x = 0, 0.25, 0.5, 0.75 and 1) glassy systems were investigated since: (1) All of the samples can be made into a homogenous metallic glass; (2) The atomic radii differ from Pd to Cu is by 11%, while Ni has nearly the identical atomic size compare to Cu. Moreover, Pd and Ni differ by only one valence electron from Cu. Thus, these systems are ideal to test the idea of the effects of electronic structure and size factors; (3) The small number of components in these pseudo binary systems readily lend themselves to theoretical modeling. Using high temperature X-ray diffraction (HTXRD) and thermal analysis, topological, size, electronic, bond and chemical distribution factors on crystallization selections in Zr₂Pd_xCu_1-x and Zr₂Ni_xCu_1-x metallic glass have been explored. All Zr₂Pd_xCu_1-x compositions share the same Cu11b phase with different pathways of meta-stable, icosahedral quasicrystalline phase (i-phase), and C16 phase formations. The quasicrystal phase formation is topologically related to the increasing icosahedral short range order (SRO) with Pd content in Zr₂Pd_xCu_1-x system. Meta-stable C16 phase is competitive with

Creep behavior and threshold stress of an extruded Al-6Mg-2Sc-1Zr alloy

International Nuclear Information System (INIS)

Deshmukh, S.P.; Mishra, R.S.; Kendig, K.L.

2004-01-01

Creep experiments were performed on extruded Al-6Mg-2Sc-1Zr (wt.%) alloy in a temperature range of 423-533 K. A threshold type creep behavior was measured and explained by observed dislocation-particle interactions. The experimental threshold stress values at various temperatures were compared with existing theoretical models. None of the available models could account for the decrease in threshold creep strength with increasing temperature

Thermodynamic description of the Ta-W-Zr system

International Nuclear Information System (INIS)

Guo, Cuiping; Li, Changrong; Du, Zhenmin; Shang, Shunli

2014-01-01

The Ta-W, W-Zr and Ta-W-Zr systems are critically reviewed and modeled using the CALPHAD technique. The enthalpy of formation of the stoichiometric compound W 2 Zr in the W-Zr system is predicted from first-principles calculations. The solution phases (liquid, bcc and hcp) are modeled by the substitutional solution model. The compound W 2 Zr is treated with the formula (Ta,W) 2 Zr in the Ta-W-Zr system because of a significant solid solubility of Ta in W 2 Zr. All experimental data, including the Gibbs energy of formation, enthalpy of formation, activity of Ta and W of bcc phase at 1 200 K, Ta-W and W-Zr phase diagrams, and three isothermal sections of the Ta-W-Zr system at 1 073, 1 098, and 1 873 K, are reproduced in the present work. A set of self-consistent thermodynamic parameters of the Ta-W-Zr system is obtained.

Zr/ZrC modified layer formed on AISI 440B stainless steel by plasma Zr-alloying

Science.gov (United States)

Shen, H. H.; Liu, L.; Liu, X. Z.; Guo, Q.; Meng, T. X.; Wang, Z. X.; Yang, H. J.; Liu, X. P.

2016-12-01

The surface Zr/ZrC gradient alloying layer was prepared by double glow plasma surface alloying technique to increase the surface hardness and wear resistance of AISI 440B stainless steel. The microstructure of the Zr/ZrC alloying layer formed at different alloying temperatures and times as well as its formation mechanism were discussed by using scanning electron microscopy, glow discharge optical emission spectrum, X-ray diffraction and X-ray photoelectron spectroscopy. The adhesive strength, hardness and tribological property of the Zr/ZrC alloying layer were also evaluated in the paper. The alloying surface consists of the Zr-top layer and ZrC-subsurface layer which adheres strongly to the AISI 440B steel substrate. The thickness of the Zr/ZrC alloying layer increases gradually from 16 μm to 23 μm with alloying temperature elevated from 900 °C to 1000 °C. With alloying time from 0.5 h to 4 h, the alloyed depth increases from 3 μm to 30 μm, and the ZrC-rich alloyed thickness vs time is basically parabola at temperature of 1000 °C. Both the hardness and wear resistance of the Zr/ZrC alloying layer obviously increase compared with untreated AISI 440B steel.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Directory of Open Access Journals (Sweden)

Xingguang Duan

2018-01-01

Full Text Available In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Science.gov (United States)

Duan, Xingguang; Gao, Liang; Li, Jianxi; Li, Haoyuan; Guo, Yanjun

2018-01-01

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning. PMID:29599948

1st Latin American Congress on Automation and Robotics

CERN Document Server

Baca, José; Moreno, Héctor; Carrera, Isela; Cardona, Manuel

2017-01-01

This book contains the proceedings of the 1st Latin American Congress on Automation and Robotics held at Panama City, Panama in February 2017. It gathers research work from researchers, scientists, and engineers from academia and private industry, and presents current and exciting research applications and future challenges in Latin American. The scope of this book covers a wide range of themes associated with advances in automation and robotics research encountered in engineering and scientific research and practice. These topics are related to control algorithms, systems automation, perception, mobile robotics, computer vision, educational robotics, robotics modeling and simulation, and robotics and mechanism design. LACAR 2017 has been sponsored by SENACYT (Secretaria Nacional de Ciencia, Tecnologia e Inovacion of Panama).

[Initial experience in robot-assisted colorectal surgery in Mexico].

Science.gov (United States)

Villanueva-Sáenz, Eduardo; Ramírez-Ramírez, Moisés Marino; Zubieta-O'Farrill, Gregorio; García-Hernández, Luis

Colorectal surgery has advanced notably since the introduction of the mechanical suture and the minimally invasive approach. Robotic surgery began in order to satisfy the needs of the patient-doctor relationship, and migrated to the area of colorectal surgery. An initial report is presented on the experience of managing colorectal disease using robot-assisted surgery, as well as an analysis of the current role of this platform. A retrospective study was conducted in order to review five patients with colorectal disease operated using a robot-assisted technique over one year in the initial phase of the learning curve. Gender, age, diagnosis and surgical indication, surgery performed, surgical time, conversion, bleeding, post-operative complications, and hospital stay, were analysed and described. A literature review was performed on the role of robotic assisted surgery in colorectal disease and cancer. The study included 5 patients, 3 men and 2 women, with a mean age of 62.2 years. Two of them were low anterior resections with colorectal primary anastomoses, one of them extended with a loop protection ileostomy, a Frykman-Goldberg procedure, and two left hemicolectomies with primary anastomoses. The mean operating time was 6hours and robot-assisted 4hours 20minutes. There were no conversions and the mean hospital stay was 5 days. This technology is currently being used worldwide in different surgical centres because of its advantages that have been clinically demonstrated by various studies. We report the first colorectal surgical cases in Mexico, with promising results. There is enough evidence to support and recommend the use of this technology as a viable and safe option. Copyright © 2016 Academia Mexicana de Cirugía A.C. Publicado por Masson Doyma México S.A. All rights reserved.

Synthesis and Characterization of a Perovskite Barium Zirconate (BaZrO[subscript 3]): An Experiment for an Advanced Inorganic Chemistry Laboratory

Science.gov (United States)

Thananatthanachon, Todsapon

2016-01-01

In this experiment, the students explore the synthesis of a crystalline solid-state material, barium zirconate (BaZrO3) by two different synthetic methods: (a) the wet chemical method using BaCl[subscript 2]·2H[subscript 2]O and ZrOCl[subscript 2]·8H[subscript 2]O as the precursors, and (b) the solid-state reaction from BaCO[subscript 3] and…

Zr-Sn-Nb alloys. Preliminary studies

International Nuclear Information System (INIS)

Danon, C.A.; Arias, D.E.

1993-01-01

Studies of the Zr-Sn-Nb diagram have been started, focussing on the Zr-rich corner, near the composition of Zirlo commercial alloy, Zr-1Sn-1Nb, and with Fe and O contents usual in nuclear grade materials. Three alloys were melted, namely Zr-4Sn-2.4Nb (A), Zr-1Sn-3Nb (B) and Zr-2.1Sn-1Nb (C). α/β transformation temperatures were measured through the variation of electrical resistivity(p) vs temperature (T). Values of 560 deg C, 670 deg C and 750 deg C were measured for the α→α+β reaction and 980 deg C, 910 deg C and 1000 deg C for the α+β→β reaction, for the A, B and C alloys, respectively in that order. Some samples were submitted to heat treatments (62 and 216 hours at 825 deg C, 120 hours at 875 deg C). Optical and scanning electronic microscopy of those samples confirmed our resistivity results. (Author)

Zr3NiSb7: a new antimony-enriched ZrSb2 derivative

Directory of Open Access Journals (Sweden)

V. Romaka

2008-08-01

Full Text Available Single crystals of trizirconium nickel heptaantimonide were synthesized from the constituent elements by arc-melting. The compound crystallizes in a unique structure type and belongs to the family of two-layer structures. All crystallographically unique atoms (3 × Zr, 1 × Ni and 7 × Sb are located at sites with m symmetry. The structure contains `Zr2Ni2Sb5' and `Zr4Sb9' fragments and might be described as a new ZrSb2 derivative with a high Sb content.

Robotic general surgery experience: a gradual progress from simple to more complex procedures.

Science.gov (United States)

Al-Naami, M; Anjum, M N; Aldohayan, A; Al-Khayal, K; Alkharji, H

2013-12-01

Robotic surgery was introduced at our institution in 2003, and we used a progressive approach advancing from simple to more complex procedures. A retrospective chart review. Cases included totalled 129. Set-up and operative times have improved over time and with experience. Conversion rates to standard laparoscopic or open techniques were 4.7% and 1.6%, respectively. Intraoperative complications (6.2%), blood loss and hospital stay were directly proportional to complexity. There were no mortalities and the postoperative complication rate (13.2%) was within accepted norms. Our findings suggest that robot technology is presently most useful in cases tailored toward its advantages, i.e. those confined to a single space, those that require performance of complex tasks, and re-do procedures. Copyright © 2013 John Wiley & Sons, Ltd.

Collaborative gaming and competition for CS-STEM education using SPHERES Zero Robotics

Science.gov (United States)

Nag, Sreeja; Katz, Jacob G.; Saenz-Otero, Alvar

2013-02-01

There is widespread investment of resources in the fields of Computer Science, Science, Technology, Engineering, Mathematics (CS-STEM) education to improve STEM interests and skills. This paper addresses the goal of revolutionizing student education using collaborative gaming and competition, both in virtual simulation environments and on real hardware in space. The concept is demonstrated using the SPHERES Zero Robotics (ZR) Program which is a robotics programming competition. The robots are miniature satellites called SPHERES—an experimental test bed developed by the MIT SSL on the International Space Station (ISS) to test navigation, formation flight and control algorithms in microgravity. The participants compete to win a technically challenging game by programming their strategies into the SPHERES satellites, completely from a web browser. The programs are demonstrated in simulation, on ground hardware and then in a final competition when an astronaut runs the student software aboard the ISS. ZR had a pilot event in 2009 with 10 High School (HS) students, a nationwide pilot tournament in 2010 with over 200 HS students from 19 US states, a summer tournament in 2010 with ˜150 middle school students and an open-registration tournament in 2011 with over 1000 HS students from USA and Europe. The influence of collaboration was investigated by (1) building new web infrastructure and an Integrated Development Environment where intensive inter-participant collaboration is possible, (2) designing and programming a game to solve a relevant formation flight problem, collaborative in nature—and (3) structuring a tournament such that inter-team collaboration is mandated. This paper introduces the ZR web tools, assesses the educational value delivered by the program using space and games and evaluates the utility of collaborative gaming within this framework. There were three types of collaborations as variables—within matches (to achieve game objectives), inter

Effect of ZrB{sub 2} particles on the microstructure and mechanical properties of hybrid (ZrB{sub 2} + Al{sub 3}Zr)/AA5052 insitu composites

Energy Technology Data Exchange (ETDEWEB)

Gautam, Gaurav, E-mail: gauravgautamm1988@gmail.com; Mohan, Anita, E-mail: amohan.app@iitbhu.ac.in

2015-11-15

Present study outlines the effect of ZrB{sub 2} particles variation on the morphology and mechanical properties of (ZrB{sub 2}+Al{sub 3}Zr)/AA5052Al alloy composites. Composites with varying amount of ZrB{sub 2} particles have been produced by direct melt reaction (DMR) technique. These composites have been characterized by X-ray diffractometer (XRD) and energy-dispersive spectroscopy (EDS) to confirm the presence of ZrB{sub 2} and Al{sub 3}Zr particles. Optical microscopy (OM) and scanning-electron microscopy (SEM) have been used to understand the morphology. To see the effect of ZrB{sub 2} variation on mechanical properties, hardness and tensile properties have been evaluated. The XRD and EDS results confirm the successful formation of ZrB{sub 2} particles in matrix of AA5052Al alloy. SEM and TEM studies exhibit that ZrB{sub 2} particles are mostly in hexagonal and some rectangular shape while Al{sub 3}Zr particles are in polyhedron and rectangular shapes. Most of ZrB{sub 2} particles are within a size range of 10–190 nm. Interface region is free of any impurity. OM studies show grain refinement of AA5052Al alloy matrix with formation of second phase ZrB{sub 2} particles. Tensile results indicate that the UTS and YS improve up to 3 vol.% of ZrB{sub 2} but beyond this composition a decreasing trend is observed. The strength coefficient increases with increase in ZrB{sub 2} particles up to 3 vol.% in the Al{sub 3}Zr/Al alloy composites, whereas strain hardening decreases. While beyond 3 vol.% ZrB{sub 2} particles in the Al{sub 3}Zr/Al alloy composite, opposite trend is observed in strength coefficient and strain hardening. Percentage elongation also improves with 1vol.% ZrB{sub 2}, but further addition of ZrB{sub 2} shows an adverse effect. However, a continuous increasing trend has been observed in bulk hardness. Fracture studies show facets of Al{sub 3}Zr particles and dimples of matrix, but with inclusion of ZrB{sub 2} dimple size decreases. Increase in Zr

Self-diffusion and heterodiffusion in Zr-2.5%Nb α/β interfaces comparison with grain boundary diffusion in α-Zr

International Nuclear Information System (INIS)

Iribarren, M.J.; Dyment, F.

1991-01-01

Conventional radioactive tracer section techniques were used to make an experimental determination of diffusion parameters for Zr, Nb and Ni along the α/β boundary interfaces of Zr-2.5%Nb and comparing them with those for Zr, Nb and Co in α-Zr grain boundaries. Both determinations were made for a wide range of temperatures, including reactor working temperatures. Different materials were used for this purpose, both specially prepared alloys for diffusion experiments and part of the material from the actual pressure tubes. Different stabilizing thermal treatments were performed and results were analyzed based on the different morphologies obtained. (Author) [es

Electric Properties of Pb(Sb1/2Nb1/2)O3 PbTiO3 PbZrO3 Ceramics

Science.gov (United States)

Kawamura, Yasushi; Ohuchi, Hiromu

1994-09-01

Solid-solution ceramics of ternary system xPb(Sb1/2Nb1/2)O3 yPbTiO3 zPbZrO3 were prepared by the solid-state reaction of powder materials. Ceramic, electric, dielectric and piezoelectric properties and crystal structures of the system were studied. Sintering of the system xPb(Sb1/2Nb1/2)O3 yPbTiO3 zPbZrO3 is much easier than that of each end composition, and well-sintered high-density ceramics were obtained for the compositions near the morphotropic transformation. Piezoelectric ceramics with high relative dielectric constants, high radial coupling coefficient and low resonant resistance were obtained for the composition near the morphotropic transformation. The composition Pb(Sb1/2Nb1/2)0.075Ti0.45Zr0.475O3 showed the highest dielectric constant (ɛr=1690), and the composition Pb(Sb1/2Nb1/2)0.05Ti0.45Zr0.5O3 showed the highest radial coupling coefficient (kp=64%).

Robotic transthoracic esophagectomy.

Science.gov (United States)

Puntambekar, Shailesh; Kenawadekar, Rahul; Kumar, Sanjay; Joshi, Saurabh; Agarwal, Geetanjali; Reddy, Sunil; Mallik, Jainul

2015-04-23

We have initially published our experience with the robotic transthoracic esophagectomy in 32 patients from a single institute. The present paper is the extension of our experience with robotic system and to best of our knowledge this represents the largest series of robotic transthoracic esophagectomy worldwide. The objective of this study was to investigate the feasibility of the robotic transthoracic esophagectomy for esophageal cancer in a series of patients from a single institute. A retrospective review of medical records was conducted for 83 esophageal cancer patients who underwent robotic esophagectomy at our institute from December 2009 to December 2012. All patients underwent a thorough clinical examination and pre-operative investigations. All patients underwent robotic esophageal mobilization. En-bloc dissection with lymphadenectomy was performed in all cases with preservation of Azygous vein. Relevant data were gathered from medical records. The study population comprised of 50 men and 33 women with mean age of 59.18 years. The mean operative time was 204.94 mins (range 180 to 300). The mean blood loss was 86.75 ml (range 50 to 200). The mean number of lymph node yield was 18. 36 (range 13 to 24). None of the patient required conversion. The mean ICU stay and hospital stay was 1 day (range 1 to 3) and 10.37 days (range 10 to 13), respectively. A total of 16 (19.28%) complication were reported in these patents. Commonly reported complication included dysphagia, pleural effusion and anastomotic leak. No treatment related mortality was observed. After a median follow-up period of 10 months, 66 patients (79.52%) survived with disease free stage. We found robot-assisted thoracoscopic esophagectomy feasible in cases of esophageal cancer. The procedure allowed precise en-bloc dissection with lymphadenectomy in mediastinum with reduced operative time, blood loss and complications.

Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot.

Science.gov (United States)

Calisti, M; Corucci, F; Arienti, A; Laschi, C

2015-07-30

This paper studies underwater legged locomotion (ULL) by means of a robotic octopus-inspired prototype and its associated model. Two different types of propulsive actions are embedded into the robot model: reaction forces due to leg contact with the ground and hydrodynamic forces such as the drag arising from the sculling motion of the legs. Dynamic parameters of the model are estimated by means of evolutionary techniques and subsequently the model is exploited to highlight some distinctive features of ULL. Specifically, the separation between the center of buoyancy (CoB)/center of mass and density affect the stability and speed of the robot, whereas the sculling movements contribute to propelling the robot even when its legs are detached from the ground. The relevance of these effects is demonstrated through robotic experiments and model simulations; moreover, by slightly changing the position of the CoB in the presence of the same feed-forward activation, a number of different behaviors (i.e. forward and backward locomotion at different speeds) are achieved.

Contribution to the study of the pseudobinary Zr1Nb-Oxygen phase diagram by local oxygen measurements of Zr1Nb fuel cladding after high temperature oxidation

Czech Academy of Sciences Publication Activity Database

Negyesi, M.; Burda, J.; Klouček, V.; Lorinčík, Jan; Sopoušek, J.; Kabátová, J.; Novotný, L.; Linhart, S.; Chmela, T.; Siegl, J.; Vrtílková, V.

2012-01-01

Roč. 420, 1-3 (2012), s. 314-319 ISSN 0022-3115 Institutional research plan: CEZ:AV0Z20670512 Keywords : Zr1Nb * oxygen * fuel cladding Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering Impact factor: 1.211, year: 2012

Modular robotic tiles: experiments for children with autism

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Dam Pedersen, Martin; Beck, Richard

2009-01-01

rehabilitation), and with the proper radio communication mechanism they may give unique possibilities for documentation of the physical activity (e.g., therapeutic treatment). A major point of concern in modular robotics is the connection mechanism, so we investigated different solutions for the connection......We developed a modular robotic tile and a system composed of a number of these modular robotic tiles. The system composed of the modular robotic tiles engages the user in physical activities, e.g., physiotherapy, sports, fitness, and entertainment. The modular robotic tiles motivate the user...... to perform physical activities by providing immediate feedback based upon their physical interaction with the system. With the modular robotic tiles, the user is able to make new physical set-ups within less than a minute. The tiles are applicable for different forms of physical activities (e.g., therapeutic...

Liquid-handling Lego robots and experiments for STEM education and research

OpenAIRE

Gerber, Lukas C.; Calasanz-Kaiser, Agnes; Hyman, Luke; Voitiuk, Kateryna; Patil, Uday; Riedel-Kruse, Ingmar H.

2017-01-01

Liquid-handling robots have many applications for biotechnology and the life sciences, with increasing impact on everyday life. While playful robotics such as Lego Mindstorms significantly support education initiatives in mechatronics and programming, equivalent connections to the life sciences do not currently exist. To close this gap, we developed Lego-based pipetting robots that reliably handle liquid volumes from 1 ml down to the sub-μl range and that operate on standard laboratory plasti...

ROBOT-ASSISTED LAPAROSCOPIC PROSTATECTOMY: OUR EXPERIENCE

Directory of Open Access Journals (Sweden)

S. N. Nesterov

2014-08-01

Full Text Available Background. Retropubic radical prostatectomy (RPE is now the gold standard of treatment for locally advanced prostate cancer (PC. However, robot-assisted RPE procedures using the da Vinci system are finding increasing acceptance.Materials and methods. The authors conducted a prospective study of 60 robot-assisted prostatectomies made at the Clinic of Urology, N.I. Pirogov National Medical Surgical Center, in the period January 2009 to December 2010.Results. The duration of an operation averaged 230 min; the average amount of blood loss was 200 ml. The mean duration of postoperative analgesia was 2,7 days. That of urinary catheterization was 8.5 days. A normal postoperative course was noted in most cases (88,4 %. Seven patients were found to have 8 (13,3 % mild and moderate complications. A pathohistological study revealed a positive surgical margin of resection in 21,7 % of the patients, extracapsular tumor growth in 21,7 %, and seminal vesicle invasion in 23,3 %. Tumor-affected regional lymph nodes were detected in 1 (1,7 % patient. In our observed series, 82 and 93 % of the subjects completely retained urine after 6 and 12 moths, respectively. Throughout the follow-up, erectile function recovered in 7 of the 15 patients undergoing a nerve-sparing surgical procedure.Conclusion. Postoperative results in our series of interventions are comparable to those obtained in the studies by Russian and foreign colleagues at the early stage of mastering this procedure. By considering a few observations, it is today difficult to say that our study is valid in the context of evidence-based medicine. Estimation of the benefits of robot-assisted laparoscopic prostatectomy calls for long-term multicenter randomized trials.

Search for the β decay of 96Zr

Science.gov (United States)

Finch, S. W.; Tornow, W.

2016-01-01

96Zr and 48Ca are unique among double-β decay candidate nuclides in that they may also undergo single-β decay. In the case of 96Zr, the single-β decay mode is dominated by the fourth-forbidden β decay with a 119 keV Q value. A search was conducted for the β decay of 96Zr by observing the decay of the daughter 96Nb nucleus. Two coaxial high-purity germanium detectors were used in coincidence to detect the γ-ray cascade produced by the daughter nucleus as it de-excited to the ground state. The experiment was carried out at the Kimballton Underground Research Facility and produced 685.7 days of data with a 17.91 g enriched sample. No counts were seen above background, producing a limit of T1/2 > 2.4 ×1019 year. This is the first experimental search that is able to discern between the β decay and the double-β decay to an excited state of 96Zr.

Robotic partial nephrectomy for clinical stage T1 tumors: Experience in 42 cases

Directory of Open Access Journals (Sweden)

Kemal Ener

2016-01-01

Full Text Available The aim of this study was to evaluate outcomes of robotic partial nephrectomy (RAPN procedures. At two centers, 42 patients underwent RAPN. Radius, Exo/Endophytic, Nearness, Anterior/Posterior, Location (R.E.N.A.L. nephrometry and PADUA scores of patients were calculated by computed tomography (CT or magnetic resonance imaging (MRI. Intra- and perioperative (0–30 days complications were evaluated using modified Clavien classification. A four-arm da Vinci-S robotic surgical system was used and outcomes were evaluated retrospectively. Mean age of the patients was 52.3 ± 6.5 years. Mean tumor size was 3.1 ± 1.0 (1.4–6.6 cm. R.E.N.A.L. nephrometry and PADUA scores were 6.0 ± 1.5 and 7.5 ± 0.9, respectively. Mean surgical time was 127.7 ± 18.7 minutes and estimated blood loss was 100 ± 18.1 cc. Mean warm ischemia time was 16.0 ± 8.9 (0–30 minutes. Intraoperative complications did not develop in any patient. Median hospital stay was 3.0 (2–6 days. Except for 17 patients, hilar clamping was performed in 25 patients. Histopathology results included 34 renal cell carcinoma (22 clear cell, 7 chromophobe cell, 4 papillary cell, and 1 clear papillary cell. Oncocytoma (n = 4, adenoma (n = 1, fibroadipose tissue (n = 1, papillary epithelial hyperplasia (n = 1, and chronic pyelonephritis (n = 1 were present. Surgical margins were negative in all patients. During a median follow-up period of 15.5 ± 10.9 (3–46 months, neither local recurrence nor distant metastasis was detected. In conclusion, RAPN is a safe, minimally invasive surgical approach, with excellent surgical and oncological outcomes in T1 kidney tumors. Zero ischemia off-clamp RAPN is also safe in selected masses with the advantage of avoiding complete renal ischemia.

The 91Zr(d,t)90Zr reaction

International Nuclear Information System (INIS)

Gomes, L.C.

1975-01-01

Sixteen levels populated in the 91 Zr(d,t) 90 Zr pick-up reaction were studied with 16 MeV deuterons. Distorted waves Born approximation calculations were compared to the data, and yielded spectroscopic factors and l values. Particle-hole states in 90 Zr were observed. Some significant errors were found in Zr(d,t) reactions Q values recently compiled [pt

Emotion Attribution to a Non-Humanoid Robot in Different Social Situations

Science.gov (United States)

Lakatos, Gabriella; Gácsi, Márta; Konok, Veronika; Brúder, Ildikó; Bereczky, Boróka; Korondi, Péter; Miklósi, Ádám

2014-01-01

In the last few years there was an increasing interest in building companion robots that interact in a socially acceptable way with humans. In order to interact in a meaningful way a robot has to convey intentionality and emotions of some sort in order to increase believability. We suggest that human-robot interaction should be considered as a specific form of inter-specific interaction and that human–animal interaction can provide a useful biological model for designing social robots. Dogs can provide a promising biological model since during the domestication process dogs were able to adapt to the human environment and to participate in complex social interactions. In this observational study we propose to design emotionally expressive behaviour of robots using the behaviour of dogs as inspiration and to test these dog-inspired robots with humans in inter-specific context. In two experiments (wizard-of-oz scenarios) we examined humans' ability to recognize two basic and a secondary emotion expressed by a robot. In Experiment 1 we provided our companion robot with two kinds of emotional behaviour (“happiness” and “fear”), and studied whether people attribute the appropriate emotion to the robot, and interact with it accordingly. In Experiment 2 we investigated whether participants tend to attribute guilty behaviour to a robot in a relevant context by examining whether relying on the robot's greeting behaviour human participants can detect if the robot transgressed a predetermined rule. Results of Experiment 1 showed that people readily attribute emotions to a social robot and interact with it in accordance with the expressed emotional behaviour. Results of Experiment 2 showed that people are able to recognize if the robot transgressed on the basis of its greeting behaviour. In summary, our findings showed that dog-inspired behaviour is a suitable medium for making people attribute emotional states to a non-humanoid robot. PMID:25551218

Emotion attribution to a non-humanoid robot in different social situations.

Directory of Open Access Journals (Sweden)

Gabriella Lakatos

Full Text Available In the last few years there was an increasing interest in building companion robots that interact in a socially acceptable way with humans. In order to interact in a meaningful way a robot has to convey intentionality and emotions of some sort in order to increase believability. We suggest that human-robot interaction should be considered as a specific form of inter-specific interaction and that human-animal interaction can provide a useful biological model for designing social robots. Dogs can provide a promising biological model since during the domestication process dogs were able to adapt to the human environment and to participate in complex social interactions. In this observational study we propose to design emotionally expressive behaviour of robots using the behaviour of dogs as inspiration and to test these dog-inspired robots with humans in inter-specific context. In two experiments (wizard-of-oz scenarios we examined humans' ability to recognize two basic and a secondary emotion expressed by a robot. In Experiment 1 we provided our companion robot with two kinds of emotional behaviour ("happiness" and "fear", and studied whether people attribute the appropriate emotion to the robot, and interact with it accordingly. In Experiment 2 we investigated whether participants tend to attribute guilty behaviour to a robot in a relevant context by examining whether relying on the robot's greeting behaviour human participants can detect if the robot transgressed a predetermined rule. Results of Experiment 1 showed that people readily attribute emotions to a social robot and interact with it in accordance with the expressed emotional behaviour. Results of Experiment 2 showed that people are able to recognize if the robot transgressed on the basis of its greeting behaviour. In summary, our findings showed that dog-inspired behaviour is a suitable medium for making people attribute emotional states to a non-humanoid robot.

Origin of the -|A | T1 /2 term in the resistivity of disordered ZrAs1.58Se0.39

Science.gov (United States)

Gnida, Daniel

2018-04-01

Recently, Cichorek et al. have analyzed the magnetic-field-independent -|A | T1 /2 term in the resistivity of disordered ZrAs1.58Se0.39 within the Altshuler-Arononv model of electron-electron interaction in the presence of disorder [Phys. Rev. Lett. 117, 106601 (2016), 10.1103/PhysRevLett.117.106601]. Making the assumption that diffusion of conduction electrons in this compound is isotropic, they could not get quantitative agreement between the considered model and the experimental results. This led the authors to conclude that the singular T1 /2 contribution to the resistivity of ZrAs1.58Se0.39 could not be caused by electron-electron interaction but could only be explained by a two-channel Kondo effect. Here, we perform a detailed analysis of the -|A | T1 /2 correction to the resistivity of disordered ZrAs1.58Se0.39 using analogous Altshuler-Aronov relation but taking into account that the diffusion coefficient in the tetragonal ZrAs1.58Se0.39 is anisotropic. For the considered resistivity anisotropy, we found that the calculated values of the A coefficient are in very good agreement with those derived from the resistivity measurements. Moreover, analysis indicates that the values of the screening parameter λ(j =1 ) are close to zero, which satisfies the condition that the A coefficient does not depend on magnetic field. This shows that the magnetic-field-independent -|A | T1 /2 correction to the resistivity of disordered ZrAs1.58Se0.39 can be explained within the electron-electron interaction scenario in disordered metallic systems.

ZrFsy1, a high-affinity fructose/H+ symporter from fructophilic yeast Zygosaccharomyces rouxii.

Directory of Open Access Journals (Sweden)

Maria José Leandro

Full Text Available Zygosaccharomyces rouxii is a fructophilic yeast than can grow at very high sugar concentrations. We have identified an ORF encoding a putative fructose/H(+ symporter in the Z. rouxii CBS 732 genome database. Heterologous expression of this ORF in a S. cerevisiae strain lacking its own hexose transporters (hxt-null and subsequent kinetic characterization of its sugar transport activity showed it is a high-affinity low-capacity fructose/H(+ symporter, with Km 0.45 ± 0.07 mM and Vmax 0.57 ± 0.02 mmol h(-1 (gdw(-1. We named it ZrFsy1. This protein also weakly transports xylitol and sorbose, but not glucose or other hexoses. The expression of ZrFSY1 in Z. rouxii is higher when the cells are cultivated at extremely low fructose concentrations (<0.2% and on non-fermentable carbon sources such as mannitol and xylitol, where the cells have a prolonged lag phase, longer duplication times and change their microscopic morphology. A clear phenotype was determined for the first time for the deletion of a fructose/H(+ symporter in the genome where it occurs naturally. The effect of the deletion of ZrFSY1 in Z. rouxii cells is only evident when the cells are cultivated at very low fructose concentrations, when the ZrFsy1 fructose symporter is the main active fructose transporter system.

Roles of texture of Zr alloys in ZrO{sub 2} film formation and δ-hydride orientation near ZrO{sub 2}/Zr interface

Energy Technology Data Exchange (ETDEWEB)

Qin, W.; Szpunar, J.A., E-mail: weq565@mail.usask.ca, E-mail: jerzy.szpunar@usask.ca [Univ. of Saskatchewan, Dept. of Mechanical Engineering, Saskatoon, SK (Canada); Kozinski, J., E-mail: janusz.kozinski@lassonde.yorku.ca [York Univ., Faculty of Science and Engineering, Toronto, ON (Canada)

2014-07-01

Oxidation and hydrogen embrittlement are related to formation of cracks and failure of Zr alloys used in nuclear reactor applications. An in-depth understanding of the formation of ZrO{sub 2} film and the hydride precipitation and orientation is important for improving the corrosion resistance of zirconium alloys. In this work a theoretical model is developed to analyze the microstructure of ZrO{sub 2} film formed on Zr alloys and the effect of stress that results from ZrO{sub 2} formation on hydride reorientation in the region near oxide/metal interface. Our work shows that the macroscopic stress produced due to Pilling-Bedworth ratio for ZrO{sub 2}/Zr could lead to the hydride re-orientation in the region near ZrO{sub 2}/Zr interface. Whether or not this effect can occur is dependent on the texture of the zirconium alloys. Control of texture of zirconium alloys can affect the microstructure of ZrO{sub 2} film and can be responsible for change of hydride orientation. (author)

Research the Gait Characteristics of Human Walking Based on a Robot Model and Experiment

Science.gov (United States)

He, H. J.; Zhang, D. N.; Yin, Z. W.; Shi, J. H.

2017-02-01

In order to research the gait characteristics of human walking in different walking ways, a robot model with a single degree of freedom is put up in this paper. The system control models of the robot are established through Matlab/Simulink toolbox. The gait characteristics of straight, uphill, turning, up the stairs, down the stairs up and down areanalyzed by the system control models. To verify the correctness of the theoretical analysis, an experiment was carried out. The comparison between theoretical results and experimental results shows that theoretical results are better agreement with the experimental ones. Analyze the reasons leading to amplitude error and phase error and give the improved methods. The robot model and experimental ways can provide foundation to further research the various gait characteristics of the exoskeleton robot.

Arsenic and fluoride removal from contaminated drinking water with Haix-Fe-Zr and Haix-Zr resin beads.

Science.gov (United States)

Phillips, Debra H; Sen Gupta, Bhaskar; Mukhopadhyay, Soumyadeep; Sen Gupta, Arup K

2018-06-01

The objective of the study was to carry-out batch tests to examine the effectiveness of Haix-Fe-Zr and Haix-Zr resin beads in the removal of As(III), As(V) and F - from groundwater with a similar geochemistry to a site where a community-based drinking water plant has been installed in West Bengal, India. The groundwater was spiked separately with ∼200 μg/L As(III) and As(V) and 5 mg/L F - . Haix-Zr resin beads were more effective than Haix-Fe-Zr resin beads in removing As(III) and As(V). Haix-Zr resin beads showed higher removal of As(V) compared to As(III). Haix-Zr resin beads removed As(V) below the WHO (10 μg/L) drinking water standards at 8.79 μg/L after 4 h of shaking, while As(III) was reduced to 7.72 μg/L after 8 h of shaking. Haix-Fe-Zr resin beads were more effective in removing F - from the spiked groundwater compared to Haix-Zr resin beads. Concentrations of F - decreased from 6.27 mg/L to 1.26 mg/L, which is below the WHO drinking water standards (1.5 mg/L) for F - , after 15 min of shaking with Haix-Fe-Zr resin beads. After 20 min of shaking in groundwater treated with Haix-Zr resin beads, F - concentrations decreased from 6.27 mg/L to 1.43 mg/L. In the removal of As(III), As(V), and F - from the groundwater, Haix-Fe-Zr and Haix-Zr resin beads fit the parabolic diffusion equation (PDE) suggesting that adsorption of these contaminants was consistent with inter-particle diffusion. Copyright © 2018 Elsevier Ltd. All rights reserved.

Study of precipitation behaviour of Mo and Zr in nitric acid solution

International Nuclear Information System (INIS)

Lin Cansheng; Wang Xiaoying; Zhang Chonghai

1992-01-01

The precipitation behaviour of Mo and Zr which depends on the concentrations of Mo, Zr, nitric acid and temperature is studied. Precipitation, post-precipitation and ultracentrifugation experiments are made at 100 deg C, 80 deg C, 60 deg C, 40 deg C and room temperatures in the range of 0.6-6.0 mol/1 nitric acid. The experimental feeds are made up of molybdenum labelled with 99 Mo, zirconium labelled with 95 Zr and nitric acid solution. The feed is allowed to stand at constant temperature for some time for the observation of precipitation behaviour. The filtered precipitate and ultracentrifuged liquid is to be measured with HP (Ge)-multichannel analyser in order to determine the content of Mo, Zr and their mole ration in the precipitate and to find out whether there is colloid in the liquid. The results show that the mixed solution of Mo and Zr can produce precipitate and post-precipitate in nitric acid. If the filtrated liquid is allowed to stand for some time, precipitate can be produced again, until the concentration of Mo and Zr in the feed is too low to form precipitate, such as 2.5 x 10 -3 mol/1. If the concentration of nitric acid is less than 4.0 mol/1, the precipitation is produced easily and more precipitate is formed. Precipitation is slower in solutions which are more than 4.0 mol/1 in HNO 3 . The mole-ratio of Mo to Zr in the precipitate is 2 to 1 and it is not dependent on that ratio in the system

Antibacterial activity and cell compatibility of TiZrN, TiZrCN, and TiZr-amorphous carbon coatings

Energy Technology Data Exchange (ETDEWEB)

Huang, Heng-Li [School of Dentistry, China Medical University, Taichung 404, Taiwan (China); Department of Bioinformatics and Medical Engineering, Asia University, Taichung 41354, Taiwan (China); Chang, Yin-Yu, E-mail: yinyu@nfu.edu.tw [Department of Mechanical and Computer-aided Engineering, National Formosa University, Yunlin 632, Taiwan (China); Liu, Jia-Xu [Department of Mechanical and Computer-aided Engineering, National Formosa University, Yunlin 632, Taiwan (China); Tsai, Ming-Tzu [Department of Biomedical Engineering, Hungkuang University, Taichung 433, Taiwan (China); Lai, Chih-Ho [Department of Microbiology and Immunology, Graduate Institute of Biomedical Sciences, Chang Gung University, Taoyuan, Taiwan (China)

2015-12-01

A cathodic-arc evaporation system with plasma-enhanced duct equipment was used to deposit TiZrN, TiZrCN, and TiZr/a-C coatings. Reactive gases (N{sub 2} and C{sub 2}H{sub 2}) activated by the Ti and Zr plasma in the evaporation process was used to deposit the TiZrCN and TiZr/a-C coatings with different C and nitrogen contents. The crystalline structures and bonding states of coatings were analyzed by X-ray diffraction and X-ray photoelectron spectroscopy. The microbial activity of the coatings was evaluated against Staphylococcus aureus (Gram-positive bacteria) and Actinobacillus actinomycetemcomitans (Gram-negative bacteria) by in vitro antibacterial analysis using a fluorescence staining method employing SYTO9 and a bacterial-viability test on an agar plate. The cell compatibility and morphology related to CCD-966SK cell-line human skin fibroblast cells on the coated samples were also determined using the 3-(4, 5-dimethylthiazol-2-yl)-2, 5-diphenyltetrazolium bromide assay, reverse-transcriptase-polymerase chain reaction, and scanning electron microscopy. The results suggest that the TiZrCN coatings not only possess better antibacterial performance than TiZrN and TiZr/a-C coatings but also maintain good compatibility with human skin fibroblast cells. - Highlights: • TiZrN, TiZrCN, and TiZr/a-C coatings were deposited using cathodic arc evaporation. • The TiZrCN showed a composite structure containing TiN, ZrN, and a-C. • The TiZrCN-coated Ti showed the least hydrophobicity among the samples. • The TiZrCN-coated Ti showed good human skin fibroblast cell viability. • The TiZrCN-coated Ti exhibited good antibacterial performance.

Electrochemical and metallurgical characterization of ZrCr{sub 1-x}NiMo{sub x} AB{sub 2} metal hydride alloys

Energy Technology Data Exchange (ETDEWEB)

Erika, Teliz [Universidad de la República, Facultad de Ciencias, Laboratorio de Electroquímica Fundamental, Núcleo Interdisciplinario Ingeniería Electroquímica, Igua 4225, CP 11400 Montevideo (Uruguay); Ricardo, Faccio [Universidad de la República, Crystallography, Solid State and Materials Laboratory (Cryssmat-Lab), DETEMA, Centro NanoMat, Polo Tecnológico de Pando, Espacio Interdisciplinario, Facultad de Química, Montevideo (Uruguay); Fabricio, Ruiz [Consejo Nacional de Investigaciones Científicas y Técnicas , CONICET, Av. Rivadavia 1917, C1033AAJ Ciudad de Buenos Aires (Argentina); Centro Atómico Bariloche , Comisión Nacional de Energía Atómica (CAB-CNEA), Av. Bustillo 9500, CP 8400 S.C. de Bariloche, RN (Argentina); Fernando, Zinola [Universidad de la República, Facultad de Ciencias, Laboratorio de Electroquímica Fundamental, Núcleo Interdisciplinario Ingeniería Electroquímica, Igua 4225, CP 11400 Montevideo (Uruguay); and others

2015-11-15

The effects of partial replacement of chromium by molybdenum was studied on the structure and electrochemical kinetic properties of ZrCr{sub 1-x}NiMo{sub x}(x = 0.0, 0.3 and 0.6) metal hydride alloys. The arc-melting prepared alloys were metallurgically characterized by X-ray diffraction and energy dispersive spectroscopy microanalysis, which showed AB{sub 2} (with hexagonal C14 structure) and Zr{sub x}Ni{sub y} (Zr{sub 7}Ni{sub 10}, Zr{sub 9}Ni{sub 11}) phases. After a partial substitution of chromium by molybdenum, secondary phases monotonically increase with the C14 unit cell volume indicating that most of molybdenum atoms locate in the B-site. The alloys were electrochemically characterized using charge/discharge cycling, electrochemical impedance spectroscopy and rate capability experiments that allowed the determination of hydriding reaction kinetic parameters. The presence of molybdenum produces a positive effect for hydrogen diffusion in the alloy lattice, and ZrCr{sub 0.7}NiMo{sub 0.3} alloy depicts the better kinetics associated with a fast activation, lower charge transfer resistance and the best high rate discharge behavior. This fact would be related to a lower diffusion time constant and a bigger value of the product between exchange density current and surface active area. There is a trade-off in the amounts of secondary phase and Laves phases in order to improve the kinetic performance. - Highlights: • Metallurgical characterization evidences the presence of Zr{sub x}Ni{sub y} and C14 phases. • The partial replacement of Cr by Mo promotes the segregation of Zr{sub x}Ni{sub y} phase. • The incorporation of molybdenum improves the kinetics for the hydriding process. • Mo produces a decrease in the diffusion time constant.

Valence electron structure and properties of stabilized ZrO2

Institute of Scientific and Technical Information of China (English)

2008-01-01

To reveal the properties of stabilizers in ZrO2 on nanoscopic levels, the valence electron structures of four stable ZrO2 phases and c-ZrO2 were analyzed on the basis of the empirical electron theory of solids and molecules. The results showed that the hybridization levels of Zr atoms in c-ZrO2 doped with Ca and Mg dropped from B17 to B13, the hybridization levels of Zr atoms in c-ZrO2 doped with Y and Ce dropped from B17 to B15, and that the four stabilizing atoms all made the hybridization levels of O atoms drop from level 4 to level 2. The numbers of covalent electrons in the strongest covalent bond in the descending order are c-ZrO2>Zr0.82Ce0.18O2> Zr0.82Y0.18O1.91>Zr0.82Mg0.18O1.82>Zr0.82Ca0.18O1.82. The bond energies of the strongest covalent bond and the melting points of the solid solutions in the descending order are Zr0.82Ce0.18O2> c-ZrO2>Zr0.82Y0.18O1.91>Zr0.82Mg0.18O1.82>Zr0.82Ca0.18O1.82. The percent-ages of the total number of covalent electrons in the descending order are c-ZrO2>Zr0.82Y0.18O1.91> Zr0.82Ce0.18O2>Zr0.82Mg0.18O1.82> Zr0.82Ca0.18O1.82. From the above analysis, it can be concluded that the stabilizing degrees of the four stabilizers in the descending order are CaO> MgO>Y2O3>CeO2.

Zr-ZrO sub 2 cermet solar coatings designed by modelling calculations and deposited by dc magnetron sputtering

CERN Document Server

Zhang Qi Chu; Lee, K D; Shen, Y G

2003-01-01

High solar performance Zr-ZrO sub 2 cermet solar coatings were designed using a numerical computer model and deposited experimentally. The layer thickness and Zr metal volume fraction for the Zr-ZrO sub 2 cermet solar selective coatings on a Zr or Al reflector with a surface ZrO sub 2 or Al sub 2 O sub 3 anti-reflection layer were optimized to achieve maximum photo-thermal conversion efficiency at 80 deg. C under concentration factors of 1-20 using the downhill simplex method in multi-dimensions in the numerical calculation. The dielectric function and the complex refractive index of Zr-ZrO sub 2 cermet materials were calculated using Sheng's approximation. Optimization calculations show that Al sub 2 O sub 3 /Zr-ZrO sub 2 /Al solar coatings with two cermet layers and three cermet layers have nearly identical solar absorptance, emittance and photo-thermal conversion efficiency that are much better than those for films with one cermet layer. The optimized Al sub 2 O sub 3 /Zr-ZrO sub 2 /Al solar coating film w...

The First Korean Experience of Telemanipulative Robot-Assisted Laparoscopic Cholecystectomy Using the da Vinci System

Science.gov (United States)

Kang, Chang Moo; Chi, Hoon Sang; Hyeung, Woo Jin; Kim, Kyung Sik; Choi, Jin Sub; Kim, Byong Ro

2007-01-01

With the advancement of laparoscopic instruments and computer sciences, complex surgical procedures are expected to be safely performed by robot assisted telemanipulative laparoscopic surgery. The da Vinci system (Intuitive Surgical, Mountain View, CA, USA) became available at the many surgical fields. The wrist like movements of the instrument's tip, as well as 3-dimensional vision, could be expected to facilitate more complex laparoscopic procedure. Here, we present the first Korean experience of da Vinci robotic assisted laparoscopic cholecystectomy and discuss the introduction and perspectives of this robotic system. PMID:17594166

Dynamics of transference and distribution of 95Zr in the tea-soil ecosystem

International Nuclear Information System (INIS)

Shi Jianjun

2002-01-01

The dynamics of transference and distribution of 95 Zr in the tea-soil ecosystem were studied by using isotope tracer techniques for simulated pollutants from nuclear power plant, and the fitting equation was confirmed by application of the closed tow-compartment system model and nonlinear regression method. The results showed as follows. 1. The 95 Zr absorbed from soil mainly retained in the stem of tea plant, and the specific activity of 95 Zr in stem increased with time slowly, then reached a dynamics balance gradually after a period of time. The specific activity of rest parts was lower, and most parts were in the level of background activity, which indicated that the 95 Zr absorbed by the bark of tea was difficult to transfer to other parts of the tea; 2. The 95 Zr in soil deposited mainly (98.7%) in surface layer soil (1-5 cm), indicating that the 95 Zr absorbed by surface soil was not downflow with water current easily; 3. The regression equation of accumulation and disappearance of 95 Zr in the tea and soil were C t (t)=9.2360(1-e -0.1459t ) and C s (t)=486.84(0.1458-0.000082e -0.1459t ) by analyzing the experiment data with exponential regression method. The results of squared deviations indicated that each regression equation could described the dynamics of accumulation and disappearance of 95 Zr in the tea-soil ecosystems preferably

X-ray study of rapidly cooled ribbons of Al-Cr-Zr and Al-Ni-Y-Cr-Zr alloys

International Nuclear Information System (INIS)

Betsofen, S.Ya.; Osintsev, O.E.; Lutsenko, A.N.; Konkevich, V.Yu.

2002-01-01

One investigated into phase composition, lattice spacing and structure of rapidly cooled 25-200 μm gauge strips made of Al-4,1Cr-3,2Zr and Al-1,5Cr-1,5Zr-4Ni-3Y alloys, wt. %, produced by melt spinning to a water-cooled copper disk. In Al-4,1Cr-3,2Zr alloy one detected intermetallic phases: Al 3 Zr and two Al 86 Cr 14 composition icosahedral phases apart from aluminium solid solution with 4.040-4.043 A lattice spacing. In Al-1,5Cr-1,5Zr-4Ni-3Y alloy one identified two Al 86 Cr 14 icosahedral phases and two AlNiY and Al 3 Y yttrium-containing ones, lattice spacing of aluminium solid solution was equal to 4.052-4.053 A [ru

"You gotta try it all": Parents' Experiences with Robotic Gait Training for their Children with Cerebral Palsy.

Science.gov (United States)

Beveridge, Briony; Feltracco, Deanna; Struyf, Jillian; Strauss, Emily; Dang, Saniya; Phelan, Shanon; Wright, F Virginia; Gibson, Barbara E

2015-01-01

Innovative robotic technologies hold strong promise for improving walking abilities of children with cerebral palsy (CP), but may create expectations for parents pursuing the "newest thing" in treatment. The aim of this qualitative study was to explore parents' values about walking in relation to their experiences with robotic gait training for their children. Semi-structured interviews were conducted with parents of five ambulatory children with CP participating in a randomized trial investigating robotic gait training effectiveness. Parents valued walking, especially "correct" walking, as a key component of their children's present and future well-being. They continually sought the "next best thing" in therapy and viewed the robotic gait trainer as a potentially revolutionary technology despite mixed experiences. The results can help inform rehabilitation therapists' knowledge of parents' values and perspectives, and guide effective collaborations toward meeting the therapeutic needs of children with CP.

Robotic resections in hepatobiliary oncology - initial experience with Xi da Vinci system in India.

Science.gov (United States)

Chandarana, M; Patkar, S; Tamhankar, A; Garg, S; Bhandare, M; Goel, M

2017-01-01

Minimal invasive surgery has proven its advantages over open surgeries in the perioperative period. Food and Drug Administration approved da Vinci robot in 2000. The latest version, da Vinci Xi system has a mobile tower-based robot with several modifications to improve the functionality, versatility, and operative ease. None of the centers have reported exclusively on hepatobiliary oncology using the da Vinci Xi system. We report our initial experience. To study the feasibility, advantages, and discuss the operative technique of da Vinci Xi system in hepatobiliary oncology. Data were analyzed retrospectively from a prospectively maintained database from June 2015 to October 2016. Twenty-five patients with suspected or proven hepatobiliary malignancies were operated. Total robotic technique using da Vinci Xi system was used. Demographic details and perioperative outcomes were noted. Of the 25 surgeries, 14 patients had a suspected gallbladder malignancy, 11 patients had primary or metastatic liver tumor. Median age was 53 years. The average duration of surgery was 225 min with a median blood loss 150 ml. The median postoperative stay was 4 days. The median nodal yield for radical cholecystectomy was seven. Five patients required conversion. Two of these developed postoperative morbidity. Robotic surgery for hepatobiliary oncology is feasible and can be performed safely in experienced hands. Increasing experience in this field may equal or even prove advantageous over conventional or laparoscopic approach in future. A cautious approach with judicious patient selection is the key to establishing robotic surgery as a standard surgical approach.

Application of thermo-electromotive force and electric resistance measuring methods to researching phase transformations in Zr1Nb alloy

International Nuclear Information System (INIS)

Klimenko, S.P.; Gritsina, V.M.; Petel'guzov, I.A.; Chernyaeva, T.P.

2007-01-01

The paper determines the applicability areas of different methods for the study of structural phase transformations in a Zr+1Nb alloy, which is extensively used in reactor construction; production and fabrication of products from Zr+1Nb is currently developed in Ukraine. Electromotive force and electric resistance were measured to study structural phase transformations of Zr+1Nb fuel rod tubes based on calciumthermal zirconium (Zr1Nb). It was established that changes in electric resistance clearly show the beginning of a massive α → β transition at ∼ 750 degree C and the end of α → β transition at ∼ 950 degree C, whereas measurement of thermo-e.m.f. in the samples subjected to successive 3-hour step annealing in the temperature range from 300 to 700 degree C allows the temperature of monotectoid transformation to be found. For sample Zr1Nb batches the temperature of monotectoid transformation is (620±7) degree C. The measurement results are consistent with the similar studies carried out on Zr+1Nb fuel rod tubes based on electrolytic zirconium (E110), for which the temperature of monotectoid transformation is equal to ∼ 610 degree C

In situ electrochemical impedance spectroscopy of Zr-1%Nb under VVER primary circuit conditions

International Nuclear Information System (INIS)

Nagy, Gabor; Kerner, Zsolt; Pajkossy, Tamas

2002-01-01

Oxide layers were grown on tubular samples of Zr-1%Nb under conditions simulating those in VVER-type pressurised water reactors, viz. in near-neutral borate solutions in an autoclave at 290 deg. C. These samples were investigated using electrochemical impedance spectroscopy which was found to be suitable to follow in situ the corrosion process. A -CPE ox parallel R ox - element was used to characterise the oxide layer on Zr-1%Nb. Both the CPE ox coefficient, σ ox , and the parallel resistance, R ox , were found to be thickness dependent. The layer thickness, however, can only be calculated after a calibration procedure. The temperature dependence of the CPE ox element was also found to be anomalous while the temperature dependence of R ox indicates that the oxide layer has semiconductor properties. The relaxation time - defined as (R ox σ ox ) 1/α - was found to be quasi-independent of oxidation time and temperature; thus it is characteristic to the oxide layer on Zr-1%Nb

The Effect of Normal Force on Tribocorrosion Behaviour of Ti-10Zr Alloy and Porous TiO2-ZrO2 Thin Film Electrochemical Formed

Science.gov (United States)

Dănăilă, E.; Benea, L.

2017-06-01

The tribocorrosion behaviour of Ti-10Zr alloy and porous TiO2-ZrO2 thin film electrochemical formed on Ti-10Zr alloy was evaluated in Fusayama-Mayer artificial saliva solution. Tribocorrosion experiments were performed using a unidirectional pin-on-disc experimental set-up which was mechanically and electrochemically instrumented, under various solicitation conditions. The effect of applied normal force on tribocorrosion performance of the tested materials was determined. Open circuit potential (OCP) measurements performed before, during and after sliding tests were applied in order to determine the tribocorrosion degradation. The applied normal force was found to greatly affect the potential during tribocorrosion experiments, an increase in the normal force inducing a decrease in potential accelerating the depassivation of the materials studied. The results show a decrease in friction coefficient with gradually increasing the normal load. It was proved that the porous TiO2-ZrO2 thin film electrochemical formed on Ti-10Zr alloy lead to an improvement of tribocorrosion resistance compared to non-anodized Ti-10Zr alloy intended for biomedical applications.

The study on catalytic performance of CuO/CexZr1-xO2 catalyst in carbon monoxide oxidation

Directory of Open Access Journals (Sweden)

Huang Jinhua

2017-12-01

Full Text Available A series of CuO/CexZr1-xO2 samples were prepared by incipient-wetness impregnation method with CexZr1-xO2 used as the catalyst carrier which was synthesized by co-precipitation method.The influences of the mass ratio of CeO2:ZrO2 and CuO loading were investigated using catalytic activity test,XRD,BET,H2-TPR,and CO-TPR techniques.The results revealed that with a CeO2:ZrO2 mass ratio of 4:1 and 10% CuO loading,10%CuO/Ce0.815Zr0.185O2 catalyst showed a larger surface area and pore volume,a higher dispersity of CuO particles,better reduction property and CO oxidation property.Thus,10% CuO/Ce0.815Zr0.185O2 catalyst exhibited a high catalytic activity in the carbon monoxide oxidation with 100% CO conversion at the temperature as low as 80℃ under atmospheric pressure.

Characterization of the interaction layer in diffusion couples U-Mo-Zr/Al and U-Mo-Zr/Al-A356 at 550 C degrees

International Nuclear Information System (INIS)

Komar Varela, Carolina; Arico, Sergio; Mirandou, Marcela; Balart, Silvia; Gribaudo, Luis

2007-01-01

Out-of-pile diffusion experiments were performed between U-7 wt.% Mo-1 wt.% Zr and Al or Al A356 (7,1 wt.% Si) at 550 C degrees. In this work morphological characterization and phase identification on both interaction layers are presented. They were carried out by the use of different techniques: optical and scanning electron microscopy, X-ray diffraction and WDS microanalysis. In the interaction layer U-7 wt.% Mo-1 wt.% Zr/Al, the phases UAl 3 , UAl 4 , Al 20 Mo 2 U and Al 43 Mo 4 U 6 were identified. Similar results in the interaction layer of the U-7 % Mo/Al at 580 C degrees were previously obtained. In the interaction layer U-7 wt.% Mo-1 wt.% Zr/Al A356, the phases U(Al,Si) 3 with 25 at.% Si and Si 5 U 3 were identified. This last phase, with a higher Si concentration, was identified with X-ray diffraction synchrotron radiation performed at the National Synchrotron Light Laboratory, Campinas, Brazil. (author) [es

Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

Science.gov (United States)

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.

Beta decomposition of (Hf/sub x/Zr/sub 1-x/)80Nb20 ternary alloys

International Nuclear Information System (INIS)

Jones, W.B.; Taggart, R.; Polonis, D.H.

1978-01-01

The processes of beta decomposition have been examined in ternary alloys of the form (Hf/sub x/Zr/sub 1-x/) 80 Nb 20 to determine the influence of Hf additions to a basic Zr 80 Nb 20 composition. In the chill cast condition, Hf additions have been found to decrease the temperature coefficient of electrical resistivity from a value of -0.0015%/K for the binary Zr 80 Nb 20 alloy to a value of -0.011%/K for a (Hf 50 Zr 50 ) 80 Nb 20 ternary alloy. This change is explained in terms of the bcc lattice instability typical of Ti, Zr, and Hf alloys. The Hf additions enhance the kinetics of omega-phase precipitation during aging at 648 K. The aging of a (Hf 05 Zr 95 ) 80 Nb 20 alloy for 12 h results in the precipitation of a high volume fraction of cuboidal shaped omega-phase particles. A phase separation which results in the formation of solute lean discs (β/sub l/) occurs together with the precipitation of the omega-phase. These discs formed both randomly within the matrix and heterogeneously along dislocations and at grain boundaries

Experiência brasileira inicial em cirurgia da obesidade robô - assistida Brazilian experience in obesity surgery robot-assisted

Directory of Open Access Journals (Sweden)

Ricardo Zugaib Abdalla

2012-03-01

Full Text Available RACIONAL: As técnicas minimamente invasivas associaram-se à cirurgia bariátrica propiciando redução na agressão aos órgãos e sistemas. A robótica é uma nova possibilidade dentro do conceito de mínima invasão. OBJETIVOS: Avaliar a experiência inicial da robótica em cirurgia da obesidade. MÉTODOS: Foram operados 27 pacientes no mesmo hospital, pela mesma equipe, com o mesmo sistema cirúrgico que foi Da Vinci S. RESULTADOS: Foram realizadas seis colocações de banda gástrica, cinco gastrectomias verticais e 16 septações gástricas com by-pass em Y-de-Roux. Ocorreu uma complicação importante e nenhum óbito. CONCLUSÕES: A via robótica mostrou-se segura durante experiência inicial, propiciando maior facilidade durante o procedimento em pacientes obesos.BACKGROUND: Minimally invasive techniques were associated with bariatric surgery, leading to a decrease in aggression to the organs and systems. Robotic surgery is a new possibility within the concept of minimal invasion. AIM: To evaluate the initial experience of robotic surgery for obesity. METHODS: Twenty seven patients were operated in the same hospital, by the same team with the same surgical system, Da Vinci S. RESULTS: Were performed six gastric band placement , five sleeve gastrectomies and 16 gastric bypasses. There was one major complication and no death in this series. CONCLUSIONS: The robotic surgery for obesity surgery was safe during the initial experience.

Characterization of the interaction layer in diffusion couples U-Mo-Zr/Al and U-Mo-Zr/Al-A356 at 550 C degrees; Caracterizacion de la zona de interaccion en pares de difusion a 550 grados C U-Mo-Zr/Al y U-Mo-Zr/Al-A356

Energy Technology Data Exchange (ETDEWEB)

Komar Varela, Carolina; Arico, Sergio; Mirandou, Marcela; Balart, Silvia; Gribaudo, Luis [Comision Nacional de Energia Atomica, General San Martin (Argentina). Dept. de Materiales; com, carolinakomar@gmail

2007-07-01

Out-of-pile diffusion experiments were performed between U-7 wt.% Mo-1 wt.% Zr and Al or Al A356 (7,1 wt.% Si) at 550 C degrees. In this work morphological characterization and phase identification on both interaction layers are presented. They were carried out by the use of different techniques: optical and scanning electron microscopy, X-ray diffraction and WDS microanalysis. In the interaction layer U-7 wt.% Mo-1 wt.% Zr/Al, the phases UAl{sub 3}, UAl{sub 4}, Al{sub 20}Mo{sub 2}U and Al{sub 43}Mo{sub 4}U{sub 6} were identified. Similar results in the interaction layer of the U-7 % Mo/Al at 580 C degrees were previously obtained. In the interaction layer U-7 wt.% Mo-1 wt.% Zr/Al A356, the phases U(Al,Si){sub 3} with 25 at.% Si and Si{sub 5}U{sub 3} were identified. This last phase, with a higher Si concentration, was identified with X-ray diffraction synchrotron radiation performed at the National Synchrotron Light Laboratory, Campinas, Brazil. (author) [Spanish] Se realizaron experiencias fuera de reactor en pares de difusion quimica U-7 % Mo-1 % Zr/Al y U-7 % Mo-1 % Zr/Al A356. En este trabajo se presentan los resultados de la caracterizacion morfologica e identificacion de fases presentes en la zona de interaccion que se forma al ser sometidos a un tratamiento isotermico de 1,5 h a 550 grados C. Las tecnicas utilizadas fueron: microscopia optica y electronica de barrido, difraccion de rayos X y microanalisis cuantitativo por sonda electronica. En la zona de interaccion correspondiente al par U-7 % Mo-1 % Zr/Al se identificaron las fases UAl{sub 3}, UAl{sub 4}, Al{sub 20}Mo{sub 2}U y Al{sub 43}Mo{sub 4}U{sub 6}. Estas cuatro fases fueron identificadas en pares U-7 % Mo/Al a 580 grados C en trabajos anteriores. En la zona de interaccion correspondiente al par U-7 % Mo-1 % Zr/Al A356 se identificaron las fases U(Al,Si){sub 3} (con una concentracion de 25 %at.Si) y Si{sub 5}U{sub 3}. Este compuesto rico en Si solo pudo ser identificado mediante la utilizacion de

Isospin effect in the (e, e'p) reaction on Zr-isotopes and others

International Nuclear Information System (INIS)

Allen, K.J.F.; Davison, A.; Thompson, M.N.

1974-01-01

A considerable amount of work concerning 90 Zr and 91 Zr has been carried out by both the Melbourne and Tohoku groups. This interest largely originated from the observance of marked structure about the giant resonance region in early (p, γ 0 ) experiments on 90 Zr. A result of these studies so far is the proposal of a weak coupling core excitation model to explain the change in character of the isotopes 90 and 91. This has been successful with one major exception -- the lack of strength about Ep=7.9 MeV in 91 Zr. In order to further test this model and possibly arrive at some explanation for the above mentioned anomaly, the obvious progression to the isotopes 92 and 94 constitutes the basic theme of the present series of experiments. For protons from 92 Zr, to determine the nature of the proton groups seen in spectra obtained with Esub(e)=30 MeV, a series of runs with Esub(e) ranging from 22.5 to 15.0 MeV were taken with the end points differing by 0.5 MeV. It should be possible to obtain the estimates of P 0 , P 1 , and possibly P 2 cross-sections from these data. As to protons from 94 Zr, although it was not possible to make the investigation as detailed as that for 92 Zr, it will be possible to establish the nature of some of the decay scheme. (Tai, I.)

Thermomechanical processing of Nb-1Zr-0.1C alloy for use in compact high temperature reactors: a first report

International Nuclear Information System (INIS)

Chakravartty, J.K.; Kapoor, R.; Suri, A.K.

2011-08-01

Nb-1Zr-0.1C is a potential material for use in high temperature nuclear reactors. Use of this alloy in components requires appropriate thermomechanical processing to break the cast microstructure and to obtain uniformly distributed fine stable precipitates so as to produce the desired mechanical properties at the high operating temperatures. This report reviews the thermomechanical processing of Nb-1Zr-0.1C alloy carried out over the years by other researchers and the high temperature creep behavior of the alloy. The hot deformation of Nb-1Zr-0.1C alloy carried out at Mechanical Metallurgy Division is also presented here. From this review it is evident that most primary hot working studies were carried out between 1500 to 1700 degC. The subsequent annealing treatments, which require holding at lower temperatures of about 1100 to 1300 degC for very long times help further transform the precipitates from coarse orthorhombic to very fine cubic. Our studies on Nb-1Zr-0.1C alloy also confirm that optimum hot working lies at temperatures beyond 1500 degC where dynamic recrystallization initiates, and optimally around 1700 degC where dynamic recrystallization transforms the microstructure. Working at temperatures lower than 1000 degC may lead to the undesirable effect of both micro as well as macro strain localization, and should be avoided. (author)

Human-Robot Interaction

Science.gov (United States)

Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

2015-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

Hydrogen storage study on Ti2CrV and ZrFe1.8V0.2 composite system

International Nuclear Information System (INIS)

Banerjee, S.; Kumar, A.; Pillai, C.G.S.; Sudarsan, V.

2012-01-01

Ti 2 CrV is reported to have one of the highest hydrogen storage capacities (more than 4 wt. %) among the bcc phase transition metal alloys. It has been found from the earlier study that Ti 2 CrV alloy shows quite good hydrogen absorption property but the desorption temperature is on the higher side. The in-situ temperature programmed desorption profile shows that the hydrogen desorption starts from 120℃ and the desorption peak comes at 180℃, which is slightly high for the vehicular application. On the other hand ZrFe 1.8 V 0.2 Laves phase alloy has low hydrogen absorption capacity, but at the room temperature it can desorp all its hydrogen. The pressure composition isotherm of ZrFe 1.8 V 0.2 alloy generated during the experiment shows the typical characteristics of the room temperature reversible hydride. The in-situ temperature programmed desorption shows that the hydride can desorb all the hydrogen below room temperature

Alloying effects on structural and thermal behavior of Ti{sub 1-x}Zr{sub x}C: A first principles study

Energy Technology Data Exchange (ETDEWEB)

Chauhan, Mamta, E-mail: mamta-physics@yahoo.co.in; Gupta, Dinesh C., E-mail: sosfizix@gmail.com [Condensed Matter Theory Group, School of Studies in Physics, Jiwaji University, Gwalior – 474 011(India)

2016-05-06

The formation energy, equilibrium lattice parameter, bulk modulus, Debye temperature and heat capacity at constant volume have been calculated for TiC, ZrC, and their intermediate alloys (Ti{sub 1-x}Zr{sub x}C, x = 0,0.25.0.5,0.75,1) using first principles approach. The calculated values of lattice parameter and bulk modulus agree well with the available experimental and earlier theoretical reports. The variation of lattice parameter and bulk modulus with the change in concentration of Zr atom in Ti{sub 1-x}Zr{sub x}C has also been reported. The heat capacities of TiC, ZrC, and their intermediate alloys have been calculated by considering both vibrational and electronic contributions.

Experiments in augmented teleoperation for mobile robots: I

Science.gov (United States)

Witus, Gary; Hunt, Shawn; Ellis, R. Darrin

2007-04-01

Teleoperated mobile robots are beginning to be used for a variety of tasks that require movement in close quarters in the vicinity of moving and parked vehicles, buildings and other man-made structures, and the target object for inspection or manipulation. The robots must be close enough to deploy short-range sensors and manipulators, and must be able to maneuver without potentially damaging collisions. Teleoperation is fatiguing and stressful even without the requirement for close positioning. In cooperation with the TARDEC Robotic Mobility Laboratory (TRML), we are investigating approaches to reduce workload and improve performance through augmented teleoperation. Human-robot interfaces for teleoperation commonly provide two degrees-of-freedom (DoF) motion control with visual feedback from an on-board egocentric camera and no supplemental distance or orientation cueing. This paper reports on the results of preliminary experiments to assess the effects on man-machine task performance of several options for augmented teleoperation: (a) 3 DoF motion control (rotation and omni-directional translation) versus 2 DoF control (rotation and forward/reverse motion), (b) on-board egocentric camera versus fixed-position overwatch camera versus dual egocentric-and-overwatch cameras, and (c) presence or absence of distance and orientation visual cueing. We examined three dimensions of performance: completion time, spatial accuracy, and workspace area. We investigated effects on the expected completion time and on the variance in completion time. Spatial accuracy had three components: orientation, aimpoint, and distance. We collected performance under different task conditions: (a) three position-and-orientation tolerance or accuracy objectives, and (b) four travel distances between successive inspection points. We collected data from three subjects. We analyzed the main effects and conditional interaction effects among the teleoperation options and task conditions. We were

Development of sample exchange robot PAM-HC for beamline BL-1A at the photon factory

Energy Technology Data Exchange (ETDEWEB)

Hiraki, Masahiko, E-mail: masahiko.hiraki@kek.jp [Mechanical Engineering Center, Applied Research Laboratory, KEK (High Energy Accelerator Research Organization), 1-1 Oho, Tsukuba, Ibaraki 305-0801 Japan (Japan); Department of Accelerator Science, SOKENDAI (the Graduate University for Advanced Studies), 1-1 Oho, Tsukuba, Ibaraki 305-0801 Japan (Japan); Matsugaki, Naohiro; Yamada, Yusuke; Senda, Toshiya [Structural Biology research Center, Institute of Materials Structure Science, KEK (Japan); Department of Materials Structure Science, SOKENDAI (Japan)

2016-07-27

A macromolecular crystallography beamline, BL-1A, has been built at the Photon Factory (PF) for low energy experiments and has been operational since 2010. We have installed a sample exchange robot, PAM (PF Automated Mounting system), similar to other macromolecular crystallography beamlines. However, following the installation of a helium chamber to reduce the absorption of the diffraction signal by air, we developed a new sample exchange robot to replace PAM. The new robot, named PAM-HC (Helium Chamber), is designed with the goal of minimizing leakage of helium gas from the chamber. Here, the PAM-HC hardware and the flow of its movement are described. Furthermore, measurements of temperature changes during sample exchange are presented in this paper.

Development of sample exchange robot PAM-HC for beamline BL-1A at the photon factory

International Nuclear Information System (INIS)

Hiraki, Masahiko; Matsugaki, Naohiro; Yamada, Yusuke; Senda, Toshiya

2016-01-01

A macromolecular crystallography beamline, BL-1A, has been built at the Photon Factory (PF) for low energy experiments and has been operational since 2010. We have installed a sample exchange robot, PAM (PF Automated Mounting system), similar to other macromolecular crystallography beamlines. However, following the installation of a helium chamber to reduce the absorption of the diffraction signal by air, we developed a new sample exchange robot to replace PAM. The new robot, named PAM-HC (Helium Chamber), is designed with the goal of minimizing leakage of helium gas from the chamber. Here, the PAM-HC hardware and the flow of its movement are described. Furthermore, measurements of temperature changes during sample exchange are presented in this paper.

Effect of Si and Zr on the Microstructure and Properties of Al-Fe-Si-Zr Alloys

Directory of Open Access Journals (Sweden)

Anna Morozova

2017-11-01

Full Text Available The effects of Si and Zr on the microstructure, microhardness and electrical conductivity of Al-Fe-Si-Zr alloys were studied. An increase in the Zr content over 0.3 wt. % leads to the formation of primary Al3Zr inclusions and also decreases mechanical properties. Therefore, the Zr content should not be more than 0.3 wt. %, although the smaller content is insufficient for the strengthening by the secondary Al3Zr precipitates. The present results indicate that high content of Si significantly affects the hardness and electrical conductivity of the investigated alloys. However, the absence of Si led to the formation of harmful needle-shaped Al3Fe particles in the microstructure of the investigated alloys after annealing. Therefore, the optimum amount of Si was 0.25–0.50 wt. % due to the formation of the Al8Fe2Si phase with the preferable platelet morphology. The maximum microhardness and strengthening effects in Al-1% Fe-0.25% Si-0.3% Zr were observed after annealing at 400–450 °C due to the formation of nanosized coherent Al3Zr (L12 dispersoids. The effect of the increasing of the electrical conductivity can be explained by the decomposition of the solid solution. Thus, Al-1% Fe-0.25% Si-0.3% Zr alloy annealed at 450 °C has been studied in detail as the most attractive with respect to the special focus on transmission line applications.

High throughput exploration of Zr{sub x}Si{sub 1−x}O{sub 2} dielectrics by evolutionary first-principles approaches

Energy Technology Data Exchange (ETDEWEB)

Zhang, Jin [Science and Technology on Thermostructural Composite Materials Laboratory, and International Center for Materials Discovery, School of Materials Science and Engineering, Northwestern Polytechnical University, Xi' an, Shaanxi 710072 (China); Department of Geosciences, Center for Materials by Design, and Institute for Advanced Computational Science, State University of New York, Stony Brook, NY 11794-2100 (United States); Zeng, Qingfeng, E-mail: qfzeng@nwpu.edu.cn [Science and Technology on Thermostructural Composite Materials Laboratory, and International Center for Materials Discovery, School of Materials Science and Engineering, Northwestern Polytechnical University, Xi' an, Shaanxi 710072 (China); Oganov, Artem R. [Science and Technology on Thermostructural Composite Materials Laboratory, and International Center for Materials Discovery, School of Materials Science and Engineering, Northwestern Polytechnical University, Xi' an, Shaanxi 710072 (China); Department of Geosciences, Center for Materials by Design, and Institute for Advanced Computational Science, State University of New York, Stony Brook, NY 11794-2100 (United States); Moscow Institute of Physics and Technology, Dolgoprudny, Moscow Region 141700 (Russian Federation); Dong, Dong; Liu, Yunfang [Science and Technology on Thermostructural Composite Materials Laboratory, and International Center for Materials Discovery, School of Materials Science and Engineering, Northwestern Polytechnical University, Xi' an, Shaanxi 710072 (China)

2014-11-07

The high throughput approaches aim to discover, screen and optimize materials in a cost-effective way and to shorten their time-to-market. However, computational approaches typically involve a combinatorial explosion problem, to deal with which, we adopted hybrid evolutionary algorithms together with first-principle calculations to explore possible stable and metastable crystal structures of ZrO{sub 2}–SiO{sub 2} dielectrics. The calculation reproduced two already known structures (I4{sub 1}/amd-ZrSiO{sub 4} and I4{sub 1}/a-ZrSiO{sub 4}) and predicted two new thermodynamically metastable structures Zr{sub 3}SiO{sub 8} (P4{sup ¯}3m) and ZrSi{sub 2}O{sub 6} (P3{sup ¯}1m). At ambient pressure, the only thermodynamically stable zirconium silicate is I4{sub 1}/amd-ZrSiO{sub 4} (zircon). Dynamical stability of the new phases has been verified by phonon calculations, and their static dielectric constants are higher than that of the known phases of ZrSiO{sub 4}. Band structure, density of state, electron localization function and Bader charges are presented and discussed. The new metastable structures are insulators with the DFT band gaps of 3.65 and 3.52 eV, respectively. Calculations show that P4{sup ¯}3m-Zr{sub 3}SiO{sub 8} has high dielectric constant (∼20.7), high refractive index (∼2.4) and strong dispersion of light. Global optimization of the dielectric fitness (electric energy density) shows that among crystalline phases of ZrO{sub 2}–SiO{sub 2}, maximum occurs for I4{sub 1}/a-ZrSiO{sub 4}. - Highlights: • Two new thermodynamically metastable ZrO{sub 2}–SiO{sub 2} compounds are predicted. • The predicated P-43m or P4{sup ¯}3m-Zr{sub 3}SiO{sub 8} has the highest dielectric constant and refractive index. • I4{sub 1}/a-ZrSiO{sub 4} shows the highest electric energy density among ZrO{sub 2}–SiO{sub 2} dielectrics.

Status and Prospects of Robotic Gastrectomy for Gastric Cancer: Our Experience and a Review of the Literature

Directory of Open Access Journals (Sweden)

Sejin Lee

2017-01-01

Full Text Available Since the first report of robotic gastrectomy, experienced laparoscopic surgeons have used surgical robots to treat gastric cancer and resolve problems associated with laparoscopic gastrectomy. However, compared with laparoscopic gastrectomy, the superiority of robotic procedures has not been clearly proven. There are several advantages to using robotic surgery for gastric cancer, such as reduced estimated blood loss during the operation, a shorter learning curve, and a larger number of examined lymph nodes than conventional laparoscopic gastrectomy. The increased operation time observed with a robotic system is decreasing because surgeons have accumulated experience using this procedure. While there is limited evidence, long-term oncologic outcomes appear to be similar between robotic and laparoscopic gastrectomy. Robotic procedures have a significantly greater financial cost than laparoscopic gastrectomy, which is a major drawback. Recent clinical studies tried to demonstrate that the benefits of robotic surgery outweighed the cost, but the overall results were disappointing. Ongoing studies are investigating the benefits of robotic gastrectomy in more complicated and challenging cases. Well-designed randomized control trials with large sample sizes are needed to investigate the benefits of robotic gastrectomy compared with laparoscopic surgery.

Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

In situ tritium from Li2O and Li2ZrO3 irradiated in a fast neutron flux: BEATRIX-II, Phase 1 and 2

International Nuclear Information System (INIS)

Slagle, O.D.; Hollenberg, G.W.; Kurasawa, T.; Verrall, R.A.

1994-06-01

BEATRIX-II was an in situ tritium recovery experiment. This in situ tritium recovery experiment provided data on the performance of Li 2 O and Li 2 ZrO 3 under irradiation conditions covering a range of sweep gas compositions and temperatures. The experiment consisted of two separate irradiation cycles which in turn included two vented tritium recovery canisters each. Phase 1 operated for 300 Effective Full Power Days (EFPD) while Phase 2 operated for 203 EFPD of irradiation. The tritium recovery behavior of Li 2 O and Li 2 ZrO 3 was characterized using temperature transients, sweep gas composition changes and reactor power changes to effect changes in the tritium inventory. The high neutron flux level in FFTF resulted in high tritium generation rates which combined with a responsive tritium measurement system allowed detailed observations on the tritium recovery behavior of Li 2 O and Li 2 ZrO 3 . During the course of the experiment a number of observations were made which did not appear consistent with a simplified view of the tritium recovery behavior of these materials. These observations included small negative tritium recovery peaks preceding the typical primary positive peaks; and, for specific temperature ranges, changes in tritium inventory which where opposite to the characteristic expected changes

The secondary electron yield of TiZr and TiZrV non evaporable getter thin film coatings

CERN Document Server

Scheuerlein, C; Hilleret, Noël; Taborelli, M

2001-01-01

The secondary electron yield (SEY) of two different non evaporable getter (NEG) samples has been measured 'as received' and after thermal treatment. The investigated NEGs are TiZr and TiZrV thin film coatings of 1 mm thickness, which are sputter deposited onto copper substrates. The maximum SEY dmax of the air exposed TiZr and TiZrV coating decreases from above 2.0 to below 1.1 during a 2 hour heat treatment at 250 °C and 200 °C, respectively. Saturating an activated TiZrV surface under vacuum with the gases typically present in ultra high vacuum systems increases dmax by about 0.1. Changes in elemental surface composition during the applied heat treatments were monitored by Auger electron spectroscopy (AES). After activation carbon, oxygen and chlorine were detected on the NEG surfaces. The potential of AES for detecting the surface modifications which cause the reduction of SE emission during the applied heat treatments is critically discussed.

Ternary semiconductors NiZrSn and CoZrBi with half-Heusler structure: A first-principles study

Science.gov (United States)

Fiedler, Gregor; Kratzer, Peter

2016-08-01

The ternary semiconductors NiZrSn and CoZrBi with C 1b crystal structure are introduced by calculating their basic structural, electronic, and phononic properties using density functional theory. Both the gradient-corrected PBE functional and the hybrid functional HSE06 are employed. While NiZrSn is found to be a small-band-gap semiconductor (Eg=0.46 eV in PBE and 0.60 eV in HSE06), CoZrBi has a band gap of 1.01 eV in PBE (1.34 eV in HSE06). Moreover, effective masses and deformation potentials are reported. In both materials A B C , the intrinsic point defects introduced by species A (Ni or Co) are calculated. The Co-induced defects in CoZrBi are found to have a higher formation energy compared to Ni-induced defects in NiZrSn. The interstitial Ni atom (Nii) as well as the VNiNii complex introduce defect states in the band gap, whereas the Ni vacancy (VNi) only reduces the size of the band gap. While Nii is electrically active and may act as a donor, the other two types of defects may compensate extrinsic doping. In CoZrBi, only the VCoCoi complex introduces a defect state in the band gap. Motivated by the reported use of NiZrSn for thermoelectric applications, the Seebeck coefficient of both materials, both in the p -type and the n -type regimes, is calculated. We find that CoZrBi displays a rather large thermopower of up to 500 μ V /K when p doped, whereas NiZrSn possesses its maximum thermopower in the n -type regime. The reported difficulties in achieving p -type doping in NiZrSn could be rationalized by the unintended formation of Nii2 + in conjunction with extrinsic acceptors, resulting in their compensation. Moreover, it is found that all types of defects considered, when present in concentrations as large as 3%, tend to reduce the thermopower compared to ideal bulk crystals at T =600 K. For NiZrSn, the calculated thermodynamic data suggest that additional Ni impurities could be removed by annealing, leading to precipitation of a metallic Ni2ZrSn phase.

A Novel Zr-1Nb Alloy and a New Look at Hydriding

Energy Technology Data Exchange (ETDEWEB)

Robert D. Mariani; James I. Cole; Assel Aitkaliyeva

2013-09-01

A novel Zr-1Nb has begun development based on a working model that takes into account the hydrogen permeabilities for zirconium and niobium metals. The beta-Nb secondary phase particles (SPPs) in Zr-1Nb are believed to promote more rapid hydrogen dynamics in the alloy in comparison to other zirconium alloys. Furthermore, some hydrogen release is expected at the lower temperatures corresponding to outages when the partial pressure of H2 in the coolant is less. These characteristics lessen the negative synergism between corrosion and hydriding that is otherwise observed in cladding alloys without niobium. In accord with the working model, development of nanoscale precursors was initiated to enhance the performance of existing Zr-1Nb alloys. Their characteristics and properties can be compared to oxide-dispersion strengthened alloys, and material additions have been proposed to zirconium-based LWR cladding to guard further against hydriding and to fix the size of the SPPs for microstructure stability enhancements. A preparative route is being investigated that does not require mechanical alloying, and 10 nanometer molybdenum particles have been prepared which are part of the nanoscale precursors. If successful, the approach has implications for long term dry storage of used fuel and for new routes to nanoferritic and ODS alloys.

Permanent magnets prepared from Sm10.5Fe88.5Zr1.0Ny without homogenization

International Nuclear Information System (INIS)

Gebel, B.; Kubis, M.; Mueller, K.-H.

1997-01-01

In as-cast Sm 2 Fe 17 the high amount of α-Fe caused by a peritectic reaction can be considerably reduced by a small addition of about 1 at% Zr. X-ray diffraction showed that as-cast Sm 10.5 Fe 88.5 Zr 1.0 mainly consists of a phase with the Th 2 Zn 17 -type structure and SmFe 3 . Non-homogenized Sm 10.5 Fe 88.5 Zr 1.0 was milled and (i) annealed in vacuum or (ii) treated with a hydrogenation-disproportionation-desorp tion-recombination (HDDR) process. The annealed and subsequently nitrogenated powder is magnetically anisotropic and has a coercivity μ 0J H C up to 2.0 T and an energy product (BH) max up to 136 kJ/m 3 . HDDR-treated and nitrogenated powder is isotropic and exhibits values of μ 0J H C = 3.1 T and (BH) max 103 kJ/m 3 . Consequently, Sm 10.5 Fe 88.5 Zr 1.0 N y (y ∼ 16) permanent magnets with very good properties can be prepared without the time-consuming homogenization procedure. (orig.)

Neutron separation energies of Zr isotopes

International Nuclear Information System (INIS)

Gomes, L.C.; Dietzsch, O.

1976-01-01

Q values are reported for (d,t) reactions on all the stable isotopes of zirconium. The neutron separation energies of 94 Zr and 96 Zr differ greatly (by 27.5 and 22.1 keV, respectively) from the values in the 1971 Atomic Mass Evaluation. These results combined with those from other authors seem to indicate that the 1971 values for the masses of 93 Zr and 95 Zr are in error. (orig.) [de

New frontiers in the rubber hand experiment: when a robotic hand becomes one's own.

Science.gov (United States)

Caspar, Emilie A; De Beir, Albert; Magalhaes De Saldanha Da Gama, Pedro A; Yernaux, Florence; Cleeremans, Axel; Vanderborght, Bram

2015-09-01

The rubber hand illusion is an experimental paradigm in which participants consider a fake hand to be part of their body. This paradigm has been used in many domains of psychology (i.e., research on pain, body ownership, agency) and is of clinical importance. The classic rubber hand paradigm nevertheless suffers from limitations, such as the absence of active motion or the reliance on approximate measurements, which makes strict experimental conditions difficult to obtain. Here, we report on the development of a novel technology-a robotic, user- and computer-controllable hand-that addresses many of the limitations associated with the classic rubber hand paradigm. Because participants can actively control the robotic hand, the device affords higher realism and authenticity. Our robotic hand has a comparatively low cost and opens up novel and innovative methods. In order to validate the robotic hand, we have carried out three experiments. The first two studies were based on previous research using the rubber hand, while the third was specific to the robotic hand. We measured both sense of agency and ownership. Overall, results show that participants experienced a "robotic hand illusion" in the baseline conditions. Furthermore, we also replicated previous results about agency and ownership.

Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

Science.gov (United States)

Phillips, Warren F.

1989-01-01

The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

States in 94Zr from 94Zr(d,d')94Zr* at 15.5 Mev

International Nuclear Information System (INIS)

Frota-Pessoa, E.; Joffily, S.

1986-01-01

94 energy levels up to approx. 4.3 Mev excitation energy are studied in the 94 Zr(d,d') 94 Zr* reaction. Deuterons had a bombarding energy of 15.5 MeV. The emergent deuterons were analysed by a magnetic spectrograph and the detector was nuclear emulsion. The resolution in energy was about 11 KeV. The distorted-wave analysis was used to determine the l transferred, the β 2 l and J Π values for some 94 Zr excited states. These results are compared with previous ones. 32 levels of excitation energy in 94 Zr were found which did not appear in previous 94 Zr(d,d') reactions. 20 levels do not correspond to the ones. (Author) [pt

Synthetic of Zr2Al3C5 material

International Nuclear Information System (INIS)

Leela-Adisorn, U.; Yamaguchi, A.

2005-01-01

Synthesis method of Zr 2 Al 3 C 5 via solid state reaction between Al, ZrC and carbon powder was studied. Al-ZrC-C compact with equivalent mol ratio of Zr 2 Al 3 C 5 was heated up to 1600 C in Ar atmosphere for 1 h and 4 h but ZrC phase still existed as major phase with very small amount of Zr 2 Al 3 C 5 . Because ZrC started to oxidize at low temperature under very low oxygen partial pressure, the same mol ratio of Al-ZrC-C compact was heated at 1600 C in vacuum for 1 h as parallel test. After firing in vacuum, some carbon still exist with small amount of AlZrC 2 occurred with Zr 2 Al 3 C 5 as a main phase, but no ZrC was found. Different result from firing in Ar atmosphere and in vacuum had been discussed here. It was believed that very small amount of impurities in Ar had some effect on the formation of Al-Zr-C compound. The effect of very small amount of impurities in Ar was studied by thermal analysis (DTA/TG) and XRD. It was found that very small amount of impurities in Ar has effect on the reaction between Al, ZrC and carbon by diffusion through the surface and form Zr-C-O-N solid solution. This solid solution cannot differentiate from ZrC by XRD. With help of thermal analysis method (DTA/TG), Zr-C-O-N solid solution can be differentiated from ZrC. Therefore, synthesis of Al-Zr-C compound should be done in vacuum. Zr 2 Al 3 C 5 can be prepared from mixture of Al-ZrC-C with excess amount of Al at 1600 C for 1 h. (orig.)

Pressure-induced phase transitions in Zr-rich PbZr{sub 1-x}Ti{sub x}O{sub 3} ceramics

Energy Technology Data Exchange (ETDEWEB)

Souza Filho, A.G. [Departamento de Fisica, Universidade Federal do Ceara, Fortaleza, Ceara (Brazil)]. E-mail: agsf@fisica.ufc.br; Faria, J.L.B.; Freire, P.T.C.; Ayala, A.P.; Sasaki, J.M.; Melo, F.E.A.; Mendes Filho, J. [Departamento de Fisica, Universidade Federal do Ceara, Fortaleza, Ceara (Brazil); Araujo, E.B. [Departamento de Fisica e Quimica, Universidade Estadual de Sao Paulo, Campus de Ilha Solteira, Ilha Solteira, SP (Brazil); Eiras, J.A. [Departamento de Fisica, Universidade Federal de Sao Carlos, Sao Carlos, SP (Brazil)

2001-08-20

A Raman study of structural changes in the Zr-rich PbZr{sub 1-x}Ti{sub x}O{sub 3} (PZT) system under hydrostatic pressures up to 5.0 GPa is presented. We observe that externally applied pressure induces several phase transitions in PZT ceramics among phases with orthorhombic (A{sub O}), rhombohedral low-temperature (R{sub LT}), and rhombohedral high-temperature (R{sub HT}) symmetries (all found in PZT at ambient pressure and room temperature). Each of the compositions investigated (0.02{<=}x{<=}0.14) exhibits a high-pressure phase with orthorhombic (O{sub I'}) symmetry. We further report a detailed study of the pressure dependence of Raman frequencies to elucidate the phase transitions and to provide a set of pressure coefficients for the high-pressure phases. (author)

Early experience with the da Vinci® surgical system robot in gynecological surgery at King Abdulaziz University Hospital

Directory of Open Access Journals (Sweden)

Sait KH

2011-07-01

Full Text Available Khalid H SaitObstetrics and Gynecology Department, Faculty of Medicine, Gynecology Oncology Unit, King Abdulaziz University Hospital, Jeddah, Saudi ArabiaBackground: The purpose of this study was to review our experience and the challenges of using the da Vinci® surgical system robot during gynecological surgery at King Abdulaziz University Hospital.Methods: A retrospective study was conducted to review all cases of robot-assisted gynecologic surgery performed at our institution between January 2008 and December 2010. The patients were reviewed for indications, complications, length of hospital stay, and conversion rate, as well as console and docking times.Results: Over the three-year period, we operated on 35 patients with benign or malignant conditions using the robot for a total of 62 surgical procedures. The docking times averaged seven minutes. The mean console times for simple hysterectomy, bilateral salpingo-oophorectomy, and bilateral pelvic lymphadenectomy were 125, 47, and 62 minutes, respectively. In four patients, laparoscopic procedures were converted to open procedures, giving a conversion rate of 6.5%. All of the conversions were among the first 15 procedures performed. The average hospital stay was 3 days. Complications occurred in five patients (14%, and none were directly related to the robotic system.Conclusion: Our early experience with the robot show that with proper training of the robotic team, technical difficulty with the robotic system is limited. There is definitely a learning curve that requires performance of gynecological surgical procedures using the robot.Keywords: da Vinci robot, gynecological surgery, laparoscopy

IHMC's experience competing in the Cybathlon compared to the DARPA robotics challenge.

Science.gov (United States)

Neuhaus, Peter

2017-11-09

As a research scientist, my work tends to focus on scientific investigations. Our group occasionally makes discoveries or has a successful demonstration, and sometimes we can even repeatedly demonstrate something working on the hardware. This mode of operation works for research, but not for competitions. In the past few years, I have participated in two international robotics competitions, the DARPA Robotics Challenge (DRC) and the Cybathlon; the research and development process for these competitions is significantly different from our typical research work. This commentary discusses our experience preparing for the Cybathlon, and contrasts it with our experience with the DRC. The human in the loop for the Cybathlon was the biggest differentiator between the DRC and the Cybathlon. Having the human at the center of the competition not only changed the way we developed, but changed how we viewed the impact of our work. For the DRC, a physics based dynamic simulation was a powerful, and invaluable, tool for not only the algorithm developers, but the robot operator as well. For the Cybathlon, simulation was of little use because the all of closed-loop control was performed by the pilot. In the software development cycle for the Cybathlon, the push was to just come up with something that works and "lock it down" and do not change it, so that the pilot could train with a given set of motions that would not change and make up for any deficiencies with his own abilities. The Cybathlon was more of an athletic challenge for the human who was assisted by technology. The DRC was the opposite, it was a robotics challenge assisted by a human. This commentary focuses on describing the Florida Institute for Human and Machine Cognition's (IHMC) experience leading up to and at the Cybathlon, with some comparisons to the DRC experience. The Cybathlon was a very worthwhile experience me, my team, and of course our pilot. Knowing that our development could improve the quality of life

Constitutive equations for Zr1Nb. II

International Nuclear Information System (INIS)

Novak, J.

1986-01-01

Based on existing knowledge and constitutive equations for non-irradiated material, constitutive equations were written for Zr1Nb irradiated at 573 K at deformation in the direction of forming. Constitutive equations express the following material characteristics: dependence of shear strength on fast neutron fluence, superposition of deformation hardening and subsequent radiation hardening, the effect of stress on deformation rate, and for fluences above ca. 10 24 n.m -2 (E>1 MeV) the course of the deformation curve for various fluence levels. The values apply for temperatures and rates of deformation which are characteristic of transient processes during changes in the power output of fuel elements of pressurized water reactors. (J.B.)

Does Prior Laparoscopic and Open Surgery Experience Have Any Impact on Learning Curve in Transition to Robotic Surgery?

Directory of Open Access Journals (Sweden)

Cüneyt Adayener

2016-12-01

Full Text Available It has been 15 years since the Food And Drug Administration approved the Da Vinci® robotic surgery system. Robotic applications are being used extensively in urology, particularly in radical prostatectomy. Like all high-tech products, this system also has a high cost and a steep learning curve, therefore, preventing it from becoming widespread. There are various studies on the effect of open surgery or laparoscopy experience on the learning curve of robotic surgery. Analyzing these interactions well will provide valuable information on making the training period of robotic system more efficient.

Collectivity of high spin states in {sup 84}Zr

Energy Technology Data Exchange (ETDEWEB)

Lister, C.J.; Blumenthal, D.; Crowell, B. [and others

1995-08-01

{sup 84}Zr is one of the most extensively studied of the A {approximately} 80 rotors, both from theoretical and experimental approaches. It was predicted to be a good candidate to support superdeformation, and to show interesting spectroscopic properties including saturation of its shell-model space at lower spin. We performed an experiment using Gammasphere in its early implementation phase. The reaction of {sup 29}Si on {sup 58}Ni was used to strongly populate {sup 84}Zr at high spin. Thin and thick targets were used to allow the extraction of transitional matrix elements at very high spin, and to allow a sensitive search for superdeformed states. Data analysis is in progress. The large data set allowed us to extend the previously known bands considerably. Candidates for a staggered M1-band, found previously {sup 86}Zr, were located. To date, no evidence for superdeformed bands was found. Analysis was slowed by the relocation of all the participants in this experiment, but we hope to complete the lifetime analysis this year. This analysis has become especially topical, due to reported measurements of superdeformation in this region.

Developing a successful robotics program.

Science.gov (United States)

Luthringer, Tyler; Aleksic, Ilija; Caire, Arthur; Albala, David M

2012-01-01

Advancements in the robotic surgical technology have revolutionized the standard of care for many surgical procedures. The purpose of this review is to evaluate the important considerations in developing a new robotics program at a given healthcare institution. Patients' interest in robotic-assisted surgery has and continues to grow because of improved outcomes and decreased periods of hospitalization. Resulting market forces have created a solid foundation for the implementation of robotic surgery into surgical practice. Given proper surgeon experience and an efficient system, robotic-assisted procedures have been cost comparable to open surgical alternatives. Surgeon training and experience is closely linked to the efficiency of a new robotics program. Formally trained robotic surgeons have better patient outcomes and shorter operative times. Training in robotics has shown no negative impact on patient outcomes or mentor learning curves. Individual economic factors of local healthcare settings must be evaluated when planning for a new robotics program. The high cost of the robotic surgical platform is best offset with a large surgical volume. A mature, experienced surgeon is integral to the success of a new robotics program.

Performance of cubic ZrO{sub 2} doped CeO{sub 2}: First-principles investigation on elastic, electronic and optical properties of Ce{sub 1−x} Zr{sub x}O{sub 2}

Energy Technology Data Exchange (ETDEWEB)

Tian, Dong [State Key Laboratory of Complex Nonferrous Metal Resources Clean Utilization, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Zeng, Chunhua, E-mail: zchh2009@126.com [State Key Laboratory of Complex Nonferrous Metal Resources Clean Utilization, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Faculty of Science, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Wang, Hua, E-mail: wanghuaheat@hotmail.com [State Key Laboratory of Complex Nonferrous Metal Resources Clean Utilization, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Luo, Hongchun [Faculty of Science, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Cheng, Xianming [State Key Laboratory of Complex Nonferrous Metal Resources Clean Utilization, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Xiang, Chao [College of Mechanical and Electrical Engineering, Yangtze Normal University, Fuling 408100, Chongqing (China); Wei, Yonggang; Li, Kongzhai; Zhu, Xing [State Key Laboratory of Complex Nonferrous Metal Resources Clean Utilization, Kunming University of Science and Technology, Kunming 650093, Yunnan (China); Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, Yunnan (China)

2016-06-25

The structural, elastic, electronic and optical properties of Ce{sub 1−x} Zr{sub x}O{sub 2} (x = 0, 0.25, 0.5, 0.75, 1) fluorite type oxides are studied by researchers using the method of density functional theory (DFT) + U method. The calculated equilibrium lattice parameter, cell volume, elastic and optical properties for CeO{sub 2} and ZrO{sub 2} are all in good agreement with the available experimental data and other theoretical results. It is found that Ce substituted by Zr leads to the formation of the pseudo-cubic fluorite-type structure. With doping concentration × increasing, the lattice parameter, cell volume and the bond length of d{sub Ce−O} and d{sub Zr−O} decrease linearly. It is interesting to find that the hardness of materials increase with Zr concentration increasing. For Ce{sub 0.75} Zr{sub 0.25} O{sub 2}, we also find that its ductility is good. Meanwhile, the range of the conduction band energy in the doped system becomes wider than that in the undoped system. The overlapping band phenomenon occur for all substitutions in Ce{sub 1−x} Zr{sub x}O{sub 2} (from x = 0.25 to x = 0.75), especially for the structure of Ce{sub 0.5} Zr{sub 0.5} O{sub 2} and Ce{sub 0.25} Zr{sub 0.75} O{sub 2}, its second band gaps almost disappear. Based on the dielectric functions obtained, it is shown that the static dielectric constant ε{sub 0} and refractive index n{sub 0} obviously decrease with Zr concentration increasing. After discussing, we know that CeO{sub 2} is suitable as a useful high-refractive index film material in single and multilayered optical coatings, whereas ZrO{sub 2} can be used as gate-dielectric materials in metal-oxide semiconductor (MOS) devices, in metallurgy and as a thermal barrier coating in engines. - Highlights: • Structural, and optical properties of fluorite type oxides are studied; • Ce substituted by Zr leads to formation of pseudo-cubic fluorite-type structure; • Hardness of materials are increased with Zr

Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

Science.gov (United States)

Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

2013-01-01

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

Comparative study on cubic and tetragonal CexZr1-xO2 supported MoO3-catalysts for sulfur-resistant methanation

Science.gov (United States)

Liu, Zhaopeng; Xu, Yan; Cheng, Jiaming; Wang, Weihan; Wang, Baowei; Li, Zhenhua; Ma, Xinbin

2018-03-01

In this paper, two kinds of CexZr1-xO2 solid solution carriers with different Ce/Zr ratio were prepared by one-step co-precipitation method: the cubic Ce0.8Zr0.2O2 and the tetragonal Ce0.2Zr0.8O2 support. The MoO3/Ce0.8Zr0.2O2 and MoO3/Ce0.2Zr0.8O2 catalysts were prepared by incipient wetness impregnation method for comparative study on sulfur-resistant methanation reaction. The N2 adsorption/desorption, X-ray diffraction (XRD), Raman spectroscopy (RS), X-ray photoelectron (XPS), transmission electron microscopy (TEM), temperature-programmed reduction by hydrogen (H2-TPR) were undertaken to characterize the physico-chemical properties of the samples. The results indicated that the prepared MoO3/CexZr1-xO2 catalysts have a mesoporous structure with high surface area and uniform pore size distribution, achieving good MoO3 dispersion on CexZr1-xO2 supports. As for the catalytic performance of sulfur-resistant methanation, the cubic MoO3/Ce0.8Zr0.2O2 exhibited better than the tetragonal MoO3/Ce0.2Zr0.8O2 catalyst at reaction temperature 400 °C and 450 °C. CO conversion on the cubic MoO3/Ce0.8Zr0.2O2 catalyst was 50.1% at 400 °C and 75.5% at 450 °C, which is respectively 7% and 20% higher than that on the tetragonal MoO3/Ce0.2Zr0.8O2 catalyst. These were mainly attributed to higher content of active MoS2 on the surface of catalyst, the enhanced oxygen mobility, increased Mo-species dispersion as well as the excellent reducibility resulted from the increased amount of the reducible Ce3+ on the cubic MoO3/Ce0.8Zr0.2O2 catalyst.

Influence of alkali metal hydroxides on corrosion of Zr-base alloys

International Nuclear Information System (INIS)

Jeong, Yong Hwan

1996-01-01

The influence of group-1 alkali hydroxides on different Zr-based alloys have been carried out in static autoclaves at 350 deg C in pressurized water, conditioned in low(0.32 mmol), medium(4.3 mmol) and high(31.5 mmol) equimolar concentration of Li-, Na-, K-, Rb- and Cs-hydroxide. Two types of alloys have been investigated: Zr-Sn-(TRM, Transition metal) and Zr-Sn-Nb-(TRM, Transition metal). From the experiments the cation could be identified as the responsible species for corrosion of Zr alloy in alkalized water. The radius of the cation governs the accelerated corrosion in the pre-transition region of Zr alloy. Incorporation of alkali cation into the zirconium oxide lattice is probably the mechanism which allows the corrosion enhancement for Li and Na and the significant lower effect for the other bases. Nb containing alloys showed lower corrosion resistance than Zr-Sn-TRM alloys in all alkali solutions. Both types of alloys were corroded significantly more in LiOH and NaOH than in the other alkali environments. Lowest corrosive aggressiveness has been found for CsOH followed by KOH. Concluding from the corrosion behavior in the different alkali environments and taking into account the tendency to accelerate the corrosion of Zr alloys, CsOH and KOH are possible alternate alkali for PWR (Pressurized Water Reactor) application. (author)

Robot Choreography

DEFF Research Database (Denmark)

Jochum, Elizabeth Ann; Heath, Damith

2016-01-01

We propose a robust framework for combining performance paradigms with human robot interaction (HRI) research. Following an analysis of several case studies that combine the performing arts with HRI experiments, we propose a methodology and “best practices” for implementing choreography and other...... performance paradigms in HRI experiments. Case studies include experiments conducted in laboratory settings, “in the wild”, and live performance settings. We consider the technical and artistic challenges of designing and staging robots alongside humans in these various settings, and discuss how to combine...

Experiences with an application of industrial robotics for accurate patient positioning in proton radiotherapy.

Science.gov (United States)

Allgower, C E; Schreuder, A N; Farr, J B; Mascia, A E

2007-03-01

Protons beams deliver targeted radiation doses with greater precision than is possible with electrons or megavoltage X-ray photons, but to retain this advantage, patient positioning systems at proton clinics must meet tighter accuracy requirements. For this and other reasons, robots were incorporated into the treatment room systems at MPRI. The Midwest Proton Radiotherapy Institute (MPRI) is the first radiotherapy facility in the United States to use commercial robots with six degrees of freedom for patient positioning, rather than a traditional bed with four degrees of freedom. This paper outlines the ways in which robots are used at MPRI and attempts to distil insights from the experience of treating over 200 radiotherapy patients with a robotic system from February 2004 to late 2006. The system has performed well, and with great reliability, but there is room for future improvement, especially in ease of use and in reducing the time to get patients into position. Copyright 2006 John Wiley & Sons, Ltd.

A Comparative Discussion of the Catalytic Activity and CO2-Selectivity of Cu-Zr and Pd-Zr (Intermetallic Compounds in Methanol Steam Reforming

Directory of Open Access Journals (Sweden)

Norbert Köpfle

2017-02-01

Full Text Available The activation and catalytic performance of two representative Zr-containing intermetallic systems, namely Cu-Zr and Pd-Zr, have been comparatively studied operando using methanol steam reforming (MSR as test reaction. Using an inverse surface science and bulk model catalyst approach, we monitored the transition of the initial metal/intermetallic compound structures into the eventual active and CO2-selective states upon contact to the methanol steam reforming mixture. For Cu-Zr, selected nominal stoichiometries ranging from Cu:Zr = 9:2 over 2:1 to 1:2 have been prepared by mixing the respective amounts of metallic Cu and Zr to yield different Cu-Zr bulk phases as initial catalyst structures. In addition, the methanol steam reforming performance of two Pd-Zr systems, that is, a bulk system with a nominal Pd:Zr = 2:1 stoichiometry and an inverse model system consisting of CVD-grown ZrOxHy layers on a polycrystalline Pd foil, has been comparatively assessed. While the CO2-selectivity and the overall catalytic performance of the Cu-Zr system is promising due to operando formation of a catalytically beneficial Cu-ZrO2 interface, the case for Pd-Zr is different. For both Pd-Zr systems, the low-temperature coking tendency, the high water-activation temperature and the CO2-selectivity spoiling inverse WGS reaction limit the use of the Pd-Zr systems for selective MSR applications, although alloying of Pd with Zr opens water activation channels to increase the CO2 selectivity.

Stabilization effect of Zr and Ti additions on the ageing characteristics of Al-1 wt% Si alloy through a creep study

Energy Technology Data Exchange (ETDEWEB)

Deaf, G.H.; Beshai, M.H.N.; Abd El Khalek, A.M.; Graiss, G. [Ain Shams Univ., Cairo (Egypt). Dept. of Physics; Kenawy, M.A. [Ain Shams Univ., Cairo (Egypt). Womens Coll.

1997-12-31

Al-1 wt% Si and Al-1 wt% Si-0.1 wt% Zr-0.1 wt% Ti alloys were used to trace the effect of Zr and Ti additions on the behaviour of the steady state creep. After solid solution treatment specimens of both alloys were aged at 623, 673, 723 and 773 K and creep tests were performed at room temperature by applying stresses of 60.0, 62.4, 64.7 and 67.1 MPa. The results showed a sound stabilization effect of Zr and Ti on the ageing characteristics of binary Al-1 wt% Si alloy. Values of the applied stress sensitivity parameter, m, obtained were in the range of (20-34) for Al-Si alloy and (14-19) for Al-Si-Zr-Ti alloy. Time to rupture was found to be strongly increased by Zr and Ti additions. The activation energies of the precipitation process involved were found to be 81.9 kJ/mole and 33.7 kJ/mole of the Al-Si and Al-Si-Zr-Ti alloys respectively. (orig.) 17 refs.

Modulation of structural, electrical, and magnetic features with dilute Zr substitution in Bi0.8La0.2Fe1-xZrxO3 system

Science.gov (United States)

Usama, Hasan M.; Akter, Ayesha; Zubair, M. A.

2017-12-01

A significant structural modification and enhancement of the electrical and magnetic properties with dilute substitution of Zr (≤1 mol. %) in the Bi0.8La0.2Fe1-xZrxO3 system has been reported. A mixture of rhombohedral and orthorhombic phases was detected in these conventionally sintered ceramics. Transition from a leaky state to an insulating state was observed upon Zr substitution. This is the first time that a drop in the electrical conductivity as large as 6 orders of magnitude for doping as small as 0.25 mol. % in bismuth ferrite systems has been reported. An investigation on the nature of this abrupt transition revealed the dominant role of defects. A proper consideration of possible defect reactions taking place during and after sintering satisfactorily accounts for the observed modulation in the electrical properties. Both AC and DC measurements indicate that, before Zr substitution, p-type hopping conduction prevails with an activation energy as low as ˜0.57 eV, whereas the Zr substitution makes oxide ion migration the central mechanism for conduction with the activation energy of ˜0.96-1.08 eV. In contrast to that, the magnetic properties of the compounds experience a more subtle effect; a gradual modification of saturation magnetization and coercivity with Zr substitution is observed. Curve fitting of the magnetic hysteresis loops not only allowed extraction of three separate contributions from the magnetic response but also helped to explain the effects of Zr on the magnetic properties. Modifications of structural characteristics and magnetic anisotropy of the samples are believed to be the primary driving force behind the improvement in the magnetic properties.

Influence of Zr/Ti ratio and preferred orientation on polarization switching and domain configuration of Pb(Zr1-xTix)O3 thin films

International Nuclear Information System (INIS)

Lee, Young Hyun; Lee, Jung Kun; Hong, Kug Sun

2003-01-01

The (100) and (111) oriented Pb(Zr 1-x Ti x )O 3 (PZT) thins films were prepared on Pt/TiO 2 /SiO 2 /Si(100) substrate using sol-gel process. The ferroelectric and dielectric properties were evaluated as a function of Zr/Ti ratio and the origin of their changes were discussed in terms of domain engineering. With increasing Zr/Ti ratio, the remnant polarization of the polar axis decreased from 23.87 to 10.66 μC/cm 2 and the difference of the saturated polarization between polar axis and non-polar axis increased systematically. The fatigue rate of PZT films was disproportional to Zr/Ti ratio. At a composition of x = 0.7, the remnant polarization decreased from 2P r = 30.82 μC/cm 2 to 26.60 μC/cm 2 after 6.9 x 10 10 cycles. The fatigue rate was also related to the direction of polarization reversal and the increased fatigue behavior was observed in polar axis. These results were discussed with the aid of the domain configuration and the switching current, which revealed the role of the internal stress on ferroelectric property of PZT films

The origin of magnetism in transition metal-doped ZrO2 thin films: Experiment and theory

KAUST Repository

Hong, Nguyenhoa

2013-10-04

We have investigated the magnetic properties of Fe/Co/Ni-doped ZrO 2 laser ablated thin films in comparison with the known results of Mn-doped ZrO2, which is thought to be a promising material for spintronics applications. It is found that doping with a transition metal can induce room temperature ferromagnetism in \\'fake\\' diamond. Theoretical analysis based on density functional theory confirms the experimental measurements, by revealing that the magnetic moments of Mn- and Ni-doped ZrO2 thin films are much larger than that of Fe- or Co-doped ZrO2 thin films. Most importantly, our calculations confirm that Mn- and Ni-doped ZrO2 show a ferromagnetic ground state in comparison to Co- and Fe-doped ZrO 2, which favor an antiferromagnetic ground state. © 2013 IOP Publishing Ltd.

In-situ electrochemical study of Zr1nb alloy corrosion in high temperature Li{sup +} containing water

Energy Technology Data Exchange (ETDEWEB)

Krausová, Aneta [University of Chemistry and Technology, Technická 3, 166 28 Prague 6 (Czech Republic); Macák, Jan, E-mail: macakj@vscht.cz [University of Chemistry and Technology, Technická 3, 166 28 Prague 6 (Czech Republic); Sajdl, Petr [University of Chemistry and Technology, Technická 3, 166 28 Prague 6 (Czech Republic); Novotný, Radek [JRC-IET, Westerduinveg 3, 1755 LE Petten (Netherlands); Renčiuková, Veronika [University of Chemistry and Technology, Technická 3, 166 28 Prague 6 (Czech Republic); Vrtílková, Věra [ÚJP a.s., Nad Kamínkou 1345, 156 10 Prague 5 (Czech Republic)

2015-12-15

Long-term in-situ corrosion tests were performed in order to evaluate the influence of lithium ions on the corrosion of zirconium alloy. Experiments were carried out in a high-pressure high-temperature loop (280 °C, 8 MPa) in a high concentration water solution of LiOH (70 and 200 ppm Li{sup +}) and in a simulated WWER primary coolant environment. The kinetic parameters characterising the oxidation process have been explored using in-situ electrochemical impedance spectroscopy and slow potentiodynamic polarization. Also, a suitable equivalent circuit was suggested, which would approximate the impedance characteristics of the corrosion of Zr–1Nb alloy. The Mott–Schottky approach was used to determine the semiconducting character of the passive film. - Highlights: • Zr1Nb alloy was tested in WWER coolant and in LiOH solutions at 280 °C. • Corrosion rates were estimated in-situ from electrochemical data. • Electrochemical data agreed well with weight gains and metallography data. • Increase of corrosion rate in LiOH appeared after short exposure (300–500 h). • Very high donor densities (1.1–1.2 × 10{sup 20} cm{sup −3}) of Zr oxide grown in LiOH were found.

Fretting wear of ZrN and Zr(21% Hf)N coatings

Energy Technology Data Exchange (ETDEWEB)

Atar, E. [Gebze Inst. of Tech., Material Science and Engineering Dept., Kocaeli (Turkey); Cimenoglu, H.; Kayali, E.S. [Istanbul Technical Univ., Dept. of Metallurgy and Materials Engineering, Istanbul (Turkey)

2004-07-01

In this study, the wear behaviours of ZrN and Zr(21% Hf)N coatings, deposited on hardened AISI D2 cold work tool steel were examined by a fretting wear tester. The hardness of ZrN and Zr(21% Hf)N coatings were almost the same, where as they exhibited different wear resistance. Addition of 21% Hf to ZrN coating achieved about 25% increase in the wear resistance. (orig.)

Fretting wear of ZrN and Zr(21% Hf)N coatings

International Nuclear Information System (INIS)

Atar, E.; Cimenoglu, H.; Kayali, E.S.

2004-01-01

In this study, the wear behaviours of ZrN and Zr(21% Hf)N coatings, deposited on hardened AISI D2 cold work tool steel were examined by a fretting wear tester. The hardness of ZrN and Zr(21% Hf)N coatings were almost the same, where as they exhibited different wear resistance. Addition of 21% Hf to ZrN coating achieved about 25% increase in the wear resistance. (orig.)

Effect of water chemistry and fuel operation parameters on Zr + 1% Nb cladding corrosion

Energy Technology Data Exchange (ETDEWEB)

Kritsky, V G; Petrik, N G; Berezina, I G; Doilnitsina, V V [VNIPIET, St. Petersburg (Russian Federation)

1997-02-01

In-pile corrosion of Zr + 1%Nb fuel cladding has been studied. Zr-oxide and hydroxide solubilities at various temperatures and pH values have been calculated and correlations obtained between post-transition corrosion and the solubilities nodular corrosion and fuel operation parameters, as well as between the rate of fuel cladding degradation and water chemistry. Extrapolations of fuel assemblies behaviour to higher burnups have also performed. (author). 12 refs, 11 figs.

1st International Conference on Robot Intelligence Technology and Applications

CERN Document Server

Matson, Eric; Myung, Hyun; Xu, Peter

2013-01-01

In recent years, robots have been built based on cognitive architecture which has been developed to model human cognitive ability. The cognitive architecture can be a basis for intelligence technology to generate robot intelligence. In this edited book the robot intelligence is classified into six categories: cognitive intelligence, social intelligence, behavioral intelligence, ambient intelligence, collective intelligence and genetic intelligence. This classification categorizes the intelligence of robots based on the different aspects of awareness and the ability to act deliberately as a result of such awareness. This book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 1st International Conference on Robot Intelligence Technology and Applications (RiTA), held in Gwangju, Korea, December 16-18, 2012. For a better readability, this edition has the total 101 ...

Study on surface defect structures of ZrO2 and some doped ZrO2 by means of work function measurement

International Nuclear Information System (INIS)

Yamawaki, M.; Suzuki, A.; Ono, F.; Yamaguchi, K.

1997-01-01

The work function change of the ZrO 2 +2%Y 2 O 3 sintered pellet, caused by a change of the composition of the sweep gas, was measured using a high temperature Kelvin probe. The Pt reference electrode was calibrated by using ZrO 2 +2%Y 2 O 3 as a standard material. Work function changes of undoped ZrO 2 and Nb-doped ZrO 2 (2%Nb 2 O 5 ) were measured as a function of equilibrium oxygen partial pressure, P O 2 . The thus obtained exponents of P O 2 , 1/n, were 1/6.2 and 1/33.6 for ZrO 2 and ZrO 2 +2%Nb 2 O 5 , respectively. These exponent values were discussed in terms of defect chemistry of the surface layer. (orig.)

Development of Methodologies, Metrics, and Tools for Investigating Human-Robot Interaction in Space Robotics

Science.gov (United States)

Ezer, Neta; Zumbado, Jennifer Rochlis; Sandor, Aniko; Boyer, Jennifer

2011-01-01

Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed. Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator

First-principles quantum molecular dynamics study of Ti x Zr1-x N(111)/SiN y heterostructures and comparison with experimental results.

Science.gov (United States)

Ivashchenko, Volodymyr; Veprek, Stan; Pogrebnjak, Alexander; Postolnyi, Bogdan

2014-04-01

The heterostructures of five monolayers B1-Ti x Zr 1- x N(111), x = 1.0, 0.6, 0.4 and 0.0 (where B1 is a NaCl-type structure) with one monolayer of a Si 3 N 4 -like Si 2 N 3 interfacial layer were investigated by means of first-principles quantum molecular dynamics and a structure optimization procedure using the Quantum ESPRESSO code. Slabs consisting of stoichiometric TiN and ZrN and random, as well as segregated, B1-Ti x Zr 1- x N(111) solutions were considered. The calculations of the B1-Ti x Zr 1- x N solid solutions, as well as of the heterostructures, showed that the pseudo-binary TiN-ZrN system exhibits a miscibility gap. The segregated heterostructures in which Zr atoms surround the Si y N z interface were found to be the most stable. For the Zr-rich heterostructures, the total energy of the random solid solution was lower compared to that of the segregated one, whereas for the Ti-rich heterostructures the opposite tendency was observed. Hard and super hard Zr-Ti-Si-N coatings with thicknesses from 2.8 to 3.5 μ m were obtained using a vacuum arc source with high frequency stimulation. The samples were annealed in a vacuum and in air at 1200 °C. Experimental investigations of Zr-Ti-N, Zr-Ti-Si-N and Ti-Si-N coatings with different Zr, Ti and Si concentrations were carried out for comparison with results obtained from Ti x Zr 1 - x N(111)/SiN y systems. During annealing, the hardness of the best series samples was increased from (39.6 ± 1.4) to 53.6 GPa, which seemed to indicate that a spinodal segregation along grain interfaces was finished. A maximum hardness of 40.8 GPa before and 55 GPa after annealing in air at 500 °C was observed for coatings with a concentration of elements of Si≽ (7-8) at.%, Ti ≽ 22 at.% and Zr ⩽ 70 at.%.

Learning robotics using Python

CERN Document Server

Joseph, Lentin

2015-01-01

If you are an engineer, a researcher, or a hobbyist, and you are interested in robotics and want to build your own robot, this book is for you. Readers are assumed to be new to robotics but should have experience with Python.

1D Printing of Recyclable Robots

DEFF Research Database (Denmark)

Cellucci, Daniel; MacCurdy, Robert; Lipson, Hod

2017-01-01

Recent advances in 3D printing are revolutionizing manufacturing, enabling the fabrication of structures with unprecedented complexity and functionality. Yet biological systems are able to fabricate systems with far greater complexity using a process that involves assembling and folding a linear...... string. Here, we demonstrate a 1D printing system that uses an approach inspired by the ribosome to fabricate a variety of specialized robotic automata from a single string of source material. This proof-ofconcept system involves both a novel manufacturing platform that configures the source material...... using folding and a computational optimization tool that allows designs to be produced from the specification of high-level goals. We show that our 1D printing system is able to produce three distinct robots from the same source material, each of which is capable of accomplishing a specialized...

Thermo-chemical properties and electrical resistivity of Zr-based arsenide chalcogenides

Directory of Open Access Journals (Sweden)

A. Schlechte, R. Niewa, M. Schmidt, G. Auffermann, Yu. Prots, W. Schnelle, D. Gnida, T. Cichorek, F. Steglich and R. Kniep

2007-01-01

Full Text Available Ternary phases in the systems Zr–As–Se and Zr–As–Te were studied using single crystals of ZrAs1.40(1Se0.50(1 and ZrAs1.60(2Te0.40(1 (PbFCl-type of structure, space group P4/nmm as well as ZrAs0.70(1Se1.30(1 and ZrAs0.75(1Te1.25(1 (NbPS-type of structure, space group Immm. The characterization covers chemical compositions, crystal structures, homogeneity ranges and electrical resistivities. At 1223 K, the Te-containing phases can be described with the general formula ZrAsxTe2−x, with 1.53(1≤x≤1.65(1 (As-rich and 0.58(1≤x≤0.75(1 (Te-rich. Both phases are located directly on the tie-line between ZrAs2 and ZrTe2, with no indication for any deviation. Similar is true for the Se-rich phase ZrAsxSe2−x with 0.70(1≤x≤0.75(1. However, the compositional range of the respective As-rich phase ZrAsx−ySe2−x (0.03(1≤y≤0.10(1; 1.42(1≤x≤1.70(1 is not located on the tie-line ZrAs2–ZrSe2, and exhibits a triangular region of existence with intrinsic deviation of the composition towards lower non-metal contents. Except for ZrAs0.75Se1.25, from the homogeneity range of the Se-rich phase, all compounds under investigation show metallic characteristics of electrical resistivity at temperatures >20 K. Related uranium and thorium arsenide selenides display a typical magnetic field-independent rise of the resistivity towards lower temperatures, which has been explained by a non-magnetic Kondo effect. However, a similar observation has been made for ZrAs1.40Se0.50, which, among the Zr-based arsenide chalcogenides, is the only system with a large concentration of intrinsic defects in the anionic substructure.

Robotic surgery for rectal cancer: a single center experience of 100 consecutive cases.

Science.gov (United States)

Stănciulea, O; Eftimie, M; David, L; Tomulescu, V; Vasilescu, C; Popescu, I

2013-01-01

Minimally invasive techniques have revolutionized the field of general surgery over the few last decades. Despite its advantages, in complex procedures such as rectal surgery, laparoscopy has not achieved a high penetration rate because of its steep learning curve, its relatively high conversion rate and technical challenges. The aim of this study was to present a single center experience with robotic surgery for rectal cancer focusing mainly on early and mid-term postoperative outcome. A series of 100 consecutive patients who underwent robotic rectal surgery between January 2008 and June 2012 was analyzed retrospectively in terms of demographics, pathological data, surgical and oncological outcomes. Seventy-seven patients underwent robotic sphincter-saving resection, and 23 patients underwent robotic abdominoperineal resection. There were 4 conversions. The median operative time for sphincter-saving procedures was 180 min. The median time for robotic abdominoperineal resection was 160 min. The median distal resection margin of the operative specimen was 3 cm. The median number of retrieved lymph nodes was 14. The median hospital stay was 10 days. In-hospital mortality was nil. The overall morbidity was 30%. Four patients presented transitory postoperative urinary dysfunction. Severe erectile dysfunction was reported by 3 patients. The median length of follow-up was 24 months. The 3-year overall survival rate was 90%. Robotic surgery is advantageous for both surgeons (in that it facilitates dissection in a narrow pelvis) and patients (in that it affords a very good quality of life via the preservation of sexual and urinary function in the vast majority of patients and it has low morbidity and good midterm oncological outcomes). In rectal cancer surgery, the robotic approach is a promising alternative and is expected to overcome the low penetration rate of laparoscopy in this field. Celsius.

Energetics and self-diffusion behavior of Zr atomic clusters on a Zr(0 0 0 1) surface

Energy Technology Data Exchange (ETDEWEB)

Liu Fusheng [Department of Applied Physics, Hunan University, Changsha 410082 (China); Hu Wangyu [Department of Applied Physics, Hunan University, Changsha 410082 (China)], E-mail: wangyuhu2001cn@yahoo.com.cn; Deng Huiqiu; Luo Wenhua; Xiao Shifang [Department of Applied Physics, Hunan University, Changsha 410082 (China); Yang Jianyu [Department of Maths and Physics, Hunan Institute of Engineering, Xiangtan 411104 (China)

2009-09-15

Using a molecular dynamics method and a modified analytic embedded atom potential, the energetic and the self-diffusion dynamics of Zr atomic clusters up to eight atoms on {alpha}-Zr(0 0 0 1) surface have been studied. The simulation temperature ranges from 300 to 1100 K and the simulation time varies from 20 to 40 ns. It's found that the heptamer and trimer are more stable comparing to other neighboring non-compact clusters. The diffusion coefficients of clusters are derived from the mean square displacement of cluster's mass-center and the present diffusion coefficients for clusters exhibit an Arrhenius behavior. The Arrhenius relation of the single adatom can be divided into two parts in different temperature range because of their different diffusion mechanisms. The migration energies of clusters increase with increasing the number of atoms in cluster. The differences of the prefactors also come from the diverse diffusion mechanisms. On the facet of 60 nm, the heptamer can be the nuclei in the crystal growth below 370 K.

Reduction behaviors of Zr for LiCl-KCl-ZrCl4 and LiCl-KCl-ZrCl4-CdCl2

International Nuclear Information System (INIS)

Kim, Si Hyung; Yoon, Jongho; Kim, Gha Young; Kim, Tack Jin; Shim, Joon Bo; Kim, Kwang Rag; Jung, Jae Hoo; Ahn, Do Hee; Paek, Seungwoo

2013-01-01

The reduction potentials of most of the zirconium ions on the solid cathode are smaller (about 0.4V) than that of uranium, and thus zirconium can be recovered prior to uranium during the reduction stage. In the case of a liquid cadmium cathode, which is one of the major cathodes, the reduction potential can be changed because zirconium reacts with the liquid cadmium. Up to now, it has not been well known what the reduction potential of Zr was on the liquid Cd cathode. According to the Cd-Zr phase diagram, there are four intermetallic compounds between cadmium and zirconium. It is easier to use the solid cathode than the liquid cadmium cathode in LiCl-KCl-ZrCl 4 containing CdCl 2 to identify the formation of the Cd-Zr phase. In this study, the reduction behaviors of zirconium were compared in the LiCl-KCl-ZrCl 4 and LiCl-KCl-ZrCl 4 -CdCl 2 solutions when using a solid cathode. The reduction behavior of Zr at a solid W cathode and a Cd-coated W cathode was compared in a LiCl-KCl-ZrCl 4 solution at 500 .deg. C. It was observed from the results using a solid W cathode that Zr 4+ ions were gradually oxidized to Zr 2+ , Zr, and ZrCl during the reduction sweep, but the final oxidation peak of Zr 2+ to Zr 4+ seemed to be unclear during the oxidation sweep. In the case of the Cd-coated W electrode, only a Cd 2 Zr phase was formed at 500 .deg. C, which seemed to be related to the melting point of Cd-Zr intermetallics. Through additional studies at different temperatures, the formation behavior will be studied

Robotic transanal total mesorectal excision for rectal cancer: experience with a first case

NARCIS (Netherlands)

Verheijen, P.M.; Consten, E.C.J.; Broeders, Ivo Adriaan Maria Johannes

2014-01-01

Background: A transanal approach for total mesorectal excision (TME) using a single incision port is feasible. The disadvantages are technical difficulties associated with limited manoeuvrability. Methods: We present our first experience with robotic-assisted transanal total mesorectal excision. A

On the static structural design of climbing robots: part 1.

Science.gov (United States)

Ahmed, Ausama Hadi; Menon, Carlo

This manuscript is the first of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this part 1, a mathematical model of a climbing robot based on the finite element method (FEM), specifically the stiffness method, is generated. A number of parameters, namely the height of the robot, the length of its body and the position of its legs, are investigated to assess their effect on the adhesion requirements needed for the robot to stay attached to a wall. Predictions of the developed mathematical model are validated using FEM commercial software. The body and the legs are assumed to be perpendicular to each other in this part 1. The effect of their inclination is investigated in the subsequent part 2 of our work. In part 2, the model is also used to predict postures that ants have while standing on vertical surfaces. The model is validated by comparing the predicted results to images of loitering ants. The parameters investigated provide guidelines to design legged climbing robots.

(Nbx, Zr1-x)4AlC3 MAX Phase Solid Solutions: Processing, Mechanical Properties, and Density Functional Theory Calculations.

Science.gov (United States)

Lapauw, Thomas; Tytko, Darius; Vanmeensel, Kim; Huang, Shuigen; Choi, Pyuck-Pa; Raabe, Dierk; Caspi, El'ad N; Ozeri, Offir; To Baben, Moritz; Schneider, Jochen M; Lambrinou, Konstantina; Vleugels, Jozef

2016-06-06

The solubility of zirconium (Zr) in the Nb4AlC3 host lattice was investigated by combining the experimental synthesis of (Nbx, Zr1-x)4AlC3 solid solutions with density functional theory calculations. High-purity solid solutions were prepared by reactive hot pressing of NbH0.89, ZrH2, Al, and C starting powder mixtures. The crystal structure of the produced solid solutions was determined using X-ray and neutron diffraction. The limited Zr solubility (maximum of 18.5% of the Nb content in the host lattice) in Nb4AlC3 observed experimentally is consistent with the calculated minimum in the energy of mixing. The lattice parameters and microstructure were evaluated over the entire solubility range, while the chemical composition of (Nb0.85, Zr0.15)4AlC3 was mapped using atom probe tomography. The hardness, Young's modulus, and fracture toughness at room temperature as well as the high-temperature flexural strength and E-modulus of (Nb0.85, Zr0.15)4AlC3 were investigated and compared to those of pure Nb4AlC3. Quite remarkably, an appreciable increase in fracture toughness was observed from 6.6 ± 0.1 MPa/m(1/2) for pure Nb4AlC3 to 10.1 ± 0.3 MPa/m(1/2) for the (Nb0.85, Zr0.15)4AlC3 solid solution.

Design-Oriented Enhanced Robotics Curriculum

Science.gov (United States)

Yilmaz, M.; Ozcelik, S.; Yilmazer, N.; Nekovei, R.

2013-01-01

This paper presents an innovative two-course, laboratory-based, and design-oriented robotics educational model. The robotics curriculum exposed senior-level undergraduate students to major robotics concepts, and enhanced the student learning experience in hybrid learning environments by incorporating the IEEE Region-5 annual robotics competition…

Interaction with Soft Robotic Tentacles

DEFF Research Database (Denmark)

Jørgensen, Jonas

2018-01-01

Soft robotics technology has been proposed for a number of applications that involve human-robot interaction. In this tabletop demonstration it is possible to interact with two soft robotic platforms that have been used in human-robot interaction experiments (also accepted to HRI'18 as a Late...

Exploratorium: Robots.

Science.gov (United States)

Brand, Judith, Ed.

2002-01-01

This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

The Method of Measured Electrical Resistivity in Studying Phase Transformations in Zr1Nb Alloy

International Nuclear Information System (INIS)

Gritsina, V.M.; Klimenko, S.P.; Chernyaeva, T.P.

2006-01-01

The paper systematically arranges and analyzes the data on the methods of research into α ↔ β transformation process in zirconium alloys, as well as capabilities and information provided by each method. A special emphasis is put on the method of measured electrical resistivity. The authors also present the results of their own research into α ↔ β transformation process in Zr1Nb alloy (in the material of Zr+1% Nb tubing produced in Ukraine from calciothermal zirconium). The ρ →T curve was used to define the maximum and minimum values for transformation temperatures. Combined processing of the phase data on Zr+1% Nb found in literature and obtained from measured resistivity suggests that transformation process happens in several stages. The maximum value on the ρ → T curve corresponds to the beginning of stage 3, whereas the minimum - to its completion; as suggested by the pooled data, accounts for over 95% of the total volume of the material

First-principles characterization of a heteroceramic interface: ZrO2(001) deposited on an alpha-Al2O3(1(1)over-bar02) substrate

DEFF Research Database (Denmark)

Christensen, Asbjørn; Carter, Emily A.

2000-01-01

We have studied an alumina/zirconia interface using the all-electron projector augmented wave formalism within density functional theory. We present the electronic, structural, and energetic properties of the ZrO2(001)/(alpha -Al2O3(1 (1) over bar 02) interface as well as of the free alpha -Al2O3......(1 (1) over bar 02) and ZrO2(001) surfaces. We find that the generalized gradient correction significantly lowers the oxide surface energies, compared to values obtained by the local density approximation. The monoclinic-tetragonal transition in ZrO2(001) thin films is discussed as well as strain...... effects involved in the interface formation. The stoichiometric alumina/zirconia interface is found to be weakly bonded, regardless of the film thickness, and the ZrO2(001)/alpha -Al2O3(1 (1) over bar 02) interface has a rather epitaxial character, due to a low lattice mismatch of similar to4%. The impact...

Synthesis and electrical characterization of BaZr0.9Ho0.1O3-δ electrolyte ceramic for IT - SOFCs

Science.gov (United States)

Saini, Deepash S.; Singh, Lalit K.; Bhattacharya, D.

2018-04-01

A cost-effective modified combustion method using citric acid and glycine has recently been developed to synthesize high quality, and nanosized BaZr0.9Ho0.1O3 ceramic powder. BaZr0.9Ho0.1O3-δ ceramic powder was characterized by X-ray diffraction (XRD), high-resolution transmission electron microscopy (HRTEM) and field emission scanning electron microscopy (FESEM). XRD pattern of BaZr0.9Ho0.1O3-δ ceramic sintered at 1600 °C has shown that pure phase of BaZr0.9Ho0.1O3-δ with cubic Pm3¯m space group symmetry. The transmission electron microscopic investigation has shown that the particle size of the powder calcined at 1100 °C was in the range 30-80 nm. The FESEM image of sintered pellet at 1600 °C for 4 h reveals porous nature of BaZr0.9Ho0.1O3-δ with 83.7 relative density. Impedance analysis reveal three type relaxations in the temperature range 250 °C to 500 °C as studied at different frequencies over 100 Hz to 1 MHz in air. The grain boundary conductivity of BaZr0.9Ho0.1O3-δ ceramic is found lower then grain (bulk) conductivity due to core-space charge layer behavior in grain boundary.

High pressure stability analysis and chemical bonding of Ti{sub 1-x}Zr{sub x}N alloy: A first principle study

Energy Technology Data Exchange (ETDEWEB)

Chauhan, Mamta; Gupta, Dinesh C., E-mail: sosfizix@gmail.com, E-mail: mamta-physics@yahoo.co.in [Condensed Matter Theory Group, School of Studies in Physics, Jiwaji University, Gwalior – 474 011 (India)

2016-05-23

First-principles pseudo-potential calculations have been performed to analyze the stability of Ti{sub 1-x}Zr{sub x}N alloy under high pressures. The first order phase transition from B1 to B2 phase has been observed in this alloy at high pressure. The variation of lattice parameter with the change in concentration of Zr atom in Ti{sub 1-x}Zr{sub x}N is also reported in both the phases. The calculations for density of states have been performed to understand the alloying effects on chemical bonding of Ti-Zr-N alloy.

The influence of Zr substitution for Nb on the corrosion behaviors of the Ni-Nb-Zr bulk metallic glasses

Science.gov (United States)

Li, DengKe; Zhu, ZhengWang; Zhang, HaiFeng; Wang, AiMin; Hu, ZhuangQi

2012-12-01

The influence of Zr content on corrosion behaviors of the Ni61.5Nb38.5- x Zr x ( x=1, 3, 5, 7, 9 at.%) bulk metallic glasses (BMGs) in 1 M HCl aqueous solution was investigated by potentiodynamic polarization measurements and X-ray photo-electron spectroscopy (XPS). It was found that these BMG alloys possess superior corrosion resistance, that is, with large passive region of about 1.5 V and low passive current density (as low as 0.05 Am-2 for Ni61.5Nb31.5Zr7). XPS analysis indicates that the high corrosion resistance is attributed to the formation of Nb- and Zr-enriched surface films formed in the aggressive acid solution. The Zr substitution for Nb effectively reduces the Ni content, particularly the metallic state Ni content in the surface films, which depresses the electrical conduction of the surface films and reduces the passive current density, thus leading to the enhancement of the corrosion resistance of these Ni-Nb-Zr BMGs. These alloys may potentially be useful for engineering applications.

Novel composition above the limit of Bi:Zr solid solution; synthesis and physical properties of Bi1.33Zr0.67O3+δ

International Nuclear Information System (INIS)

Meatza, Iratxe de; Chapman, Jon P.; Mauvy, Fabrice; Larramendi, Jose I. Ruiz de; Arriortua, Maria I.; Rojo, Teofilo

2004-01-01

This paper presents an increase to x = 0.67 of the zirconium content in the conductive Bi 2-x Zr x O 3+δ solid solution. Complete incorporation of Zr in the β III -Bi 2 O 3 structure, confirmed by X-ray powder diffraction, has produced a phase with a lower volume and superior conductivity than those predicted by an earlier study. The observed β III -δ Bi 2-x Zr x O 3+δ phase transition around 730 deg. C has been characterised for the first time and shows a segregation of a mixture of predominantly γ-Bi 2 O 3 and approximately 30% of the ZrO 2 , before total reincorporation of the Zr in the high temperature δ-phase

Integrating Multi-Purpose Natural Language Understanding, Robot's Memory, and Symbolic Planning for Task Execution in Humanoid Robots

DEFF Research Database (Denmark)

Wächter, Mirko; Ovchinnikova, Ekaterina; Wittenbeck, Valerij

2017-01-01

We propose an approach for instructing a robot using natural language to solve complex tasks in a dynamic environment. In this study, we elaborate on a framework that allows a humanoid robot to understand natural language, derive symbolic representations of its sensorimotor experience, generate....... The framework is implemented within the robot development environment ArmarX. We evaluate the framework on the humanoid robot ARMAR-III in the context of two experiments: a demonstration of the real execution of a complex task in the kitchen environment on ARMAR-III and an experiment with untrained users...

Zr-rich corner of the Zr-Sn-O diagram

International Nuclear Information System (INIS)

Roberti, L.A.; Arias, D.E.

1993-01-01

The understanding of the effect of light elements (in particular oxygen, nitrogen and hydrogen) on the behaviour of alloys for nuclear use is necessary because of its technological importance. The Zr-Sn-O system is perhaps the most representative of all possible ternary systems which can be used to simulate a simplified Zircaloy-type alloy in which the effect of O can be studied. However, in the specialized literature experimental data on phase equilibria and thermophysical properties of this system are not easily found. In the present work, the equilibrium compositions of the α and β phases of the Zr-Sn-O system at temperatures between 1150 and 1323 K are calculated, using the scarce available information. First results of the calculations show satisfactory coincidences with experimental data. Future work will be oriented towards the proposal of isothermal cross-sections calculated by a modelling of phases with wider Sn and O composition ranges, and involving equilibria with the phases Zr 4 Sn, Zr 5 Sn 3 , ZrO 2 , ZrSnO 4 . (Author)

Biocompatible Ni-free Zr-based bulk metallic glasses with high-Zr-content: compositional optimization for potential biomedical applications.

Science.gov (United States)

Hua, Nengbin; Huang, Lu; Chen, Wenzhe; He, Wei; Zhang, Tao

2014-11-01

The present study designs and prepares Ni-free Zr60+xTi2.5Al10Fe12.5-xCu10Ag5 (at.%, x=0, 2.5, 5) bulk metallic glasses (BMGs) by copper mold casting for potential biomedical application. The effects of Zr content on the in vitro biocompatibility of the Zr-based BMGs are evaluated by investigating mechanical properties, bio-corrosion behavior, and cellular responses. It is found that increasing the content of Zr is favorable for the mechanical compatibility with a combination of low Young's modulus, large plasticity, and high notch toughness. Electrochemical measurements demonstrate that the Zr-based BMGs are corrosion resistant in a phosphate buffered saline solution. The bio-corrosion resistance of BMGs is improved with the increase in Zr content, which is attributed to the enrichment in Zr and decrease in Al concentration in the surface passive film of alloys. Regular cell responses of mouse MC3T3-E1 cells, including cell adhesion and proliferation, are observed on the Zr-Ti-Al-Fe-Cu-Ag BMGs, which reveals their general biosafety. The high-Zr-based BMGs exhibit a higher cell proliferation activity in comparison with that of pure Zr and Ti-6Al-4V alloy. The effects of Zr content on the in vitro biocompatibility can be used to guide the future design of biocompatible Zr-based BMGs. Copyright © 2014 Elsevier B.V. All rights reserved.

Teleautonomous Control on Rescue Robot Prototype

Directory of Open Access Journals (Sweden)

Son Kuswadi

2012-12-01

Full Text Available Robot application in disaster area can help responder team to save victims. In order to finish task, robot must have flexible movement mechanism so it can pass through uncluttered area. Passive linkage can be used on robot chassis so it can give robot flexibility. On physical experiments, robot is succeeded to move through gravels and 5 cm obstacle. Rescue robot also has specialized control needs. Robot must able to be controlled remotely. It also must have ability to move autonomously. Teleautonomous control method is combination between those methods. It can be concluded from experiments that on teleoperation mode, operator must get used to see environment through robot’s camera. While on autonomous mode, robot is succeeded to avoid obstacle and search target based on sensor reading and controller program. On teleautonomous mode, robot can change control mode by using bluetooth communication for data transfer, so robot control will be more flexible.

PEAR: Prototyping Expressive Animated Robots - A framework for social robot prototyping

OpenAIRE

Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick

2018-01-01

International audience; Social robots are transitioning from lab experiments to commercial products, creating new needs for proto-typing and design tools. In this paper, we present a framework to facilitate the prototyping of expressive animated robots. For this, we start by reviewing the design of existing social robots in order to define a set of basic components of social robots. We then show how to extend an existing 3D animation software to enable the animation of these components. By co...

Initial experience of robotic versus laparoscopic colectomy for transverse colon cancer: a matched case-control study.

Science.gov (United States)

de'Angelis, Nicola; Alghamdi, Salah; Renda, Andrea; Azoulay, Daniel; Brunetti, Francesco

2015-10-09

Robotic surgery for transverse colon cancer has rarely been described. This study reports our initial experience in robotic resection for transverse colon cancer, by comparing robotic transverse colectomy (RC) to laparoscopic transverse colectomy (LC) in terms of safety, feasibility, short-term outcomes, and the surgeon's psychological stress and physical pain. The study population included the first 22 consecutive patients who underwent RC between March 2013 and December 2014 for histologically confirmed transverse colon adenocarcinoma. These patients were compared with 22 matched patients undergoing LC between December 2010 and February 2013. Patients were matched based on age, gender, body mass index (BMI), American Society of Anesthesiology (ASA) score, American Joint Committee on Cancer (AJCC) tumor stage, and tumor location (ratio 1:1). Mortality, morbidity, operative, and short-term oncologic outcomes were compared between groups. The operating surgeon's stress and pain were assessed before and after surgery on a 0-100-mm visual analog scale. The demographic and preoperative characteristics were comparable between RC and LC patients. No group difference was observed for intraoperative complications, blood loss, postoperative pain, time to flatus, time to regular diet, and hospital stay. RC was associated with longer operative time than LC (260 min vs. 225 min; p = 0.014), but the overall operative and robotic time in the RC group decreased over time reflecting the increasing experience in performing this procedure. No conversion to laparotomy was observed in the RC group, while two LC patients were converted due to uncontrolled bleeding and technically difficult middle colic pedicle dissection. Postoperative complications (Dindo-Clavien grade I or II) occurred in 11.3 % of patients with no group difference. Mortality was nil. All resections were R0, with >12 lymph nodes harvested in 90.9 % of RC and 95.5 % of LC patients. The surgeon's stress was

Positron emission tomography imaging of CD105 expression with {sup 89}Zr-Df-TRC105

Energy Technology Data Exchange (ETDEWEB)

Hong, Hao; Yang, Yunan [University of Wisconsin - Madison, Department of Radiology, Madison, WI (United States); Severin, Gregory W.; Engle, Jonathan W.; Zhang, Yin; Barnhart, Todd E.; Nickles, Robert J. [University of Wisconsin - Madison, Department of Medical Physics, Madison, WI (United States); Liu, Glenn [University of Wisconsin - Madison, Department of Medicine, Madison, WI (United States); University of Wisconsin Carbone Cancer Center, Madison, WI (United States); Leigh, Bryan R. [TRACON Pharmaceuticals, Inc, San Diego, CA (United States); Cai, Weibo [University of Wisconsin - Madison, Department of Radiology, Madison, WI (United States); University of Wisconsin - Madison, Department of Medical Physics, Madison, WI (United States); University of Wisconsin Carbone Cancer Center, Madison, WI (United States)

2012-01-15

High tumor microvessel density correlates with a poor prognosis in multiple solid tumor types. The clinical gold standard for assessing microvessel density is CD105 immunohistochemistry on paraffin-embedded tumor specimens. The goal of this study was to develop an {sup 89}Zr-based PET tracer for noninvasive imaging of CD105 expression. TRC105, a chimeric anti-CD105 monoclonal antibody, was conjugated to p-isothiocyanatobenzyl-desferrioxamine (Df-Bz-NCS) and labeled with {sup 89}Zr. FACS analysis and microscopy studies were performed to compare the CD105 binding affinity of TRC105 and Df-TRC105. PET imaging, biodistribution, blocking, and ex-vivo histology studies were performed on 4T1 murine breast tumor-bearing mice to evaluate the pharmacokinetics and tumor-targeting of {sup 89}Zr-Df-TRC105. Another chimeric antibody, cetuximab, was used as an isotype-matched control. FACS analysis of HUVECs revealed no difference in CD105 binding affinity between TRC105 and Df-TRC105, which was further validated by fluorescence microscopy. {sup 89}Zr labeling was achieved with high yield and specific activity. Serial PET imaging revealed that the 4T1 tumor uptake of {sup 89}Zr-Df-TRC105 was 6.1 {+-} 1.2, 14.3 {+-} 1.2, 12.4 {+-} 1.5, 7.1 {+-} 0.9, and 5.2 {+-} 0.3 %ID/g at 5, 24, 48, 72, and 96 h after injection, respectively (n = 4), higher than all organs starting from 24 h after injection, which provided excellent tumor contrast. Biodistribution data as measured by gamma counting were consistent with the PET findings. Blocking experiments, control studies with {sup 89}Zr-Df-cetuximab, and ex-vivo histology all confirmed the in vivo target specificity of {sup 89}Zr-Df-TRC105. We report here the first successful PET imaging of CD105 expression with {sup 89}Zr as the radiolabel. Rapid, persistent, CD105-specific uptake of {sup 89}Zr-Df-TRC105 in the 4T1 tumor was observed. (orig.)

Performance of U-Pu-Zr fuel cast into zirconium molds

International Nuclear Information System (INIS)

Crawford, D.C.; Lahm, C.E.; Tsai, H.

1992-10-01

U-3Zr and U-20.5Pu-3Zr were injection cast into Zr tubes, or sheaths, rather than into quartz molds and clad in 316SS. These elements and standard-cast U-l0Zr and U-IgPu-l0Zr elements were irradiated in EBR-II to 2 at.% and removed for interim examination. Measurements of axial growth at indicate that the Zr-sheathed elements exhibited significantly less axial elongation than the standard-cast elements (1.3 to 1.8% versus 4.9 to 8.1%). Fuel material extruded through the ends of the Zr sheaths. allowing the low-Zr fuel to contact the cladding in some cases. Transverse metallographic sections reveal cracks in the Zr sheath through which fuel extruded and contacted cladding. The sheath is not a sufficient barrier between fuel and cladding to reduce FCCI. and any adverse effects due to increased FCCI will be evident as the elements attain higher burnup

Beyond Speculative Robot Ethics

NARCIS (Netherlands)

Smits, M.; Van der Plas, A.

2010-01-01

In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also lead to

Experiments Toward the Application of Multi-Robot Systems to Disaster-Relief Scenarios

Science.gov (United States)

2015-09-01

EW LiDAR15 with a Dynamixel servo . This Hokuyo LiDAR has a 270◦ field of view, 30-m range, and 1-mm resolution. Accurate state information is achieved...in disaster-relief scenarios. 28 8. References 1. Murphy RR. Disaster robotics. MIT Press ; 2014. 2. Guizzo E. Fukushima robot operator writes tell-all...Control Conference; 28. LaValle SM. Planning algorithms. Cambridge university press ; 2006. 29. Likhachev M. Search-Based Planning Library. https

Planetary rover robotics experiment in education: carbonate rock collecting experiment of the Husar-5 rover

Science.gov (United States)

Szalay, Kristóf; Lang, Ágota; Horváth, Tamás; Prajczer, Péter; Bérczi, Szaniszló

2013-04-01

Introduction: The new experiment for the Husar-5 educational space probe rover consists of steps of the technology of procedure of finding carbonate speci-mens among the rocks on the field. 3 main steps were robotized: 1) identification of carbonate by acid test, 2) measuring the gases liberated by acid, and 3) magnetic test. Construction of the experiment: The basis of the robotic realization of the experiment is a romote-controlled rover which can move on the field. Onto this rover the mechanism of the experiments were built from Technics LEGO elements and we used LEGO-motors for making move these experiments. The operation was coordinated by an NXT-brick which was suitable to programming. Fort he acetic-test the drops should be passed to the selected area. Passing a drop to a locality: From the small holder of the acid using densified gas we pump some drop onto the selected rock. We promote this process by pumpig the atmospheric gas into another small gas-container, so we have another higher pressure gas there. This is pumped into the acid-holder. The effect of the reaction is observed by a wireless onboard camera In the next step we can identify the the liberated gas by the gas sensor. Using it we can confirm the liberation of the CO2 gas without outer observer. The third step is the controll of the paramagnetic properties.. In measuring this feature a LEGO-compass is our instrumentation. We use a electric current gener-ated magnet. During the measurements both the coil and the gas-sensor should be positioned to be near to the surface. This means, that a lowering and an uplifting machinery should be constructed. Summary: The sequence of the measurement is the following. 1) the camera - after giving panorama images - turns toward the soil surface, 2) the dropping onto the rock surface 3) at the same time the gas-sensor starts to move down above the rock 4) the compass sensor also moves down on the arm which holds both the gas-sensor and the compass-sensor 5

Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction

Directory of Open Access Journals (Sweden)

Aimi S. Ghazali

2018-06-01

Full Text Available The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans. Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.

Control of autonomous robot using neural networks

Science.gov (United States)

Barton, Adam; Volna, Eva

2017-07-01

The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

Enthalpy of mixing of liquid Ni-Zr and Cu-Ni-Zr alloys

International Nuclear Information System (INIS)

Witusiewicz, V.T.; Sommer, F.

2000-01-01

Since the Al-Cu-Ni-Zr system is a basis for the production of bulk amorphous materials by rapid solidification techniques from the liquid state, it is of great scientific interest to determine the partial and the integral thermodynamic functions of liquid and undercooled liquid alloys. Such data, as was pointed out previously, are important in order to understand their extremely good glass-forming ability in multicomponent metallic systems as well as for processing improvements. In order to measure the thermodynamic properties of the Al-Cu-Ni-Zr quaternary, it is necessary to have reliable thermochemical data for its constituent canaries and ternaries first. In a series of articles, the authors have reported in detail the thermodynamic properties of liquid Al-Cu, Al-Ni, Cu-Ni, Cu-Zr, Al-Zr, Al-Cu-Ni, and Al-Cu-Zr alloys. This article deals with the direct calorimetric measurements of the partial and the integral enthalpies of mixing of liquid Ni-Zr and Cu-Ni-Zr alloys and the heat capacity of liquid Ni 26 Zr 74 . In a subsequent article, the authors will present similar data for the liquid ternary Al-Ni-Zr and for the liquid quaternary Al-Cu-Ni-Zr alloys

Fundamentals of ergonomic exoskeleton robots

OpenAIRE

Schiele, A.

2008-01-01

This thesis is the first to provide the fundamentals of ergonomic exoskeleton design. The fundamental theory as well as technology necessary to analyze and develop ergonomic wearable robots interacting with humans is established and validated by experiments and prototypes. The fundamentals are (1) a new theoretical framework for analyzing physical human robot interaction (pHRI) with exoskeletons, and (2) a clear set of design rules of how to build wearable, portable exoskeletons to easily and...

Hydrogen calibration of GD-spectrometer using Zr-1Nb alloy

Science.gov (United States)

Mikhaylov, Andrey A.; Priamushko, Tatiana S.; Babikhina, Maria N.; Kudiiarov, Victor N.; Heller, Rene; Laptev, Roman S.; Lider, Andrey M.

2018-02-01

To study the hydrogen distribution in Zr-1Nb alloy (Э110 alloy) GD-OES was applied in this work. Qualitative analysis needs the standard samples with hydrogen. However, the standard samples with high concentrations of hydrogen in the zirconium alloy which would meet the requirements of the shape, size are absent. In this work method of Zr + H calibration samples production was performed at the first time. Automated Complex Gas Reaction Controller was used for samples hydrogenation. To calculate the parameters of post-hydrogenation incubation of the samples in an inert gas atmosphere the diffusion equations were used. Absolute hydrogen concentrations in the samples were determined by melting in the inert gas atmosphere using RHEN602 analyzer (LECO Company). Hydrogen distribution was studied using nuclear reaction analysis (HZDR, Dresden, Germany). RF GD-OES was used for calibration. The depth of the craters was measured with the help of a Hommel-Etamic profilometer by Jenoptik, Germany.

Study of the mechanisms controlling the oxide growth under irradiation: characterization of irradiated zircaloy-4 and Zr-1 Nb-O oxide scales

International Nuclear Information System (INIS)

Bossis, Ph.; Thomazet, J.; Lefebvre, F.

2002-01-01

In PWRs, the Zr-1Nb-O alloy shows a marked enhancement in corrosion resistance in comparison with Zircaloy-4. The aim of this work is to analyze the reasons for these different behaviors and to determine the respective nature of the oxide growth controlling mechanisms under irradiation. Samples taken from Zircaloy-4 irradiated 1, 2, and 4 cycles and Zr-1Nb-O irradiated 1 and 3 cycles have been systematically characterized by optical microscopy, SEM coupled with image analysis, hydride distribution, and XRD. Specific TEM characterizations have been performed on the Zr-1Nb-O samples. A XPS analysis of a nonirradiated sample is also reported. It has been shown that under irradiation the slow oxidation kinetics of the Zr-1Nb-O alloy is associated with very regular metal-oxide interface and oxide layer. On the contrary, the accelerated oxidation kinetics of Zircaloy-4 is associated with highly perturbed metal-oxide interface and oxide layer. On both irradiated alloys, cracks are observed to initiate preferentially above the delayed parts of the oxidation front. Hydrogen intake during water oxidation in PWR environment is found to be much lower on the Zr-1Nb-O alloy than on Zircaloy-4. More β-ZrO 2 is found on the oxide layer formed on Zircaloy-4 than on Zr-1NbO after oxidation in PWR. Classical irradiation-induced microstructural evolution is observed in the Zr-1Nb-O metallic alloy after 3 cycles, i.e., a fine β-Nb precipitation. β-Nb precipitates are observed to undergo a delayed oxidation associated with a crystalline to amorphous transformation. After water oxidation in autoclave, a pronounced Nb segregation is detected on the oxide surface of a Zr-1Nb-O sample. These results suggest that the oxidation kinetics of Zircaloy-4 is controlled essentially by oxygen diffusion through the inner barrier layer, which is significantly accelerated under irradiation. The oxidation kinetics of Zr-1Nb-O is controlled by both oxygen diffusion through the inner barrier and by

Experimental investigation of phase equilibria in the Co-Ni-Zr ternary system

Energy Technology Data Exchange (ETDEWEB)

Liu, Xingjun; Yang, Shuiyuan; Yu, Wenjie; Wang, Cuiping [Xiamen Univ. (China). Fujian Key Laboratory of Materials Genome; Xiong, Huaping; Cheng, Yaoyong; Wu, Xin [Beijing Institute of Aeronautical Materials (China). Div. of Welding and Forging

2016-10-15

The phase equilibria of the Co-Ni-Zr ternary system at 1 000 C, 1 100 C and 1 200 C were experimentally investigated by means of back-scattered electron imaging, electron probe microanalysis and X-ray diffraction on the equilibrated ternary alloys. In this study, no ternary compound is found. The (αCo, Ni) phase region extends from the Ni-rich corner to the Co-rich corner with small solubility of Zr at three sections. At 1 000 C and 1 100 C, Ni{sub 5}Zr, Co{sub 2}Zr and Ni{sub 10}Zr{sub 7} phases have large solid solution ranges, but Ni{sub 10}Zr{sub 7} phase disappears at 1 200 C. The Ni{sub 7}Zr{sub 2}, NiZr, Co{sub 11}Zr{sub 2}, Co{sub 23}Zr{sub 6} and CoZr phases exhibit nearly linear compounds in the studied sections, and have large composition ranges. Additionally, some differences in phase relationship exist among the above three isothermal sections.

Efficient UV-emitting X-ray phosphors: octahedral Zr(PO4)6 luminescence centers in potassium hafnium-zirconium phosphates K2Hf1-xZrx(PO4)2 and KHf2(1-x)Zr2x(PO4)3

International Nuclear Information System (INIS)

Torardi, C.C.; Miao, C.R.; Li, J.

2003-01-01

Potassium hafnium-zirconium phosphates, K 2 Hf 1-x Zr x (PO 4 ) 2 and KHf 2(1-x) Zr 2x (PO 4 ) 3 , are broad-band UV-emitting phosphors. At room temperature, they have emission peak maxima at approximately 322 and 305 nm, respectively, under 30 kV peak molybdenum X-ray excitation. Both phosphors demonstrate luminescence efficiencies that make them up to ∼60% as bright as commercially available CaWO 4 Hi-Plus. The solid-state and flux synthesis conditions, and X-ray excited UV luminescence of these two phosphors are discussed. Even though the two compounds have different atomic structures, they contain zirconium in the same active luminescence environment as that found in highly efficient UV-emitting BaHf 1-x Zr x (PO 4 ) 2 . All the three materials have hafnium and zirconium in octahedral coordination via oxygen-atom corner sharing with six separate PO 4 tetrahedra. This octahedral Zr(PO 4 ) 6 moiety appears to be an important structural element for efficient X-ray excited luminescence, as are the edge-sharing octahedral TaO 6 chains for tantalate emission

Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz.

Science.gov (United States)

Hongbo Wang; Kosuge, K

2012-01-01

Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

Li_2ZrO_3-coated Li_4Ti_5O_1_2 with nanoscale interface for high performance lithium-ion batteries

International Nuclear Information System (INIS)

Zhang, Han; Liu, Yang; Wang, Ting; Yang, Yang; Shi, Shaojun; Yang, Gang

2016-01-01

Graphical abstract: - Highlights: • Zr doped and Li_2ZrO_3 coated Li_4Ti_5O_1_2 are prepared by a solid-state method. • Zr-doping and LZO coating are positive in improving lithium diffusion ability. • Li_2ZrO_3 coated Li_4Ti_5O_1_2 deliver 168.1 mAh g"−"1 higher than 150.2 mAh g"−"1 of Li_4Ti_5O_1_2. • Li_2ZrO_3 coated Li_4Ti_5O_1_2 remains 162 mAh g"−"1 after 100 cycles. • The lowest D_L_i"+ is 5.97 × 10"−"1"7 and 1.85 × 10"−"1"5 cm"2 s"−"1 of Li_4Ti_5O_1_2 before and after coating. - Abstract: Zr doped sample of Li_4Ti_4_._9_9Zr_0_._0_1O_1_2 (LZTO) and Li_2ZrO_3 (LZO) coated Li_4Ti_5O_1_2 (LTO) are prepared by a solid-state method. The lattice structure of LTO is remained after doping element of Zr and coating layer of LZO. The crystal structure and electrochemical performance of the material are investigated by X-ray diffractometry (XRD), high-resolution transmission electron microscopy (HRTEM), cyclic voltammetry (CV), galvanostatic intermittent titration technique (GITT) and charge-discharge tests, respectively. Zr-doping and LZO coating play the positive role in improving the diffusion ability of lithium cations. LZTO and LZO-LTO show much improved specific capacity and rate capability compared with pristine sample of LTO. LZO-LTO has the smallest voltage differential (ΔV) of the redox peaks because the coating of Li_2ZrO_3 is helpful for the diffusion ability of lithium ions during charge/discharge processes. LZTO and LZO-LTO as electrode deliver the initial capacities of 164.8, 168.1 mAh g"−"1, respectively, which are much higher than 150.2 mAh g"−"1 of intrinsic sample of LTO. Even at the current density of 2 A g"−"1, LTZO and LZO-LTO offer capacity of 96 and 106 mAh g"−"1, which are much higher than 33 mAh g"−"1 of LTO. The improved electrochemical performance is attributed to the improved diffusion ability of lithium. During the whole discharge process, the lowest value of LTO is 5.97 × 10"−"1"7 cm"2 s"−"1 that is

Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction

DEFF Research Database (Denmark)

Svenstrup, Mikael; Hansen, Søren Tranberg; Andersen, Hans Jørgen

2009-01-01

Abstract—This paper introduces a new method to determine a person’s pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and timeextended interaction between a mobile robot and a human. The robot......’s pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The interaction motion of the robot is based on adaptive potential functions centered around the person that respect the persons social spaces. The method is tested in experiments...

Effect of metallurgical factors on the oxidation of Zr - 1% Nb Alloy

International Nuclear Information System (INIS)

Soliman, H.M.

1979-01-01

The importance of study of the oxidation behaviour of zirconium and its niobium alloys arises from their suitability as cladding and structural materials in nuclear reactors and their use in oxidizing conditions. This work includes the oxidation behaviour of Zr - 1%Nb in both air and steam, and to less extent, zirconium was investigated in air. The effect of 1%Nb, oxidizing medium, fluoride ions contamination and thermal cycling on the oxidation behaviour has been investigated using weight gain, plastic deformation generated during oxidation, electron microscopy , metallography and X- ray techniques. The kinetics of oxidation of Zr-1%Nb alloy have been studied in the temperature range 500 - 1200 degree C and 500 - 900 degree C in both air and steam, respectively. The oxidation rate increases with temperature, Initially, the reaction proceeds with a decreasing rate ( mainly parabolic) followed by transition to a linear or acceleration, indicating breakaway. As the oxidation temperature increases, the time to breakaway transition decreases

Rethinking Regulation for Experimenting with Emerging Robotics Technologies

NARCIS (Netherlands)

Fosch Villaronga, Eduard; Heldeweg, Michiel A.

2016-01-01

Great expectations and major concerns accompany the development and possible uses of robotics in many areas of life and in many forms, such as drones and care-robots. Possible pro’s and con’s require careful regulatory attention, both as regards technological aspects and with respect to

Learning motor skills from algorithms to robot experiments

CERN Document Server

Kober, Jens

2014-01-01

This book presents the state of the art in reinforcement learning applied to robotics both in terms of novel algorithms and applications. It discusses recent approaches that allow robots to learn motor skills and presents tasks that need to take into account the dynamic behavior of the robot and its environment, where a kinematic movement plan is not sufficient. The book illustrates a method that learns to generalize parameterized motor plans which is obtained by imitation or reinforcement learning, by adapting a small set of global parameters, and appropriate kernel-based reinforcement learning algorithms. The presented applications explore highly dynamic tasks and exhibit a very efficient learning process. All proposed approaches have been extensively validated with benchmarks tasks, in simulation, and on real robots. These tasks correspond to sports and games but the presented techniques are also applicable to more mundane household tasks. The book is based on the first author’s doctoral thesis, which wo...

Robotic Mitral Valve Repair: The Learning Curve.

Science.gov (United States)

Goodman, Avi; Koprivanac, Marijan; Kelava, Marta; Mick, Stephanie L; Gillinov, A Marc; Rajeswaran, Jeevanantham; Brzezinski, Anna; Blackstone, Eugene H; Mihaljevic, Tomislav

Adoption of robotic mitral valve surgery has been slow, likely in part because of its perceived technical complexity and a poorly understood learning curve. We sought to correlate changes in technical performance and outcome with surgeon experience in the "learning curve" part of our series. From 2006 to 2011, two surgeons undertook robotically assisted mitral valve repair in 458 patients (intent-to-treat); 404 procedures were completed entirely robotically (as-treated). Learning curves were constructed by modeling surgical sequence number semiparametrically with flexible penalized spline smoothing best-fit curves. Operative efficiency, reflecting technical performance, improved for (1) operating room time for case 1 to cases 200 (early experience) and 400 (later experience), from 414 to 364 to 321 minutes (12% and 22% decrease, respectively), (2) cardiopulmonary bypass time, from 148 to 102 to 91 minutes (31% and 39% decrease), and (3) myocardial ischemic time, from 119 to 75 to 68 minutes (37% and 43% decrease). Composite postoperative complications, reflecting safety, decreased from 17% to 6% to 2% (63% and 85% decrease). Intensive care unit stay decreased from 32 to 28 to 24 hours (13% and 25% decrease). Postoperative stay fell from 5.2 to 4.5 to 3.8 days (13% and 27% decrease). There were no in-hospital deaths. Predischarge mitral regurgitation of less than 2+, reflecting effectiveness, was achieved in 395 (97.8%), without correlation to experience; return-to-work times did not change substantially with experience. Technical efficiency of robotic mitral valve repair improves with experience and permits its safe and effective conduct.

Comparison of results analysis of chemical composition of alloys inside the U-Zr-Nb by XRF and AAS techniques

International Nuclear Information System (INIS)

Masrukan; Tri Yulianto; Anwar Muchsin

2011-01-01

U-Zr-Nb alloy chemical composition analysis using X Ray Fluorescence (XRF) and Atomic Absorption Spectroscopy (AAS) techniques have been conducted, where U-Zr- Nb alloy was chosen as candidates for new high-density fuel for future research reactors . Composition analysis is necessary because the composition of elements in the fuel will determine the characteristics of fuel during the fabrication process and in the reactor. The use of two kinds of analysis techniques were designed to obtain accurate analysis results. The experiment was conducted to determine the major element composition and impurities in the alloy U-Zr-Nb. First U-Zr-Nb varying alloy composition Nb were respectively 1%, 4%, 7% (U10% Zr1% Nb, U10% Zr4% Nb and U10% 7% Nb) as results of the melting process of measuring the diameter of 120 mm crushed on the surface bottom. Once on the bottom surface is smooth, then analyzed using XRF techniques. To analyze the elements using AAS techniques, alloy U-Zr-Nb cut into 10 mm x 5 mm then dissolved using HF and nitric acid. Solution that occurred were analyzed using AAS technique. From the analysis using the XRF technique is obtained the alloy U-10% Zr-1% Nb, U-10% Zr-4% Nb and Zr-10% U-7% Nb) had a content of each element as follows: U (87.8858%), Zr (2.6097%) and Nb (0.2206%), U (87.8556%), Zr (2.6302%), and Nb (0.6573%); U (84.6334%), Zr (2.5773%), and Nb (1.0940) weight. Results of analysis using AAS techniques on samples obtained third consecutive Zr content of 9.25%, 8.90% and 9.80% while the content of Nb was not detected. Meanwhile, the results of elemental analysis of impurities in all three samples showed that almost all the elements are still qualify as fuel except Zn element. Element Zn at the three samples of each alloys U-10% Zr-1% Nb, U-10% Zr-4% Nb and U-10% Zr-7%Nb is 1.3266%, 3.2756% and 1.0927% weight. It could be concluded that the results of analysis of elemental content and impurities in the alloy U-Nb-Zr using both XRF and AAS visible

Robotic nurse duties in the urology operative room: 11 years of experience

Directory of Open Access Journals (Sweden)

Ali Abdel Raheem

2017-04-01

Full Text Available The robotic nurse plays an essential role in a successful robotic surgery. As part of the robotic surgical team, the robotic nurse must demonstrate a high level of professional knowledge, and be an expert in robotic technology and dealing with robotic malfunctions. Each one of the robotic nursing team “nurse coordinator, scrub-nurse and circulating-nurse” has a certain job description to ensure maximum patient's safety and robotic surgical efficiency. Well-structured training programs should be offered to the robotic nurse to be well prepared, feel confident, and maintain high-quality of care.

The robotic appendicovesicostomy and bladder augmentation: the next frontier in robotics, are we there?

Science.gov (United States)

Cohen, Andrew J; Pariser, Joseph J; Anderson, Blake B; Pearce, Shane M; Gundeti, Mohan S

2015-02-01

There is growing interest in applying robotic-assisted laparoscopic techniques to complex reconstructive pelvic surgery owing to inherent benefits of precision, tissue handling, and articulating instruments for suturing. This review examines preliminary experiences with robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy (RALIMA) as either an isolated or combined procedure. These series suggest RALIMA is feasible, with the benefit of early recovery and improved cosmetic results in selected patients. The robotic approach incurs functional outcomes and complication rates similar to those of open techniques. Given the steep learning curve, only surgeons with extensive robotic experience are currently adopting this technique. Copyright © 2015 Elsevier Inc. All rights reserved.

Experimental investigation of phase equilibria in the Zr-Cu-Ni ternary system

International Nuclear Information System (INIS)

Yang, Mujin; Wang, Cuiping; Yang, Shuiyuan; Shi, Zhan; Han, Jiajia; Liu, Xingjun

2017-01-01

The phase equilibria in the Zr-Cu-Ni ternary system are investigated combined with X-ray diffraction, electron probe micro-analysis and differential scanning calorimetry. Two isothermal sections of the Zr-Cu-Ni ternary system at 1 000 C and 1 100 C are experimentally established. Most of the binary intermetallic compounds, e.g. Zr 7 Ni 10 , ZrNi, ZrNi 5 , Zr 14 Cu 51 , and Zr 2 Cu 9 , show a remarkable ternary solubility. A new ternary compound named τ 3 (Zr 31.1-30.7 . Cu 28.5-40.3 Ni 40.4-29.0 ) is detected at 1 000 C and dissolved at 1 020 C because the nearby large liquid phase field further expands. The newly determined phase equilibria will provide important information for both thermodynamic assessment and alloy design of Zr-based metallic glass.

Effects of minor Zr and Sr on as-cast microstructure and mechanical properties of Mg-3Ce-1.2Mn-0.9Sc (wt.%) magnesium alloy

International Nuclear Information System (INIS)

Pan Fusheng; Yang Mingbo; Shen Jia; Wu Lu

2011-01-01

Research highlights: → Minor Zr and/or Sr additions can effectively refine the grains of the Mg-3Ce-1.2Mn-0.9Sc alloy. → Minor Zr and/or Sr additions can improve the tensile properties of the Mg-3Ce-1.2Mn-0.9Sc alloy. → Minor Zr and/or Sr additions can improve the creep properties of the Mg-3Ce-1.2Mn-0.9Sc alloy. - Abstract: The effects of minor Zr and Sr on the as-cast microstructure and mechanical properties of the Mg-3Ce-1.2Mn-0.9Sc (wt.%) alloy were investigated by using optical and electron microscopies, differential scanning calorimetry (DSC) analysis, and tensile and creep tests. The results indicate that adding minor Zr and/or Sr to the Mg-3Ce-1.2Mn-0.9Sc alloy does not cause an obvious change in the morphology and distribution of the Mg 12 Ce phase. However, the grains of the Zr and/or Sr-containing alloys are effectively refined. Among the Zr and/or Sr-containing alloys, the grains of the alloy with the addition of 0.5 wt.%Zr + 0.1 wt.%Sr are the finest, followed by the alloys with the additions of 0.5 wt.%Zr and 0.1 wt.%Sr, respectively. In addition, small additions of Zr and/or Sr can improve the tensile and creep properties of the Mg-3Ce-1.2Mn-0.9Sc alloy. Among the Zr and/or Sr-containing alloys, the alloy with the addition of 0.5 wt.%Zr + 0.1 wt.%Sr obtains the optimum tensile and creep properties.

Digital Emotion : How Audiences React to Robots on Screen

OpenAIRE

Damian Schofield,

2018-01-01

The experience of interacting with robots is becoming a more pervasive part of our day-to-day life. When considering the experience of interacting with other technologies and artefacts, interaction with robots presents a distinct and potentially unique component: physical connection. Robots share our physical space; this is a prominent part of the interaction experience. Robots offer a lifelike presence and the Human-Robot Interaction (HRI) issues go beyond the traditional interactions of mor...

Practice Makes Perfect: Correlations Between Prior Experience in High-level Athletics and Robotic Surgical Performance Do Not Persist After Task Repetition.

Science.gov (United States)

Shee, Kevin; Ghali, Fady M; Hyams, Elias S

Robotic surgical skill development is central to training in urology as well as in other surgical disciplines. Here, we describe a pilot study assessing the relationships between robotic surgery simulator performance and 3 categories of activities, namely, videogames, musical instruments, and athletics. A questionnaire was administered to preclinical medical students for general demographic information and prior experiences in surgery, videogames, musical instruments, and athletics. For follow-up performance studies, we used the Matchboard Level 1 and 2 modules on the da Vinci Skills Simulator, and recorded overall score, time to complete, economy of motion, workspace range, instrument collisions, instruments out of view, and drops. Task 1 was run once, whereas task 2 was run 3 times. All performance studies on the da Vinci Surgical Skills Simulator took place in the Simulation Center at Dartmouth-Hitchcock Medical Center. All participants were medical students at the Geisel School of Medicine. After excluding students with prior hands-on experience in surgery, a total of 30 students completed the study. We found a significant correlation between athletic skill level and performance for both task 1 (p = 0.0002) and task 2 (p = 0.0009). No significant correlations were found for videogame or musical instrument skill level. Students with experience in certain athletics (e.g., volleyball, tennis, and baseball) tended to perform better than students with experience in other athletics (e.g., track and field). For task 2, which was run 3 times, this association did not persist after the third repetition due to significant improvements in students with low-level athletic skill (levels 0-2). Our study suggests that prior experience in high-level athletics, but not videogames or musical instruments, significantly influences surgical proficiency in robot-naive students. Furthermore, our study suggests that practice through task repetition can overcome initial differences

Biocompatible Ni-free Zr-based bulk metallic glasses with high-Zr-content: Compositional optimization for potential biomedical applications

Energy Technology Data Exchange (ETDEWEB)

Hua, Nengbin, E-mail: flower1982cn@126.com [Department of Materials Science and Engineering, Fujian University of Technology, 350118 Fuzhou (China); Department of Materials Science and Engineering, Fuzhou University, 350116 Fuzhou (China); Huang, Lu [Department of Materials Science and Engineering, The University of Tennessee, Knoxville, TN 37996-2100 (United States); Chen, Wenzhe [Department of Materials Science and Engineering, Fujian University of Technology, 350118 Fuzhou (China); Department of Materials Science and Engineering, Fuzhou University, 350116 Fuzhou (China); He, Wei [Department of Materials Science and Engineering, The University of Tennessee, Knoxville, TN 37996-2100 (United States); Department of Mechanical, Aerospace and Biomedical Engineering, The University of Tennessee, Knoxville, TN 37996-2200 (United States); Zhang, Tao [Key Laboratory of Aerospace Materials and Performance (Ministry of Education), School of Materials Science and Engineering, Beihang University, 100191 Beijing (China)

2014-11-01

The present study designs and prepares Ni-free Zr{sub 60+x}Ti{sub 2.5}Al{sub 10}Fe{sub 12.5−x}Cu{sub 10}Ag{sub 5} (at.%, x = 0, 2.5, 5) bulk metallic glasses (BMGs) by copper mold casting for potential biomedical application. The effects of Zr content on the in vitro biocompatibility of the Zr-based BMGs are evaluated by investigating mechanical properties, bio-corrosion behavior, and cellular responses. It is found that increasing the content of Zr is favorable for the mechanical compatibility with a combination of low Young's modulus, large plasticity, and high notch toughness. Electrochemical measurements demonstrate that the Zr-based BMGs are corrosion resistant in a phosphate buffered saline solution. The bio-corrosion resistance of BMGs is improved with the increase in Zr content, which is attributed to the enrichment in Zr and decrease in Al concentration in the surface passive film of alloys. Regular cell responses of mouse MC3T3-E1 cells, including cell adhesion and proliferation, are observed on the Zr–Ti–Al–Fe–Cu–Ag BMGs, which reveals their general biosafety. The high-Zr-based BMGs exhibit a higher cell proliferation activity in comparison with that of pure Zr and Ti-6Al-4V alloy. The effects of Zr content on the in vitro biocompatibility can be used to guide the future design of biocompatible Zr-based BMGs. - Highlights: • Ni-free Zr{sub 60+x}Ti{sub 2.5}Al{sub 10}Fe{sub 12.5−x}Cu{sub 10}Ag{sub 5} (at.%, x = 0, 2.5, 5) BMGs were fabricated. • Plasticity and notch toughness of BMGs are enhanced by high-Zr-content. • The high-Zr-based BMGs exhibit excellent bio-corrosion resistance in PBS solution. • The biosafety of BMGs is revealed by regular cell adhesion and proliferation. • High-Zr-bearing BMGs are favorable for potential applications as biomaterials.

Transformation behavior of the γU(Zr,Nb) phase under continuous cooling conditions

Science.gov (United States)

Komar Varela, C. L.; Gribaudo, L. M.; González, R. O.; Aricó, S. F.

2014-10-01

The selected alloy for designing a high-density monolithic-type nuclear fuel with U-Zr-Nb alloy as meat and Zry-4 as cladding, has to remain in the γU(Zr,Nb) phase during the whole fabrication process. Therefore, it is necessary to define a range of concentrations in which the γU(Zr,Nb) phase does not decompose under the process conditions. In this work, several U alloys with concentrations between 28.2-66.9 at.% Zr and 0-13.3 at.% Nb were fabricated to study the possible transformations of the γU(Zr,Nb) phase under different continuous cooling conditions. The results of the electrical resistivity vs temperature experiments are presented. For a cooling rate of 4 °C/min a linear regression was determined by fitting the starting decomposition temperature as a function of Nb concentration. Under these conditions, a concentration of 45.3 at.% Nb would be enough to avoid any transformation of the γU(Zr,Nb) phase. In experiments that involve higher cooling conditions, it has been determined that this concentration can be halved.

Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe technology transfer experiments from the ECHORD project

CERN Document Server

Veiga, Germano; Natale, Ciro

2014-01-01

This monograph by Florian Röhrbein, Germano Veiga and Ciro Natale is an edited collection of 15 authoritative contributions in the area of robot technology transfer between academia and industry. It comprises three parts on Future Industrial Robotics, Robotic Grasping as well as Human-Centered Robots. The book chapters cover almost all the topics nowadays considered ‘hot’ within the robotics community, from reliable object recognition to dexterous grasping, from speech recognition to intuitive robot programming, from mobile robot navigation to aerial robotics, from safe physical human-robot interaction to body extenders. All contributions stem from the results of ECHORD – the European Clearing House for Open Robotics Development, a large-scale integrating project funded by the European Commission within the 7th Framework Programme from 2009 to 2013. ECHORD’s two main pillars were the so-called experiments, 51 small-sized industry-driven research projects, and the structured dialog, a powerful interac...

Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe technology transfer experiments from the ECHORD project

CERN Document Server

Veiga, Germano; Natale, Ciro

2014-01-01

This monograph by Florian Röhrbein, Germano Veiga and Ciro Natale is an edited collection of 15 authoritative contributions in the area of robot technology transfer between academia and industry. It comprises three parts on Future Industrial Robotics, Robotic Grasping as well as Human-Centered Robots. The book chapters cover almost all the topics nowadays considered ‘hot’ within the robotics community, from reliable object recognition to dexterous grasping, from speech recognition to intuitive robot programming, from mobile robot navigation to aerial robotics, from safe physical human-robot interaction to body extenders. All contributions stem from the results of ECHORD – the European Clearing House for Open Robotics Development, a large-scale integrating project funded by the European Commission within the 7th Framework Programme from 2009 to 2013. ECHORD’s two main pillars were the so-called experiments, 52 small-sized industry-driven research projects, and the structured dialog, a powerful interac...

[Robotics in general surgery: personal experience, critical analysis and prospectives].

Science.gov (United States)

Fracastoro, Gerolamo; Borzellino, Giuseppe; Castelli, Annalisa; Fiorini, Paolo

2005-01-01

Today mini invasive surgery has the chance to be enhanced with sophisticated informative systems (Computer Assisted Surgery, CAS) like robotics, tele-mentoring and tele-presence. ZEUS and da Vinci, present in more than 120 Centres in the world, have been used in many fields of surgery and have been tested in some general surgical procedures. Since the end of 2003, we have performed 70 experimental procedures and 24 operations of general surgery with ZEUS robotic system, after having properly trained 3 surgeons and the operating room staff. Apart from the robot set-up, the mean operative time of the robotic operations was similar to the laparoscopic ones; no complications due to robotic technique occurred. The Authors report benefits and disadvantages related to robots' utilization, problems still to be solved and the possibility to make use of them with tele-surgery, training and virtual surgery.

Robotic hand with modular extensions

Science.gov (United States)

Salisbury, Curt Michael; Quigley, Morgan

2015-01-20

A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.

Single plus one port robotic radical prostatectomy (SPORP; Initial experience

Directory of Open Access Journals (Sweden)

Volkan Tugcu

2017-10-01

Full Text Available Objective: This article reports on patients with early stage prostate cancer treated with single plus one port robotic radical prostatectomy (SPORP. Materials and methods: Since January 2014, we performed SPORP in 8 patients with localized prostate cancer. Age of patients, clinical stage, operation time, intraoperative and postoperative complications, blood loss, histopathological evaluation, postoperative continence, serum level of PSA were evaluated. Results: Mean age of the 8 patients was 59.85 years. All operations were completed without conversion to standard robotic procedure or open surgery. No intra operative complications occurred. Mean operating time was 143 minutes; prostate excision 123 minutes and urethrovesical anastomosis 20 minutes. Mean blood loss was 45 ml. Preoperative Gleason scores were (3 + 4 in one patient and (3 + 3 in 7 patients. Postoperative Gleason scores were (3 + 4 in 2 patients, and (3 + 3 in 6 patients. All these 8 cases were in T1c clinical stage. Early postoperative complications were drain leakage (n = 1, atelectasis (n = 1, wound infection (n = 1 and fever (n = 1. There was no positive surgical margin. The serum level of PSA was less than 0.2 ng/ml and no other complications happened during the 4 to 12 months follow-up period. Postoperative continence and cosmetic results were excellent. Conclusions: It is relatively easy for urologists who are skilled in traditional laparoscopic and robotic surgeries to master SPORP. However long-term outcomes of this surgery need further investigations.

Modified bug-1 algorithm based strategy for obstacle avoidance in multi robot system

Directory of Open Access Journals (Sweden)

Kandathil Jom J.

2018-01-01

Full Text Available One of the primary ability of an intelligent mobile robot system is obstacle avoidance. BUG algorithms are classic examples of the algorithms used for achieving obstacle avoidance. Unlike many other planning algorithms based on global knowledge, BUG algorithms assume only local knowledge of the environment and a global goal. Among the variations of the BUG algorithms that prevail, BUG-0, BUG-1 and BUG-2 are the more prominent versions. The exhaustive search algorithm present in BUG-1 makes it more reliable and safer for practical applications. Overall, this provides a more predictable and dependable performance. Hence, the essential focus in this paper is on implementing the BUG-1 algorithm across a group of robots to move them from a start location to a target location. The results are compared with the results from BUG-1 algorithm implemented on a single robot. The strategy developed in this work reduces the time involved in moving the robots from starting location to the target location. Further, the paper shows that the total distance covered by each robot in a multi robot-system is always lesser than or equal to that travelled by a single robot executing the same problem.

Simultaneous multi-wavelength ultraviolet excited single-phase white light emitting phosphor Ba1-x(Zr,Ti)Si3O9:xEu

Science.gov (United States)

Zhou, Zhenzhen; Liu, Guanghui; Ni, Jia; Liu, Wanlu; Liu, Qian

2018-05-01

A kind of novel compound Ba1-x(Zr,Ti)Si3O9:xEu simultaneously activated by different-valence Eu2+ and Eu3+ ions has been successfully synthesized. The existence of Ti4+-O2- charge transfer (CT) transitions in Ba1-xZrSi3O9:xEu is proved by the photoluminescence spectra and first principle calculations, and the Ti4+ ions come from the impurities in commercial ZrO2 raw materials. Under the excitation of multi-wavelength ultraviolet radiation (λEX = 392, 260, 180 nm), Ba1-xZrSi3O9:xEu (x = 0.15) can directly emit nearly white light. The coexistence of multiple luminescent centers and the energy transfer among Zr4+-O2- CT state, Ti4+-O2- CT state, Eu2+ and Eu3+ ions play important roles in the white light emission. Ba1-xZrSi3O9:xEu (x = 0.15) has good thermal stability, in particular, the intensity of emission spectrum (λEX = 392 nm) at 150 °C is ∼96% of that at room temperature. In general, the multi-wavelength ultraviolet-excited single-phase white light emitting phosphor Ba1-x(Zr,Ti)Si3O9:xEu possesses a promise for applications in white light emitting diodes (WLEDs), agriculture, medicine and other photonic fields.

Robotic surgery in complicated gynecologic diseases: experience of Tri-Service General Hospital in Taiwan.

Science.gov (United States)

Tan, Shun-Jen; Lin, Chi-Kung; Fu, Pei-Te; Liu, Yung-Liang; Sun, Cheng-Chian; Chang, Cheng-Chang; Yu, Mu-Hsien; Lai, Hung-Cheng

2012-03-01

Minimally invasive surgery has been the trend in various specialties and continues to evolve as new technology develops. The development of robotic surgery in gynecology remains in its infancy. The present study reports the first descriptive series of robotic surgery in complicated gynecologic diseases in Taiwan. From March 2009 to February 2011, the records of patients undergoing robotic surgery using the da Vinci Surgical System were reviewed for patient demographics, indications, operative time, hospital stay, conversion to laparotomy, and complications. Sixty cases were reviewed in the present study. Forty-nine patients had benign gynecologic diseases, and 11 patients had malignancies. These robot-assisted laparoscopic procedures include nine hysterectomy, 15 subtotal hysterectomy, 13 myomectomy, eight staging operation, two radical hysterectomy, five ovarian cystectomy, one bilateral salpingo-oophorectomy and myomectomy, two resections of deep pelvic endometriosis, one pelvic adhesiolysis, three sacrocolpopexy and one tuboplasty. Thirty-three patients had prior pelvic surgery, and one had a history of pelvic radiotherapy. Adhesiolysis was necessary in 38 patients to complete the whole operation. Robotic myomectomy was easily accomplished in patients with huge uterus or multiple myomas. The suturing of myometrium or cervical stump after ligation of the uterine arteries minimized the blood loss. In addition, it was much easier to dissect severe pelvic adhesions. The dissection of para-aortic lymph nodes can be easily accomplished. All these surgeries were performed smoothly without ureteral, bladder or bowel injury. The present analyses include various complicated gynecologic conditions, which make the estimation of the effectiveness of robotic surgery in each situation individually not appropriate. However, our experiences do show that robotic surgery is feasible and safe for patients with complicated gynecologic diseases. Copyright © 2012. Published by

[Human-robot global Simulink modeling and analysis for an end-effector upper limb rehabilitation robot].

Science.gov (United States)

Liu, Yali; Ji, Linhong

2018-02-01

Robot rehabilitation has been a primary therapy method for the urgent rehabilitation demands of paralyzed patients after a stroke. The parameters in rehabilitation training such as the range of the training, which should be adjustable according to each participant's functional ability, are the key factors influencing the effectiveness of rehabilitation therapy. Therapists design rehabilitation projects based on the semiquantitative functional assessment scales and their experience. But these therapies based on therapists' experience cannot be implemented in robot rehabilitation therapy. This paper modeled the global human-robot by Simulink in order to analyze the relationship between the parameters in robot rehabilitation therapy and the patients' movement functional abilities. We compared the shoulder and elbow angles calculated by simulation with the angles recorded by motion capture system while the healthy subjects completed the simulated action. Results showed there was a remarkable correlation between the simulation data and the experiment data, which verified the validity of the human-robot global Simulink model. Besides, the relationship between the circle radius in the drawing tasks in robot rehabilitation training and the active movement degrees of shoulder as well as elbow was also matched by a linear, which also had a remarkable fitting coefficient. The matched linear can be a quantitative reference for the robot rehabilitation training parameters.

Structural and morphological properties of HfxZr 1-xO2 thin films prepared by Pechini route

KAUST Repository

García-Cerda, L. A.

2010-03-01

In this study, HfxZr1-xO2 (0 < x < 1) thin films were deposited on silicon wafers using a dip-coating technique and by using a precursor solution prepared by the Pechini route. The effects of annealing temperature on the structure and morphological properties of the proposed films were investigated. HfxZr1-xO2 thin films with 1, 3 and 5 layers were annealed in air for 2 h at 600 and 800 °C and the structural and morphological properties studied by X-ray diffraction (XRD) and scanning electron microscopy (SEM). XRD results show that the films have monoclinic and tetragonal structure depending of the Hf and Zr concentration. SEM photographs show that all films consist of nanocrystalline grains with sizes in the range of 6 - 13 nm. The total film thickness is about 90 nm. © (2010) Trans Tech Publications.

Microstructural and thermophysical properties of U–6 wt.%Zr alloy for fast reactor application

International Nuclear Information System (INIS)

Kaity, Santu; Banerjee, Joydipta; Nair, M.R.; Ravi, K.; Dash, Smruti; Kutty, T.R.G.; Kumar, Arun; Singh, R.P.

2012-01-01

Highlights: ► Characterization of U–6%Zr alloy prepared by injection casting route. ► Martensitic to non-martensitic transformation of U–6%Zr alloy occurs at 843 K. ► Specific heat versus temperature curve shows a phase transition at 845 K. ► Average coefficient of thermal expansion is 18.28 × 10 −6 K −1 (298–823 K). ► Hardness versus temperature plot shows a transition at 748 K. - Abstract: The microstructural and high temperature behavior of U–6 wt.%Zr alloy has been investigated in this study. U–6 wt.%Zr alloy sample for this study was prepared by following injection casting route. The thermophysical properties like coefficient of thermal expansion, specific heat, thermal conductivity of the above alloy were determined. The hot-hardness data of the U–6 wt.%Zr alloy was also generated from room temperature to 973 K. Apart from that, the fuel-clad chemical compatibility with T91 grade steel was also studied by diffusion couple experiment. No studies have been reported on U–6 wt.%Zr alloy. This paper aims at filling up the gap on characterization and thermophysical property evaluation of U–6 wt.%Zr alloy.

Thermo-chemical properties and electrical resistivity of Zr-based arsenide chalcogenides

OpenAIRE

A. Schlechte, R. Niewa, M. Schmidt, G. Auffermann, Yu. Prots, W. Schnelle, D. Gnida, T. Cichorek, F. Steglich and R. Kniep

2007-01-01

Ternary phases in the systems Zr–As–Se and Zr–As–Te were studied using single crystals of ZrAs1.40(1)Se0.50(1) and ZrAs1.60(2)Te0.40(1) (PbFCl-type of structure, space group P4/nmm) as well as ZrAs0.70(1)Se1.30(1) and ZrAs0.75(1)Te1.25(1) (NbPS-type of structure, space group Immm). The characterization covers chemical compositions, crystal structures, homogeneity ranges and electrical resistivities. At 1223 K, the Te-containing phases can be described with the general formula ZrAsxTe2−x, with...

Grain boundary sinks in neutron-irradiated Zr and Zr-alloys

International Nuclear Information System (INIS)

Griffiths, M.; Gilbert, R.W.; Coleman, C.E.

1988-01-01

Samples of annealed sponge and crystal-bar Zr and Zircaloy-2 have been examined following irradiation in EBR-II at temperatures ≅ 700 K. Loop analysis shows that there is selective denuding of interstitial loops near to some grain boundaries indicating that such boundaries are net sinks for interstitial point defects. Furthermore, in sponge Zr and Zircaloy-2, vacancy c-component loops are observed running into the grain boundaries showing that the grain boundaries are not preferred sinks for vacancies. Cavities are observed in all samples. In crystal-bar Zr and sponge Zr they are mostly observed adjacent to grain boundaries. They are also sometimes found within grains associated with precipitates. The cavities are more common in the crystal-bar Zr and this is probably because both the sponge Zr and Zircaloy-2 contain vacancy c-component loops which compete for vacancies (assuming that the cavities are vacancy sinks). Only some of the grain boundaries have cavities adjacent to them and this may be related to the orientation of the boundary. (orig.)

Anodic Fabrication of Ti-Nb-Zr-O Nanotube Arrays

Directory of Open Access Journals (Sweden)

Qiang Liu

2014-01-01

Full Text Available Highly ordered Ti-Nb-Zr-O nanotube arrays were fabricated through pulse anodic oxidation of Ti-Nb-Zr alloy in 1 M NaH2PO4 containing 0.5 wt% HF electrolytes. The effect of anodization parameters and Zr content on the microstructure and composition of Ti-Nb-Zr-O nanotubes was investigated using a scanning electron microscope equipped with energy dispersive X-ray analysis. It was found that length of the Ti-Nb-Zr-O nanotubes increased with increase of Zr contents. The diameter and the length of Ti-Nb-Zr-O nanotubes could be controlled by pulse voltage. XRD analysis of Ti-Nb-Zr-O samples annealed at 500°C in air indicated that the (101 diffraction peaks shifted from 25.78° to 25.05° for annealed Ti-Nb-Zr-O samples with different Zr contents because of larger lattice parameter of Ti-Nb-Zr-O compared to that of undoped TiO2.

Arsenic Removal from Pinctada martensii Enzymatic Hydrolysate by Using Zr(Ⅳ)-Loaded Chelating Resin

Institute of Scientific and Technical Information of China (English)

YANG Xiaoman; DAI Wenjin; SUN Huili; PAN Jianyu

2013-01-01

The present study investigated the removal of inorganic arsenic from Pinctada martensii enzymatic hydrolysate through unmodified resin (D296) and Zr(Ⅳ)-loaded chelating resin (Zr-D401).By loading Zr to macroporous chelating resin D401,the as exchange adsorption active sites are generated.This transforms D401 from a material that does not have the arsenic adsorption capacity into a material that has excellent arsenic exchange adsorption capacity.The static adsorption experiments were conducted to investigate the optimal removal condition for D296 and Zr-D401.The experimental results show that:the optimum condition for D296 is that T=25℃,pH=5,resin additive amount=1 g(50mL)-1,and contact time=10h,the corresponding arsenic removal rate being 65.7％,and protein loss being 2.33％; the optimum condition for Zr-D401 is that T=25 ℃,pH=8,resin additive amount=1 g (50 mL)-1,and contact time=10 h,the corresponding arsenic removal rate being 70.3％,and protein loss being 4.65％.These results show that both of the two resins are effective in arsenic removal for preserving useful substance.Our research provides scientific evidence and advances in the processing technology for heavy metal removal in shellfish.

Human-robot interaction tests on a novel robot for gait assistance.

Science.gov (United States)

Tagliamonte, Nevio Luigi; Sergi, Fabrizio; Carpino, Giorgio; Accoto, Dino; Guglielmelli, Eugenio

2013-06-01

This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with specific focus on the evaluation of intrinsic backdrivability and of assistance capability. Tests on a young healthy subject were conducted. In the case of robot completely unpowered, maximum backdriving torques were found to be in the order of 10 Nm due to the robot design features (reduced swinging masses; low intrinsic mechanical impedance and high-efficiency reduction gears for the actuators). Assistance tests demonstrated that the robot can deliver torques attracting the subject towards a predicted kinematic status.

Quantitative analysis of distributed control paradigms of robot swarms

DEFF Research Database (Denmark)

Ngo, Trung Dung

2010-01-01

describe the physical and simulated robots, experiment scenario, and experiment setup. Third, we present our robot controllers based on behaviour based and neural network based paradigms. Fourth, we graphically show their experiment results and quantitatively analyse the results in comparison of the two......Given a task of designing controller for mobile robots in swarms, one might wonder which distributed control paradigms should be selected. Until now, paradigms of robot controllers have been within either behaviour based control or neural network based control, which have been recognized as two...... mainstreams of controller design for mobile robots. However, in swarm robotics, it is not clear how to determine control paradigms. In this paper we study the two control paradigms with various experiments of swarm aggregation. First, we introduce the two control paradigms for mobile robots. Second, we...

Oxidation study of Ta–Zr coatings

Energy Technology Data Exchange (ETDEWEB)

Chen, Yung-I, E-mail: yichen@mail.ntou.edu.tw; Chen, Sin-Min

2013-02-01

Refractory metal alloy coatings, such as Mo–Ru and Ta–Ru coatings, have been developed to protect glass molding dies. Forming intermetallic compounds in the coatings inhibits grain growth in high temperature environments when mass producing optical components. After annealing in oxygen containing atmospheres, a surface roughening of the Mo–Ru coatings and a soft oxide layer on the Ta–Ru coatings have been observed in our previous works. Oxidation resistance becomes critical in high-temperature applications. In this study, Ta–Zr coatings were deposited with a Ti interlayer on silicon wafers using direct current magnetron sputtering at 400 °C. The as-deposited Ta–Zr coatings possessed nanocrystallite or amorphous states, depending on the chemical compositions. The annealing treatments were conducted at 600 °C under atmospheres of 50 ppm O{sub 2}–N{sub 2} or 1% O{sub 2}–Ar, respectively. After the annealing treatment, this study investigated variations in crystalline structure, hardness, surface roughness, and chemical composition profiles. Preferential oxidation of Zr in the Ta–Zr coatings was verified using X-ray photoelectron spectroscopy, and the microstructure was observed using transmission electron microscopy. - Highlights: ►The as-deposited Ta-rich Ta–Zr coatings revealed an amorphous structure. ►The Zr-rich coatings presented a crystalline β-Zr phase and an amorphous matrix. ►Zr oxidized preferentially as Ta–Zr coatings annealed at 600 °C. ►The hardness of coatings revealed a parabolic relationship with the oxygen content. ►A protective oxide scale formed on the surface of the crystallized Zr-rich coatings.

Investigations of the physical and chemical properties of solid solutions Pb/Mnsub(1/2), Nbsub(1/2)/O3 - PbTiO3 - PbZrO3

International Nuclear Information System (INIS)

Szadkowska, A.; Majewska-Pilchowska, K.

1981-01-01

The preparation of the PMTZ materials on the basis of solid solutions Pb/Mnsub(1/2)/O 3 - PbTiO 3 - PbZrO 3 has been described. The X-ray analysis of the examined materials has been made, and porosity and grain size have been determined. Dielectric constant and mechanical quality factor as a function of PbZrO 3 content have been determined. The obtained results indicate that solid solutions Pb/Mnsub(1/2), Nbsub(1/2)/O 3 - PbTiO 3 - PbZrO 3 are useful piezoelectric materials. (author)

Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

Science.gov (United States)

2014-10-01

a wheeled mobile robot. Robotica , 20(2): 181–193, 2002. [7] O. Purwin and R. D‘Andrea. Trajectory generation and control for four wheeled...robot on an uneven surface. Robotica , 27(4):481–498, 2009. [9] S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale

PEMISAHAN Zr – Hf SECARA SINAMBUNG MENGGUNAKAN MIXER SETTLER

Directory of Open Access Journals (Sweden)

Dwi Biyantoro

2017-01-01

Full Text Available ABSTRAK PEMISAHAN Zr – Hf SECARA SINAMBUNG MENGGUNAKANMIXER SETTLER. Telah dilakukan pemisahanZr – Hf secara sinambung menggunakan pengaduk pengenap (mixer settler 16 stage. Larutan umpan adalah zirkon nitrat dengan kadar Zr = 30786 ppm dan Hf = 499 ppm. Ekstraktan dipakai adalah solven 60 % TBP dalam kerosen dan larutan scrubbingyang dipakai adalah asam nitrat 1 M. Umpan masuk pada stageke 5 dikontakkan secara berlawanan arah dengan solven masuk pada stage ke 16 dan larutan scrubbing masuk pada stage ke 1. Tujuan penelitian ini adalah memisahkan unsur Zr dan Hf dari hasil olah pasir zirkon menggunakan solven TBP dengan alat mixer settler16 stage. Analisis umpan dan hasil proses pemisahan untuk zirkonium (Zr dilakukan dengan menggunakan alat pendar sinar-X, sedangkananalisis unsur hafnium (Hf menggunakan Analisis Pengaktifan Neutron (APN. Parameter penelitian dilakukan dengan variasi keasaman asam nitrat dalam umpan dan variasi waktu pada berbagai laju pengadukan. Hasil penelitian pemisahan unsur Zr dengan Hf diperolehkondisi optimum pada keasaman umpan 4 N HNO3, keseimbangan dicapai setelah 3jam dan laju pengadukan 3300 rpm. Hasil ekstrak  unsur zirkon (Zr diperoleh kadar sebesar 28577 ppm dengan efisiensi 92,76 % serta kadar pengotor hafnium (Hf sebesar 95 ppm. Kata Kunci: pemisahan Zr, Hf, ekstraksi, mixer settler, alat pendar sinar-X, APN. ABSTRACT SEPARATION of Zr - Hf CONTINUOUSLY USE THE MIXER SETTLER. Separation of Zr - Hf continuously using mixer settler 16 stage has been done. The feed solution is zircon nitrate concentration of Zr = 30786 ppm  and Hf = 499 ppm. As the solvent used extractant 60 % TBP in 40 % kerosene. Nitric acid solution used srubbing 1 M. The feed entered into stage to 5 is contacted with solvents direction on the stage to 16 and the scrubbing solution enter the stage to 1. The purpose of this study is to separate Zr and Hf of the results from the process of zircon sand using solvent TBP using 16 stage

Influence of air and vacuum environment on fatigue behavior of Zr-based bulk metallic glasses

International Nuclear Information System (INIS)

Wang, G.Y.; Liaw, P.K.; Yokoyama, Y.; Peter, W.H.; Yang, B.; Freels, M.; Buchanan, R.A.; Liu, C.T.; Brooks, C.R.

2007-01-01

High-cycle fatigue (HCF) experiments in air and vacuum at room temperature were conducted on zirconium (Zr)-based bulk-metallic glasses (BMGs): Zr 50 Cu 40 Al 10 , Zr 50 Cu 30 Al 10 Ni 10 , and Zr 50 Cu 37 Al 10 Pd 3 in atomic percent. The fatigue-endurance limit of Zr 50 Cu 37 Al 10 Pd 3 was found to be significantly greater than those of Zr 50 Cu 40 Al 10 and Zr 50 Cu 30 Al 10 Ni 10 , which indicates that the inclusions of Pd and the resulting nano structures improve the fatigue resistances of the Zr-based BMGs. The fatigue lives in vacuum and air were generally found to be comparable

Structural Studies of dielectric HDPE+ZrO2 polymer nanocomposites: filler concentration dependences

Science.gov (United States)

Nabiyev, A. A.; Islamov, A. Kh; Maharramov, A. M.; Nuriyev, M. A.; Ismayilova, R. S.; Doroshkevic, A. S.; Pawlukojc, A.; Turchenko, V. A.; Olejniczak, A.; Rulev, M. İ.; Almasan, V.; Kuklin, A. I.

2018-03-01

Structural properties of HDPE+ZrO2 polymer nanocomposites thin films of 80-100μm thicknesses were investigated using SANS, XRD, Laser Raman and FTIR spectroscopy. The mass fraction of the filler was 1, 3, 10, and 20%. Results of XRD analysis showed that ZrO2 powder was crystallized both in monoclinic and in cubic phase under normal conditions. The percentages of monoclinic and cubic phase were found to be 99.8% and 0.2%, respectively. It was found that ZrO2 nanoparticles did not affect the main crystal and chemical structure of HDPE, but the degree of crystallinity of the polymer decreases with increasing concentration of zirconium oxide. SANS experiments showed that at ambient conditions ZrO2 nanoparticles mainly distributed like mono-particles in the polymer matrix at all concentrations of filler.The structure of HDPE+ZrO2 does not changes up to 132°C at 1-3% of filler, excepting changing of the polymer structure at temperatures upper 82°C. At high concentrations of filler 10-20% the aggregation of ZrO2 nanoparticles occurs, forming domains of 2.5μm. The results of Raman and FTIR spectroscopy did not show additional specific chemical bonds between the filler and the polymer matrix. New peaks formation was not observed. These results suggest that core-shell structure does not exist in the polymer nanocomposite system.

Experimental investigation of phase equilibria in the Zr-Cu-Ni ternary system

Energy Technology Data Exchange (ETDEWEB)

Yang, Mujin; Wang, Cuiping; Yang, Shuiyuan; Shi, Zhan; Han, Jiajia; Liu, Xingjun [Xiamen Univ. (China). College of Materials and Fujian Provincial Key Lab. of Materials Genome

2017-08-15

The phase equilibria in the Zr-Cu-Ni ternary system are investigated combined with X-ray diffraction, electron probe micro-analysis and differential scanning calorimetry. Two isothermal sections of the Zr-Cu-Ni ternary system at 1 000 C and 1 100 C are experimentally established. Most of the binary intermetallic compounds, e.g. Zr{sub 7}Ni{sub 10}, ZrNi, ZrNi{sub 5}, Zr{sub 14}Cu{sub 51}, and Zr{sub 2}Cu{sub 9}, show a remarkable ternary solubility. A new ternary compound named τ{sub 3} (Zr{sub 31.1-30.7} . Cu{sub 28.5-40.3}Ni{sub 40.4-29.0}) is detected at 1 000 C and dissolved at 1 020 C because the nearby large liquid phase field further expands. The newly determined phase equilibria will provide important information for both thermodynamic assessment and alloy design of Zr-based metallic glass.

Autonomous mobile robot teams

Science.gov (United States)

Agah, Arvin; Bekey, George A.

1994-01-01

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

1st AAU Workshop on Human-Centered Robotics

DEFF Research Database (Denmark)

The 2012 AAU Workshop on Human-Centered Robotics took place on 15 Nov. 2012, at Aalborg University, Aalborg. The workshop provides a platform for robotics researchers, including professors, PhD and Master students to exchange their ideas and latest results. The objective is to foster closer...... interaction among researchers from multiple relevant disciplines in the human-centered robotics, and consequently, to promote collaborations across departments of all faculties towards making our center a center of excellence in robotics. The workshop becomes a great success, with 13 presentations, attracting...... more than 45 participants from AAU, SDU, DTI and industrial companies as well. The proceedings contain 7 full papers selected out from the full papers submitted afterwards on the basis of workshop abstracts. The papers represent major research development of robotics at AAU, including medical robots...

Robotics as an integration subject in the computer science university studies. The experience of the University of Almeria

Directory of Open Access Journals (Sweden)

Manuela Berenguel Soria

2012-11-01

Full Text Available This work presents a global view of the role of robotics in computer science studies, mainly in university degrees. The main motivation of the use of robotics in these studies deals with the following issues: robotics permits to put in practice many computer science fundamental topics, it is a multidisciplinary area which allows to complete the basic knowledge of any computer science student, it facilitates the practice and learning of basic competences of any engineer (for instance, teamwork, and there is a wide market looking for people with robotics knowledge. These ideas are discussed from our own experience in the University of Almeria acquired through the studies of Computer Science Technical Engineering, Computer Science Engineering, Computer Science Degree and Computer Science Postgraduate.

RoMPS concept review automatic control of space robot, volume 2

Science.gov (United States)

Dobbs, M. E.

1991-01-01

Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form and include: (1) system concept; (2) Hitchhiker Interface Requirements; (3) robot axis control concepts; (4) Autonomous Experiment Management System; (5) Zymate Robot Controller; (6) Southwest SC-4 Computer; (7) oven control housekeeping data; and (8) power distribution.

Some observations on the synthesis and electrolytic properties of (Ba1-xCax (M0.9Y0.1O3, M = Ce, Zr-based samples modified with calcium

Directory of Open Access Journals (Sweden)

Dudek Magdalena

2016-03-01

Full Text Available In this paper, the impact of partial substitution of calcium for barium in (Ba1-xCax (M0.9Y0.1 O3, M = Ce, Zr on physicochemical properties of the powders and sintered samples was investigated. The powders, with various contents of calcium (x = 0, 0.02, 0.05, 0.1, were prepared by means of thermal decomposition of organometallic precursors containing EDTA. All of the BaCeO3-based powders synthesised at 1100 °C were monophasic with a rhombohedral structure, however, completely cubic BaZrO3-based solid solutions were obtained at 1200 °C. A study of the sinterability of BaZr0.9Y0.1O3 and BaCe0.9Y0.1O3-based pellets was performed under non-isothermal conditions within a temperature range of 25 to 1200 °C. The partial substitution of barium for calcium in the (Ba1-xCax (M0.9Y0.1 O3, M = Ce, Zr solid solution improved the sinterability of the samples in comparison to the initial BaCe0.9Y0.1O3 or BaZr0.9Y0.1O3. The relative density of calcium-modified BaCe0.9Y0.1O3-based samples reached approximately 95 to 97 % after sintering at 1500 °C for 2 h in air. The same level of relative density was achieved after sintering calcium-modified BaZr0.9Y0.1O3 at 1600 °C for 2 h. Analysis of the electrical conductivity from both series of investigated materials showed that the highest ionic conductivity, in air and wet 5 % H2 in Ar, was attained for the compositions of x = 0.02 to 0.05 (Ba1-xCax(M0.9Y0.1O3, M = Zr, Ce. The oxygen reduction reaction on the interface Pt│BaM0.9Y0.1O3, M = Ce, Zr was investigated using Pt microelectrodes. Selected samples of (Ba1-xCax (M0.9Y0.1O3, M = Zr, Ce were tested as ceramic electrolytes in hydrogen-oxygen solid oxide fuel cells operating at temperatures of 700 to 850 °C.

Zr inclusions in actinide—Zr alloys: New data and ideas about how they form

International Nuclear Information System (INIS)

Janney, Dawn E.; O'Holleran, Thomas P.

2015-01-01

High-Zr inclusions are common in actinide—Zr alloys despite phase diagrams indicating that these alloys should not contain a high-Zr phase. The inclusions may contain enough Zr to cause significant differences between bulk compositions and those of inclusion-free areas, leading to possible errors in interpreting data if the inclusions are not considered. This paper presents data from high-Zr inclusions in a complex U—Np—Pu—Am—Zr—RE alloy. It is suggested that the high-Zr inclusions nucleated as high-Zr solid solutions at interfaces with high-actinide RE liquids, then unmixed to form nanometer-scale high-actinide sub-inclusions.

Optical and structural characterization of SrZr0,1Ti0,9O3

International Nuclear Information System (INIS)

Delgado–Niño, Pilar; López–Rivera, S.A.; Mestres–Vila, Lourdes; Martínez–Sarrión, María Luisa; Valencia–Ríos, Jesús S.

2012-01-01

In this work, the ceramic compound SrTi 0.90 Zr 0,1 O 3 (SZT) was synthesized by the citrate method. This solid showed a 12 nm crystallite size, reflecting the high degree of crystallinity obtained by this synthesis route. Differential and gravimetric thermal analysis showed that the solid was formed from 520 °C; the chemical composition was determined by ICP–AES4, giving a stoichiometry corresponding to the SrTi 0.90 Zr 0.10 O 3 formula, and proved to be compatible with the X-ray diffraction data, refined by the Rietveld method. The morphology was explored by means of SEM and TEM, finding a homogenous particles distribution, arranged in lumps, susceptible to density changes by sintering between 1000 °C and 1200 °C. The photoluminescence (PL) spectrum shows a band between 470 nm and 520 nm, corresponding to the Ti and Zr ions 3d electronic transition. The SZT crystal structure is tetragonal with space group I4/mcm, number (140). - Highlights: ► The ceramic nano structured compound SrTi 0.90 Zr 0,1 O 3 was synthesized by the citrate method. ► Differential and gravimetric thermal analysis showed the right thermodynamical parameters ► Good agreement between the crystal structure, group theory and the optical properties was obtained. ► The sized and high crystallinity of the nanoparticules was confirmed by SEM and TEM. ► Crystal structure is tetragonal with space group I4/mcm was found by X-ray and Rietveld refinement.

Preparation and sintering of Zr(C,N,O) phases

International Nuclear Information System (INIS)

Tamborenea, S.; Mazzoni, A.D.; Aglietti, E.F.

2003-01-01

The Zr(C,O,N) compounds form a great mono-phase zone belonging to the pseudoternary ZrO-ZrN-ZrC system.Theses phases have cubic crystalline structure with a o parameter depending on the C, O 2 and N 2 content.These phases have many potential applications in the manufacture of ceramic pieces utilizable as electronic conductors.The Zr (C,O,N) phases can be obtained from ZrO 2 by carbonitriding reactions: that is carbothermal reduction and simultaneous nitriding.In this work a series of experiences of carbonitriding of zirconia under different conditions (temperatures between 1400 and 1600degC, times of 120 min, carbon content between 20 and 40%) in order to obtain suitable powders to be sintered.The XRD analysis shows the Zr(C,O,N) as the main products and β -ZrON as the only secondary product in proportions depending on the obtaining conditions.The variables employed were the C content and the reaction temperature.The Zr(C,O,N) content varies between 40 and 90% and tends to increase with the temperature and the carbon content whereas the β -ZrON phase varies between the 40 and 10 % decreasing its proportion with temperature and the carbon content.The oxidation resistance of these phases was studied by DTA-TG tests in air.Results show complete oxidation reaction at ∼500degC in air.The sintering of these materials was made on disks obtained by pressing of powders of Zr(C,N,O) contents higher than 90%.Sintering was performed in nitrogen atmosphere and temperatures between 1450 and 1620degC.Disks were characterized by pycnometry and Hg volumeter.The densities obtained were between 5 and 6,6g/cm 3 with a tendency to increase with the Zr(C,N,O) phase content, the temperature and the sintering time.Sintered disks were characterized by dilatometry in N 2

The research on wing sail of a land-yacht robot

Directory of Open Access Journals (Sweden)

Shaorong Xie

2015-12-01

Full Text Available A wind-driven land-yacht robot which will be applied in polar expedition is presented in this article. As the main power of robot is provided by wing sail, improving the efficiency of wing sail is the key for its motion. Wing sail is composed of airfoil, so airfoil theory is researched first, and then several airfoils and their aerodynamic performance are compared, and a high-efficiency airfoil is selected. After that, overturning torque and start wind speed of robot are analyzed to determine the size of the wing sail. At last, the wing sail is manufactured and checked, and it is tested by start wind speed experiments, running speed experiments, steering motion, and obstacle avoidance experiments. The minimum start wind speed is 6 m/s. When wind speed is 10.3 m/s and angle of attack is 90°, running velocity of robot is 1.285 m/s. A land-yacht robot can run steering motion well and avoid obstacle to the target. The result shows that wing sail satisfies the motion requirement of land-yacht robot.

Analyzing Cyber-Physical Threats on Robotic Platforms.

Science.gov (United States)

Ahmad Yousef, Khalil M; AlMajali, Anas; Ghalyon, Salah Abu; Dweik, Waleed; Mohd, Bassam J

2018-05-21

Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream) and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT) was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBot TM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS) and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications.

Analyzing Cyber-Physical Threats on Robotic Platforms

Directory of Open Access Journals (Sweden)

Khalil M. Ahmad Yousef

2018-05-01

Full Text Available Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBotTM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications.

US Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance 2014 Capstone Experiment

Science.gov (United States)

2016-07-01

42 Fig. 31 (left) The experimental setup for terrain classification using PreSRS on the Hopper . (right) A computer-aided design schematic of the... Hopper with PreSRS attached to the bottom of the robot foot. ........................44 Fig. 32 Plots of terrain classification accuracy vs. sensor...2.1 Robotics CTA The RCTA is a fundamental research program that began in 2010 and enables Government, industrial , and academic institutions to

Influence of microstructure on the accelerated corrosion in Zr-Nb alloys

International Nuclear Information System (INIS)

Muller, S; Lanzani, L

2012-01-01

The influence of microstructure on the accelerated corrosion of Zr-1%Nb and Zr-2.5%Nb (CANDU's pressure tube material) has been studied. The behavior of Zircaloy-4 was also studied in order to compare the Zr-Nb alloys with an alloy that does not have niobium as an alloying element. The corrosion tests were carried out in LiOH 0.1M at 340 o C, in LiOH 1M at the same temperature and in steam at 400 o C. The results showed that the behavior of Zr-Nb alloys in steam at 400 o C is similar to that of Zircaloy-4 in this medium. However, Zr-Nb alloys are more sensitive than Zircaloy-4 to the presence of LiOH. The results suggest that the niobium concentration in the matrix is the parameter that defines the oxidation rate in Zr-Nb alloys, while the presence of second phases in these alloys (β--Zr/β-Nb/Zr-Nb-Fe) could be related with the growth of non-protective oxides in LiOH solutions. In LiOH 1M, the corrosion resistance of Zr-Nb alloys is similar to that of Zircaloy-4, except for the Zr-1Nb martensitic material which showed a sharp increase in the oxidation rate in this medium (author)

Microstructural characterization of LaB6-ZrB2 eutectic composites

International Nuclear Information System (INIS)

Wang Shengchang; Wei, W.J.; Zhang Litong

2003-01-01

Detail microstructure of LaB 6 -ZrB 2 composites has been characterized by TEM and HRTEM. The directionally solidified ZrB 2 fibers in LaB 6 matrix near LaB 6 -ZrB 2 eutectics present at least three growing relationship systems. In addition to previous report of [001]LaB 6 / [0001]ZrB 2 relationship, [0 anti 11]LaB 6 / [0001]ZrB 2 and [1 anti 20]LaB 6 / [0001]ZrB 2 . were identified. Different with [001]LaB 6 / [0001]ZrB 2 system, the interfaces of [0 anti 11]LaB 6 / [0001]ZrB 2 and [1 anti 20]LaB 6 / [0001]ZrB 2 . show non-coherent and clean interfaces. There is neither glassy phase nor reaction products found at the interfaces (orig.)

The EMeRGE modular robot, an open platform for quick testing of evolved robot morphologies

DEFF Research Database (Denmark)

Moreno Garcia, Rodrigo; Liu, Ceyue; Faina, Andres

2017-01-01

This work presents the hardware design and implementation of the EMeRGE open modular robot platform. EMeRGE (Easy Modular Embodied Robot Generation) modules are designed to be cheap and easy to build and their hardware is open for anyone to use and modify. Four magnetic connectors enable the quick...... assembly of different complex robot morphologies like the ones generated by evolutionary robotics experiments. Non-human agents, like robotic manipulators, can also take advantage of the magnetic connectors to assemble and disassemble morphologies....

A simple method for the sonochemical synthesis of PVA/ZrO2-vitamin B1 nanocomposites: Morphology, mechanical, thermal and wettability investigations.

Science.gov (United States)

Mallakpour, Shadpour; Shafiee, Elaheh

2018-01-01

Poly(vinyl alcohol) (PVA) based nanocomposites (NCs) filled by various weight percent of modified ZrO 2 nanoparticles (NPs) with vitamin B 1 (VB 1 ) up to 7wt% were fabricated via ultrasonication method then was cast to thin films. The ultrasonication was applied for the preparation and modification process asan easy, safe and fast method. Ultrasonic was responsible for great homogeneities of NPs into PVA matrix, which could not be achieved by mechanical or magnetically stirring. The creation of polymer NCs and changes in the structural properties were examined by X-ray diffraction. FT-IR spectroscopy indicated the possible interactions of the ZrO 2 -VB 1 NPs with the PVA backbones and also, existence of absorption bands related to PVA and ZrO 2 NPs in the NC structures. The distribution of nano-fillers and uniform morphology of the NCs showed that the ZrO 2 -VB 1 NPs were homogeneously dispersed in the polymer matrix in the nanosized scale. UV-Vis analysis shown that the the optical absorption were improved by evolution of ZrO 2 -VB 1 NPs content. The tensile strength of PVA film was increased significantly with increasing the ZrO 2 -VB 1 NPs content. Thermal gravimetric analysis confirmed that NCs displayed higher thermal stability than the pristine PVA. Also, water contact angle analysis indicated that the hydrophilicity of NC films was enhanced with increasing the concentration of ZrO 2 NPs. Copyright © 2017 Elsevier B.V. All rights reserved.

Robotically assisted MRgFUS system

Science.gov (United States)

Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

2010-03-01

Magnetic resonance imaging guided focus ultrasound surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. The objective of this ongoing work is to establish an MRgFUS therapy unit consisting of a specially designed FUS applicator as an add-on to a commercial robotic assistance system originally designed for percutaneous needle interventions in whole-body MRI systems. The fully MR compatible robotic assistance system InnoMotion™ (Synthes Inc., West Chester, USA; formerly InnoMedic GmbH, Herxheim, Germany) offers six degrees of freedom. The developed add-on FUS treatment applicator features a fixed focus ultrasound transducer (f = 1.7 MHz; f' = 68 mm, NA = 0.44, elliptical shaped -6-dB-focus: 8.1 mm length; O/ = 1.1 mm) embedded in a water-filled flexible bellow. A Mylar® foil is used as acoustic window encompassed by a dedicated MRI loop coil. For FUS application, the therapy unit is directly connected to the head of the robotic system, and the treatment region is targeted from above. A newly in-house developed software tool allowed for complete remote control of the MRgFUS-robot system and online analysis of MRI thermometry data. The system's ability for therapeutic relevant focal spot scanning was tested in a closed-bore clinical 1.5 T MR scanner (Magnetom Symphony, Siemens AG, Erlangen, Germany) in animal experiments with pigs. The FUS therapy procedure was performed entirely under MRI guidance including initial therapy planning, online MR-thermometry, and final contrast enhanced imaging for lesion detection. In vivo trials proved the MRgFUS-robot system as highly MR compatible. MR-guided focal spot scanning experiments were performed and a well-defined pattern of thermal tissue lesions was created. A total in vivo positioning accuracy of the US focus better than 2 mm was estimated which is comparable to existing MRgFUS systems. The newly developed FUS-robotic system offers an accurate, highly flexible focus positioning. With its access

Technological advances in robotic-assisted laparoscopic surgery.

Science.gov (United States)

Tan, Gerald Y; Goel, Raj K; Kaouk, Jihad H; Tewari, Ashutosh K

2009-05-01

In this article, the authors describe the evolution of urologic robotic systems and the current state-of-the-art features and existing limitations of the da Vinci S HD System (Intuitive Surgical, Inc.). They then review promising innovations in scaling down the footprint of robotic platforms, the early experience with mobile miniaturized in vivo robots, advances in endoscopic navigation systems using augmented reality technologies and tracking devices, the emergence of technologies for robotic natural orifice transluminal endoscopic surgery and single-port surgery, advances in flexible robotics and haptics, the development of new virtual reality simulator training platforms compatible with the existing da Vinci system, and recent experiences with remote robotic surgery and telestration.

Ab-initio study of the hyperfine parameters in P2{sub 1}/c, P42nmc and Fm3m zirconia phases doped with Ta{sub zr} and the vacancy-Ta{sub zr} complex

Energy Technology Data Exchange (ETDEWEB)

Casali, R.A. [Facultad de Ciencias Exactas, y Nat. y Agr.-UNNE-Avenue Libertad 5600, Corrientes (Argentina)]. E-mail: rac@exa.unne.edu.ar; Caravaca, M.A. [Facultad de Ingenieria-UNNE, Avenue Las Heras 727, Resistencia (Argentina)

2007-02-01

In this work we develop selfconsistent calculations by means of the all-electron method NFP-LMTO. The electronic structure, quadrupolar frequencies and asymmetry parameters of ZrO{sub 2} polymorphs doped with Ta placed at substitutional site to Zr (Ta{sub Zr}), with and without vacancies are studied in the monoclinic, tetragonal and cubic phases. The calculated hyperfine parameters in neutral Ta{sub Zr} in the monoclinic phase are in agreement with hypine parameters measured with PAC and assigned to substitutional site in a wide range of temperatures. However, in the case of Ta{sub Zr} in the tetragonal P42nmc phase, the electric field gradient (EFG) is in large disagreement with the experimental assignment. Therefore we explored the incorporation of a near neighbor oxygen vacancy in several charged states. We found that the TaV{sup 0} and TaV{sup +1} pairs in the tetragonal symmetry with axis length ratio c/a=1.02 gives electric field gradients V{sub zz} and {eta} in agreement with low-temperature values of the experimentally assigned pure tetragonal, called t-form. Further, the pair Ta-V with a ratio c/a=1 gives EFG in close agreement with reported high-temperature values.

Distribution and migration of 95Zr in a tea plant/soil system

International Nuclear Information System (INIS)

Shi Jianjun; Guo Jiangfeng

2006-01-01

95 Zr is a primary radionuclide in the radioactive liquid efflux from a pressurized water reactor and one of the main radionuclides released after nuclear accidents. The fission yield of 95 Zr is as high as 6.2%, however, its environmental behavior has not been well documented. An experiment was conducted to evaluate the accumulation and distribution of 95 Zr in a tea plant/soil system. 95 Zr was accumulated primarily in the trunk of tea plants after being taken up from the soil. The radioactivity concentration of 95 Zr in the trunk increased slowly with time, then it reached a dynamic equilibrium 14 days after application. The radioactivity concentration of 95 Zr in the other parts of the tea plant was very low; only slighter greater than the detection limit. The results indicated that 95 Zr was not readily translocated in the tea plant. About 98.9% of applied 95 Zr was found to concentrate in the upper 5 cm layer after being sprayed onto the soil surface. The results indicated that 95 Zr could not readily move downwards with percolating water due to strong adsorption to surface soil

Robot learning and error correction

Science.gov (United States)

Friedman, L.

1977-01-01

A model of robot learning is described that associates previously unknown perceptions with the sensed known consequences of robot actions. For these actions, both the categories of outcomes and the corresponding sensory patterns are incorporated in a knowledge base by the system designer. Thus the robot is able to predict the outcome of an action and compare the expectation with the experience. New knowledge about what to expect in the world may then be incorporated by the robot in a pre-existing structure whether it detects accordance or discrepancy between a predicted consequence and experience. Errors committed during plan execution are detected by the same type of comparison process and learning may be applied to avoiding the errors.

Nuclear structure of 88Sr and 90Zr investigated by (e,e') and (p,p') reactions

International Nuclear Information System (INIS)

Bijl, L.T. van der.

1982-01-01

In this thesis the results are presented and discussed from two experiments, performed to investigate the nuclear structure of two N = 50 nuclei: a high resolution inelastic proton scattering experiment on 90 Zr, described in chapter II, and a high resolution inelastic electron scattering experiment on 88 Sr, described in chapters III and IV. The results obtained in the 88 Sr(e,e') experiment for the 1 + state at 3.486 MeV excitation energy are described separately in chapter V. The 90 Zr(p,p') experiment was performed at a bombarding energy of 25 MeV with a resolution of 12 to 16 keV. The 88 Sr(e,e') measurements were performed at two laboratories with an overall resolution between 20 and 60 keV. (Auth.)

Feasibility study on the application of carbide (ZrC, SiC) for VHTR

Energy Technology Data Exchange (ETDEWEB)

Park, Ji Yeon; Kim, Weon Ju; Jung, Choong Hwan; Ryu, Woo Seog; Kim, Si Hyeong; Jang, Moon Hee; Lee, Young Woo

2006-08-15

A feasibility study on the coating process of ZrC for the TRISO nuclear fuel and applications of SiC as high temperature materials for the core components has performed to develop the fabrication process for the advanced ZrC TRISO fuels and the high temperature structural components for VHTR, respectively. In the case of ZrC coating, studies were focused on the comparisons of the developed coating processes for screening of our technology, the evaluations of the reactions parameters for a ZrC deposition by the thermodynamic calculations and the preliminary coating experiments by the chloride process. With relate to SiC ceramics, our interesting items are as followings; an analysis of applications and specifications of the SiC components and collections of the SiC properties and establishments of data base. For these purposes, applications of SiC ceramics for the GEN-IV related components as well as the fusion reactor related ones were reviewed. Additionally, the on-going activities with related to the ZrC clad and the SiC composites discussed in the VHTR GIF-PMB, were reviewed to make the further research plans at the section 1 in chapter 3.

Beyond speculative robot ethics: A vision assessment study on the future of the robotic caretaker

NARCIS (Netherlands)

Plas, A.P. van der; Smits, M.; Wehrmann, C.

2010-01-01

In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also led to

Textural and structural modifications of one smectite treated with different 0.1 M Zr solutions, with and without thermal treatment

International Nuclear Information System (INIS)

Volzone, Cristina; Hipedinger, Nora E.

1997-01-01

Smectite treated with with hydrolyzed Zr-solutions and posterior thermal treatment provide a product generally known as pillared inter layered clays (PILC), with interest as adsorbents, gas separation and catalysis. The smectite was dispersed in distilled water for one day at room temperature. The hydroxy-zirconium solutions were prepared from 0.1 M Zr O Cl 2 .8 H 2 O and hydrolyzed at different conditions: a) at room temperature 15 days; b) at 60 deg C one day; C) refluxed 2 hours and d) refluxed 12 hours. These solutions were slowly added to the dispersed smectite with stirring. After one day of contact at room temperature the solid was separated and washed several times. The amount of Zr added was 2.5 mmol per gram of smectite. The different Zr-smectites, at room temperature and 350 deg C, were characterized by: XRD, DTA, TGA and adsorption-desorption of N 2 . Textural and structural changes were observed in Zr-smectites depending on the prepared Zr solutions. (author)

Raspberry Pi robotics projects

CERN Document Server

Grimmett, Richard

2015-01-01

This book is for enthusiasts who want to use the Raspberry Pi to build complex robotics projects. With the aid of the step-by-step instructions in this book, you can construct complex robotics projects that can move, talk, listen, see, swim, or fly. No previous Raspberry Pi robotics experience is assumed, but even experts will find unexpected and interesting information in this invaluable guide.

Medical Robotic and Tele surgical Simulation Education Research

Science.gov (United States)

2017-05-01

Prototypes have been carried to product completion through additional investment by Adventist Health System/Sunbelt, Inc. dba Florida Hospital and are...robotic surgery. Prototypes have been carried to product completion through additional investment by Adventist Health System/Sunbelt, Inc. dba Florida...develop a nationally accepted curriculum in the Fundamentals of Robotic Surgery (FRS). Period 1 Telesurgery: Communications Latency Experiments

Microstructures and mechanical properties of Gd{sub 2}Zr{sub 2}O{sub 7}/ZrO{sub 2}(3Y) ceramics

Energy Technology Data Exchange (ETDEWEB)

Ma, Lei [Key Laboratory for Anisotropy and Texture of Materials (Ministry of Education), Northeastern University, Shenyang, Liaoning 110819 (China); Key Laboratory for Advanced Ceramics and Application of Shenyang, Shenyang University of Chemical Technology, Shenyang, Liaoning 110142 (China); Ma, Weimin, E-mail: maleisy2003@163.com [Key Laboratory for Advanced Ceramics and Application of Shenyang, Shenyang University of Chemical Technology, Shenyang, Liaoning 110142 (China); Sun, Xudong, E-mail: xdsun@mail.neu.edu.cn [Key Laboratory for Anisotropy and Texture of Materials (Ministry of Education), Northeastern University, Shenyang, Liaoning 110819 (China); Ji, Lianyong; Liu, Jianan; Hang, Kai [Key Laboratory for Advanced Ceramics and Application of Shenyang, Shenyang University of Chemical Technology, Shenyang, Liaoning 110142 (China)

2015-09-25

Highlights: • Gd{sub 2}Zr{sub 2}O{sub 7}/ZrO{sub 2}(3Y) composites were prepared using vacuum sintering. • The phase composition and microstructure are studied. • Gd{sub 2}Zr{sub 2}O{sub 7}/ZrO{sub 2}(3Y) materials show superior mechanical properties. • The solid solution strengthening and stress-induced phase transformation toughening mechanism are proposed. • Two kinds of mechanisms explain the improvement of mechanical properties. - Abstract: Gd{sub 2}Zr{sub 2}O{sub 7}/ZrO{sub 2}(3Y) composite ceramics were prepared by vacuum sintering using Gd{sub 2}Zr{sub 2}O{sub 7} and ZrO{sub 2}(3Y) nanoparticles. The ceramics were characterized using X-ray diffraction (XRD), scanning electron microscopy (SEM), energy dispersive spectrometer (EDS), the three-point-bending technique and single-edge-notched-beam tests. The effect of various proportions of ZrO{sub 2}(3Y) on the phase composition, microstructure, bending strength and fracture toughness of the final Gd{sub 2}Zr{sub 2}O{sub 7}/ZrO{sub 2}(3Y) composite ceramics was also analyzed. The change from m-ZrO{sub 2} to t-ZrO{sub 2} phase contents, before and after fracture, was measured using XRD quantitative phase analysis. The results confirm that, with the increasing content of ZrO{sub 2}(3Y), a phase transition from solid solution to saturated precipitation occurs and the bending strength and fracture toughness of the samples increase gradually. When the content of ZrO{sub 2}(3Y) reached 95 vol.%, the Gd{sub 2}Zr{sub 2}O{sub 7}/ZrO{sub 2}(3Y) composite ceramics had a bending strength of 547 MPa and a fracture toughness of 5.5 MPa m{sup 1/2}, indicating that stress-induced phase transformation toughening was an efficient way to increase the mechanical properties of the Gd{sub 2}Zr{sub 2}O{sub 7} ceramics.

Calculation of Gibbs energy of Zr-Al-Ni, Zr-Al-Cu, Al-Ni-Cu and Zr-Al-Ni-Cu liquid alloys based on quasiregular solution model

International Nuclear Information System (INIS)

Li, H.Q.; Yang, Y.S.; Tong, W.H.; Wang, Z.Y.

2007-01-01

With the effects of electronic structure and atomic size being introduced, the mixing enthalpy as well as the Gibbs energy of the ternary Zr-Al-Cu, Ni-Al-Cu, Zr-Ni-Al and quaternary Zr-Al-Ni-Cu systems are calculated based on quasiregular solution model. The computed results agree well with the experimental data. The sequence of Gibbs energies of different systems is: G Zr-Al-Ni-Cu Zr-Al-Ni Zr-Al-Cu Cu-Al-Ni . To Zr-Al-Cu, Ni-Al-Cu and Zr-Ni-Al, the lowest Gibbs energy locates in the composition range of X Zr 0.39-0.61, X Al = 0.38-0.61; X Ni = 0.39-0.61, X Al = 0.38-0.60 and X Zr = 0.32-0.67, X Al = 0.32-0.66, respectively. And to the Zr-Ni-Al-Cu system with 66.67% Zr, the lowest Gibbs energy is obtained in the region of X Al = 0.63-0.80, X Ni = 0.14-0.24

Creep Strength of Nb-1Zr for SP-100 Applications

Science.gov (United States)

Horak, James A.; Egner, Larry K.

1994-07-01

Power systems that are used to provide electrical power in space are designed to optimize conversion of thermal energy to electrical energy and to minimize the mass and volume that must be launched. Only refractory metals and their alloys have sufficient long-term strength for several years of uninterrupted operation at the required temperatures of 1200 K and above. The high power densities and temperatures at which these reactors must operate require the use of liquid-metal coolants. The alloy Nb-1 wt % Zr (Nb-lZr), which exhibits excellent corrosion resistance to alkali liquid-metals at high temperatures, is being considered for the fuel cladding, reactor structural, and heat-transport systems for the SP-100 reactor system. Useful lifetime of this system is limited by creep deformation in the reactor core. Nb-lZr sheet procured to American Society for Testing and Materials (ASTM) specifications for reactor grade and commercial grade has been processed by several different cold work and annealing treatments to attempt to produce the grain structure (size, shape, and distribution of sizes) that provides the maximum creep strength of this alloy at temperatures from 1250 to 1450 K. The effects of grain size, differences in oxygen concentrations, tungsten concentrations, and electron beam and gas tungsten arc weldments on creep strength were studied. Grain size has a large effect on creep strength at 1450 K but only material with a very large grain size (150 μm) exhibits significantly higher creep strength at 1350 K. Differences in oxygen or tungsten concentrations did not affect creep strength, and the creep strengths of weldments were equal to, or greater than, those for base metal.

Robot-assisted laparoscopic pyeloplasty: minimum 1-year follow-up

Science.gov (United States)

Patel, Vipul; Thaly, Rahul; Shah, Ketul

2007-02-01

Objectives: To evaluate the feasibility and efficacy of robotic-assisted laparoscopic pyeloplasty. Laparoscopic pyeloplasty has been shown to have a success rate comparable to that of the open surgical approach. However, the steep learning curve has hindered its acceptance into mainstream urologic practice. The introduction of robotic assistance provides advantages that have the potential to facilitate precise dissection and intracorporeal suturing. Methods: A total of 50 patients underwent robotic-assisted laparoscopic dismembered pyeloplasty. A four-trocar technique was used. Most patients were discharged home on day 1, with stent removal at 3 weeks. Patency of the ureteropelvic junction was assessed in all patients with mercaptotriglycylglycine Lasix renograms at 1, 3, 6, 9, and 12 months, then every 6 months for 1 year, and then yearly. Results: Each patient underwent a successful procedure without open conversion or transfusion. The average estimated blood loss was 40 ml. The operative time averaged 122 minutes (range 60 to 330) overall. Crossing vessels were present in 30% of the patients and were preserved in all cases. The time for the anastomosis averaged 20 minutes (range 10 to 100). Intraoperatively, no complications occurred. Postoperatively, the average hospital stay was 1.1 days. The stents were removed at an average of 20 days (range 14 to 28) postoperatively. The average follow-up was 11.7 months; at the last follow-up visit, each patient was doing well. Of the 50 patients, 48 underwent one or more renograms, demonstrating stable renal function, improved drainage, and no evidence of recurrent obstruction. Conclusions: Robotic-assisted laparoscopic pyeloplasty is a feasible technique for ureteropelvic junction reconstruction. The procedure provides a minimally invasive alternative with good short-term results.

Phase Stability in the Mo-Ti-Zr-C System via Thermodynamic Modeling and Diffusion Multiple Validation

Science.gov (United States)

Kar, Sujoy Kumar; Dheeradhada, Voramon S.; Lipkin, Don M.

2013-08-01

Alloys in the Mo-rich corner of the Mo-Ti-Zr-C system have found broad applications in non-oxidizing environments requiring structural integrity well beyond 1273 K (1000 °C). Alloys such as TZM (Mo-0.5Ti-0.08Zr-0.03C by weight %) and TZC (Mo-1.2Ti-0.3Zr-0.1C by weight) owe much of their high temperature strength and microstructural stability to MC and M2C carbide phases. In turn, the stability of the respective carbides and the subsequent mechanical behavior of the alloys are strongly dependent on the alloying additions and thermal history. A CALPHAD-based thermodynamic modeling approach is employed to develop a quaternary thermodynamic database for the Mo-Ti-Zr-C system. The thermodynamic database thus developed is validated with diffusion multiple experiments and the validated database is exercised to elucidate the effects of alloying and thermal history on the phase equilibrium in Mo-rich alloys.

Low-temperature synthesis of ZrB2 powder from oxides using Na

Directory of Open Access Journals (Sweden)

Haruhiko Morito

2017-12-01

Full Text Available ZrB2 was synthesized by heating a mixture of ZrO2, B2O3, and Na in a molar ratio of 1:1:5 at 873–1273 K. While unreacted ZrO2 remained in the sample synthesized at 873 K, single phase ZrB2 powders were obtained at temperatures ≥1073 K. The diameters of the ZrB2 particles obtained at 1073 and 1273 K were 0.1–20 and 10–100 μm, respectively. Single phase ZrB2 was also obtained at 873 K when the starting material was rich in B2O3 and Na (ZrO2:B2O3:Na = 1:5:15. This route yielded fine particle aggregates of ZrB2, which were found to be <0.1 μm in size.

Magnetic properties of FeZr{sub 2} and Fe{sub 2}Zr intermetallic compounds

Energy Technology Data Exchange (ETDEWEB)

Prajapat, C. L., E-mail: prajapat@barc.gov.in; Singh, M. R.; Mishra, P. K. [Technical Physics Division, Bhabha Atomic Research Centre, Mumbai, INDIA-400085 (India); Chattaraj, D. [Product Development Division, Bhabha Atomic Research Centre, Mumbai, INDIA-400085 (India); Mishra, R. [Chemistry Division, Bhabha Atomic Research Centre, Mumbai, INDIA-400085 (India); Ravikumar, G. [Scientific Information Resources Division, Bhabha Atomic Research Centre, Mumbai, INDIA-400085 (India)

2016-05-23

Magnetic properties of Fe-Zr system, viz., FeZr{sub 2} and Fe{sub 2}Zr have been studied. Both the compounds show soft ferromagnetic behavior. Curie temperature is well above the room temperature. Lower saturation magnetization for the zirconium rich sample, FeZr{sub 2}, could be due to possible donation of electrons from the Zr-rich neighbors to Fe atoms or diminution of long range magnetic order by defects.

Reduced cobalt phases of ZrO2 and Ru/ZrO2 promoted cobalt catalysts and product distributions from Fischer–Tropsch synthesis

International Nuclear Information System (INIS)

Kangvansura, Praewpilin; Schulz, Hans; Suramitr, Anwaraporn; Poo-arporn, Yingyot; Viravathana, Pinsuda; Worayingyong, Attera

2014-01-01

Highlights: • Ru/ZrO 2 , ZrO 2 promoted Co/SiO 2 for FTS were reduced by time resolved XANES. • Reduced catalysts resulted from XANES reduction showed the mixed phases of Co, CoO. • The highest percentages of CoO resulted from the high ZrO 2 promoted Co/SiO 2 . • Product distributions of 1-alkenes, iso-alkanes indicated sites for FTS and the 2° reaction. • Alkene readsorption were high corresponding to the high CoO forming branched alkanes. - Abstract: Co/SiO 2 catalysts were promoted with 4% and 8% ZrO 2 . Small amounts (0.07%) of Ru were impregnated onto 4%ZrO 2 /Co/SiO 2 . Catalysts resulting from time-resolved XANES reduction showed mixed phases of Co and CoO, with the highest percentages of Co resulting from Ru/4%ZrO 2 /Co/SiO 2 and the highest percentages of CoO resulting from 8%ZrO 2 /Co/SiO 2 . Product distributions of n-alkanes, iso-alkanes and alkenes during Fischer–Tropsch Synthesis (FTS) were used to investigate the catalyst performance of 4%ZrO 2 /Co/SiO 2 8%ZrO 2 /Co/SiO 2 and Ru/4%ZrO 2 /Co/SiO 2 . FTS steady state was studied by growth probabilities of n-alkane products. No 1-alkene was produced from Ru/4%ZrO 2 /Co/SiO 2 , indicating high availability of Fischer–Tropsch sites for long chain hydrocarbon growth, despite high methanation. Branched alkanes produced from the secondary reaction were related to the high CoO percentages on 8%ZrO 2 /Co/SiO 2 . Alkene readsorption sites were high, corresponding to the high CoO percentages, causing a high probability of forming branched alkane products

Conceptual requirements for large fusion experiment control, data, robotics, and management systems

International Nuclear Information System (INIS)

Gaudreau, M.P.J.; Sullivan, J.D.

1987-05-01

The conceptual system requirements for the control, data, robotics, and project management (CDRM) system for the next generation of fusion experiments are developed by drawing on the success of the Tara control and data system. The requirements are described in terms of an integrated but separable matrix of well-defined interfaces among the various systems and subsystems. The study stresses modularity, performance, cost effectiveness, and exportability

Preparation, characterization and thermodynamic properties of Zr-containing Cl-bearing layered double hydroxides (LDHs)

Energy Technology Data Exchange (ETDEWEB)

Rozov, Konstantin; Curtius, Hilde; Bosbach, Dirk [Forschungszentrum Juelich GmbH (Germany). Inst. of Energy and Climate Research (IEK-6) Nuclear Waste Management and Reactor Safety

2015-07-01

Zr-containing layered double hydroxides (LDHs) with variable xZr{sub solid} = Zr/(Zr + Al) mole fractions were synthesized by a co-precipitation method at ambient conditions. The chemical compositions of samples and corresponding aqueous solutions after syntheses were analyzed by ICP-OES, EDX (Mg, Al, Zr) and ion chromatography (Cl{sup -}). Results of PXRD technique demonstrated that solids with 0 ≤ x Zr{sub solid} ≤ 0.5 show only X-ray reflexes typical for pure LDH compositions, while products of syntheses with xZr{sub solid} > 0.5 display additional patterns attributed to brucite. ICP-OES and EDX techniques shown that in pure Zr-containing LDHs the Mg/(Al + Zr) ratio is reducing with increase of xZr{sub solid} and the stoichiometry of brucite-like layers corresponds to [Mg{sub 3-2x}Al{sub 1-x}Zr{sub x}]. This fact may indicate that the incorporation of 1 Zr-containing specie results in the removal of 1 Al- and 2 Mg-containing species from the pure Mg-Al-composition. Such mechanism may be confirmed by the observation that measured a{sub 0} = b{sub 0} distances are generally consistent with theoretical estimates obtained from [Mg{sub 3-2x}Al{sub 1-x}Zr{sub x}]-stoichiometry. The presence of predominant Mg{sup 2+}, Al(OH){sub 4}{sup -} and Zr(OH){sub 5}{sup -} complexes in aqueous solutions after syntheses was established in thermodynamic calculations by applying GEMS-Selektor v.3. code and, therefore, the reaction: Mg{sub 3}Al{sub 1}(OH){sub 8}Cl{sub 1} + Zr(OH){sub 5}{sup -} = Mg{sub 1}Zr{sub 1}(OH){sub 5}Cl{sub 1} + Al(OH){sub 4}{sup -} + 2Mg{sup 2+} + 4OH{sup -} can describe a mechanism of Zr-substitution. Estimates of the molar Gibbs free energies of Zr-containing LDHs with 0 ≤ = xZr{sub solid} ≤ 0.5 show that the incorporation of Zr into the LDH increasing significantly their aqueous solubility. Thus, it is not possible to neglect that Zr can be partly localized as Zr(OH){sub 5}{sup -}-ligands in the interlayer space of the LDH structure.

Density functional study of vibrational, thermodynamic and elastic properties of ZrCo and ZrCoX3 (X = H, D and T) compounds

International Nuclear Information System (INIS)

Chattaraj, D.; Parida, S.C.; Dash, Smruti; Majumder, C.

2015-01-01

Highlights: • The physico-chemical properties of ZrCo and its hydrides were studied. • The isotope effect on vibrational and thermodynamic properties was investigated. • The changes in elastic properties due to hydrogenation of ZrCo were investigated. • Thermodynamics properties of ZrCo and its hydrides were calculated. - Abstract: The dynamical, thermodynamic and elastic properties of ZrCo and its hydrides ZrCoX 3 (X = H, D and T) are reported. While the electronic structure calculations are performed using plane wave pseudopotential approach, the effect of isotopes on the vibrational and thermodynamic properties has been demonstrated through frozen phonon approach. The results reveal significant difference between the ZrCoH 3 and its isotopic analogs in terms of phonon frequencies and zero point energies. For example, the energy gap between optical and acoustic modes reduces in the order of ZrCoT 3 > ZrCoD 3 > ZrCoH 3 . The vibrational properties shows that the intermetallic ZrCo is dynamically stable whereas ZrCoX 3 (X = H, D and T) are dynamically unstable. The calculated formation energies of ZrCoX 3 , including the ZPE, are −146.7, −158.3 and −164.1 kJ/(mole of ZrCoX 3 ) for X = H, D and T, respectively. In addition, the changes in elastic properties of ZrCo upon hydrogenation have also been investigated. The results show that both ZrCo and ZrCoH 3 are mechanically stable at ambient pressure. The Debye temperatures of both ZrCo and ZrCoH 3 are determined using the calculated elastic moduli

Temperature effect on uranium retention onto Zr2O(PO4)2 surface

International Nuclear Information System (INIS)

Almazan Torres, M.G.

2007-03-01

Uranium sorption onto Zr 2 O(PO 4 ) 2 has been studied between 298 K and 363 K, in 0.1 M NaClO 4 medium. Potentiometric titrations were realized to determine temperature dependency of the acid-base properties (pH(pcn), acidity constants). Classical batch experiments were performed at different temperatures. The sorption experiments revealed that the uranium sorption onto Zr 2 O(PO 4 ) 2 is favoured with the temperature. Structural characterization of the surface complexes was performed by both Time-Resolved Laser-Induced Fluorescence (TRLIF) and EXAFS spectroscopy. The TRLIF measurements vs. temperature revealed two uranyl surface complexes. No influence of the temperature onto the nature surface complex was observed. The EXAFS analysis showed a splitting of the equatorial oxygen atoms in two shells, corresponding to uranyl bidentate, inner-sphere complexes. The obtained structural uranyl surface complex information was used to simulate (using a constant capacitance model) the sorption edges. The proposed complexes equilibrium model consists of the following surface complexes: (ZrOH) 2 UO 2 2+ and (PO) 2 UO 2 . Besides the stability constants for the surface complexes, the thermodynamic parameters ΔH 0 and ΔS 0 were determined using the van't Hoff equation. The enthalpy values associated to the U(VI) retention onto Zr 2 O(PO 4 ) 2 , determined by the temperature dependence of the stability constants, testify that the formation of the complex (PO) 2 UO 2 (55 kJ/mol) is endothermic, while no influence of the temperature was observed for the formation of the complex (ZrOH) 2 UO 2 2+ . The adsorption reaction of the last complex is then driven by entropy. In addition, calorimetric measurements of uranium sorption onto Zr 2 O(PO 4 ) 2 were carried out to directly quantify the enthalpy associated to the retention processes. (author)

Intrinsic defects and spectral characteristics of SrZrO3 perovskite

Science.gov (United States)

Li, Zhenzhang; Duan, He; Jin, Yahong; Zhang, Shaoan; Lv, Yang; Xu, Qinfang; Hu, Yihua

2018-04-01

First-principles calculations and experiment analysis were performed to study the internal relation between seven types of intrinsic defects and the persistent luminescence in SrZrO3 host material. The calculation shows that rich zirconium defects have the low energy cost and thus are easy to form. Zr vacancies are too high energy to play any role in defect which is related luminescence phenomenon of SrZrO3 phosphor. However, oxygen vacancies stand out as a likely candidate, because it can yield two carrier reservoirs: a fully-occupied singlet electron's reservoir which lies above the valence band maximum, and an empty triply degenerate hole's reservoir which is just below the conduction band minimum. Sr vacancies are not directly relevant to the persistent luminescence due to its too shallow electron trap level. The characteristics of these defects are fully explained by the equilibrium properties of SrZrO3. An experimental study of the thermoluminescence glow for these defects is conducted and the calculation is consistent with the experimental results. A mechanism of the persistent luminescence for SrZrO3:Pr3+, Eu3+ is explained according to oxygen vacancies trap center. Findings of this study may serve as theoretical references for controlling intrinsic traps by more refined experiments.

Towards safe robots approaching Asimov’s 1st law