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Featuring a nonlinear novel design, Gimbal transmission, is a replacement for traditional robotic joints like gearboxes and revolute joints. This mechanism is one of the most recent types of nonlinear direct transmission (DT) methods in robots. As an alternative for traditional drive methodologies - herein called direct drive transmission (DD) methods, DT provides dynamic coupling and joint interaction attenuation while its capability to be adjusted for a desired task space point, smooth input-output characteristic, and varying reduction ratio lead to a desired force and motion behavior for the whole manipulator. In this paper, design optimization of a gimbal mechanism used as a replacement... 

Gimbal transmissions are non-linear direct transmissions and can be used in robotic arms replacing the traditional revolute joints. To investigate manipulability of robotic manipulators, the classical criterion of Manipulability Ellipsoid has been formulated. Thus by keeping a constant norm for robot joint torques vector, the effects of replacing some traditional revolute joints in robotic arms with Gimbal transmissions, have been analyzed. The results show that the magnitude of the maximum force applicable when employing Gimbal transmission can be considerably larger. Also, the joint angles in which this maximum occurs, can be adjusted, thanks to the behavior of Gimbal transmission. Two... 

In this study, two methods for solving economic dispatch problems, namely Hopfield neural network and λ iteration method are compared. Three sample of power system with 3, 6 and 20 units have been considered. The time required for CPU, for solving economic dispatch of these two systems has been calculated. It has been shown that for on-line economic dispatch, Hopfield neural network is more efficient and the time required for convergence is considerably smaller compared to classical methods. © 2006 IEEE  

The work presented here is a study of the steady withdrawal of water from the lens of freshwater situated above the ocean's salt water and within the island. It is the aim of this paper to investigate the process of withdrawal from the lens of freshwater with a view to establishing the critical flow values for withdrawal and the effects of sink location and density differences on these values, and also to determine the effects of relative density differences. Steady solutions are found for the shape of the interface between salt and freshwater beneath a tropical island. A Green_s function approach is used and proves to be much more robust than spectral methods. Computations of the surface... 

Cubic MgO micro-particles with approximately 5-10 μm dimensions were synthesized indirectly from magnesium salt solutions through three consecutive steps, namely: wet chemical precipitation, hydrothermal and thermal dissociation. In wet chemical precipitation step Mg(OH)2 uniform lamellar hexagonal nano-structure with about 30 nm in thickness were synthesized from 0.2 M Mg(NO3)2 • 6H2O solution, subsequent hydrothermal processing of synthesized Mg(OH)2 lamellar hexagonal nano-structure in 10, 20, 30, 60, 120 and 180 min produced 5-10 μm MgCO3 micro-cubes which calcinations of these particles leads to production of the same size MgO micro-cubes. Most pure MgCO3 micro-cubes were synthesized... 

Pentamode metamaterials are a type of extremal designer metamaterials, which are able to demonstrate extremely high rigidity in one direction and extremely high compliance in other directions. Pentamodes can, therefore, be considered as building blocks of exotic materials with any arbitrarily selected thermodynamically admissible elasticity tensor. The pentamode lattices can then be envisioned to be combined to construct intermediate extremal materials, such as quadramodes, trimodes, and bimodes. In this study, we constructed several primary types of anisotropic pentamode lattices (with midpoint positioning of 10%, 15%, 20%, 25%, 30%, 35%, and 42% of the main unit cell diagonal) and then... 

Despite the fact that solid–liquid phase change materials (PCMs) have various applications in thermal energy storage systems, the low solidification rate of PCMs, which is due to the low thermal conductivity has limited the range of applications of PCMs. One of the methods of increasing the solidification rate of PCMs is using a boiling fluid as an intermediary between the solid–liquid PCM and the condenser to prevent the direct contact between the phase change material and the condenser tubes, this method is also known as the intermediate boiling fluid (IBF) method. The IBF method has been shown to significantly increase the solidification rate (2 orders of magnitude). In this study, the... 

In this work, the electrophoretic deposition method was utilized to immobilize TiO2 particles on stainless steel substrates. In addition, for the first time, statistics-based experimental design using response surface methodology was employed to investigate the effect of four key coating parameters (i.e. applied voltage, calcination temperature, photocatalyst weight percentage, and deposition time) on the photocatalytic degradation. Analysis of variance revealed that the proposed model was adequate. X-ray diffraction and scanning electron microscope were used to evaluate the effects of the parameters on degradation efficiency. The optimum applied voltage, calcination temperature, catalyst... 

Gift shopping can be challenging due to the limited prior knowledge of the recipient's preferences, leading to after-purchase regret. The effectiveness of Fashion Recommender Systems (FRS) in the context of gift purchases with limited preference data remains underexplored. We considered a gift-buying scenario and conducted an experiment with 192 pairs of participants to compare FRS versus humans in recommending fashion gifts to buyers.We find both FRS and humans score >50% correctness in recommending the right gift, even without direct interaction with gift-givers or recipients. Although the buyers know the gift receivers directly, they lead to less accuracy. Additionally, we identify... 

Computer-assisted collaborative peer grading is a developing growth area in academic evaluation. However, peer assessment often needs help with problems such as the lack of reliability, transparency, fairness, grading speed, and motivation to participate among students. The literature suggests several principles that each partly address the said issues. We propose a novel decentralized approach to academic peer assessment, using blockchain as an underlying technology, to address the principal problems in traditional peer assessment. We also derive design concepts for a modern courseware (CW) application consisting of our method and apply them to implement our approach in a CW called... 

Rod-shaped samples of maraging steel were additively fabricated in vertical and horizontal directions using laser powder bed fusion technique. The samples were first aged at 490 °C for 6 h and then subjected to dynamic compressive tests using Split Hopkinson Pressure Bar apparatus. The dynamic compression tests were conducted on vertical samples at strain rates of 190, 460, 810, 1100, 1300 s−1. However, the high strain rate tests were performed at strain rates of 120, 615, 745, 890, 2200 s−1 on horizontal samples. After applying the compressive impact loads on the samples, it was found that although horizontally built samples exhibit higher dynamic strength, vertically built samples show... 

In this study, a general 3D distributed modeling of Trolling-Mode AFM (TR-AFM) as a nanorobot is presented to analyze the 2D manipulation process of a spherical cell. To this aim, the analysis is categorized into 3 sections. In the first section, 6 deformations of TR-AFM are taken into account, and the standard model of the system is obtained. Moreover, the system is simulated in ANSYS Workbench. The results of modal and transient analyses of the system from both analytical and software methods reveal high agreement, which confirms the accuracy of the presented analytical model. In the second section, by utilizing the 3D derived model, displacement of a spherical yeast single cell (W303)... 

The anatase phase of titania was stabilised with physically modifying particulate sol-gel process. Two major parameters, peptisation temperature and drying temperature, were identified which were responsible for retarding the anatase to rutile phase transformation, crystal growth and packing of primary particles. The critical nucleus size of transformation was controlled by natural (at 25 °C) and artificial (at 50 and 70 °C) peptisation techniques. Moreover, sintering of primary particles was controlled by cool (at 0 and 5 °C) and normal (at 25 °C) drying techniques. Fourier transform infrared spectroscopy (FT-IR) analysis confirmed that a full conversion of titanium isopropoxide is obtained... 

Mixing in droplets is an essential task in a variety of microfluidic systems. Inspired by electrokinetic mixing, electric field-induced hydrodynamic flow inside a charged droplet embedded in an unbounded polyelectrolyte hydrogel is investigated theoretically. In this study, the polyelectrolyte hydrogel is modeled as a soft, and electrically charged porous solid saturated with a salted Newtonian fluid, and the droplet is considered an incompressible Newtonian fluid. The droplet-hydrogel interface is modeled as a surface, which is located at the plane of shear, with the electrostatic potential ζ. The fluid inside the droplet attains a finite velocity owing to hydrodynamic coupling with the... 

The electric-field induced response of a droplet embedded in a quenched polyelectrolyte gel is calculated theoretically. The response comprises the droplet translation and the electric-field induced flow fields within the droplet. The gel is modeled as a soft, and electrically charged porous solid saturated with a salted Newtonian fluid. The droplet is considered an incompressible Newtonian fluid with no free charge. An analytical solution, using the perturbation methodology and linear superposition, is obtained for the leading-order steady response to a DC electric-field. The fluid within the droplet is driven due to hydrodynamic coupling with the electroosmotic flow. The fluid velocity... 

Characterization of droplet-hydrogel interfaces is of crucial importance to engineer droplet-hydrogel composites for a variety of applications. In order to develop electrokinetic diagnostic tools for probing droplet-hydrogel interfaces, the displacement of a charged droplet embedded in a polyelectrolyte hydrogel exposed to an oscillating electric field is determined theoretically. The polyelectrolyte hydrogel is modeled as an incompressible, charged, porous, and elastic solid saturated with a salted Newtonian fluid. The droplet is considered an incompressible Newtonian fluid with no charges within the droplet. The droplet-hydrogel interface is modeled as a surface with the thickness of zero... 

Determination of effective transport properties of droplet-hydrogel composites is essential for various applications. The transport of ions through a droplet-hydrogel composite subjected to an electric field is theoretically studied as an initial step toward quantifying the effective transport properties of droplet-hydrogel composites. A three-phase electrokinetic model is used to derive the microscale characteristics of the polyelectrolyte hydrogel, and the droplet is considered an incompressible Newtonian fluid. The droplet-hydrogel interface is modeled as a surface, which encloses the interior fluid. The surface has the thickness of zero and the electrostatic potential ζ. Standard... 

Nanostructured and mesoporous TiO2-Ta2O5 films and powders with various TiO2:Ta2O5 molar ratios and high specific surface area (SSA) have been prepared by a straightforward particulate sol-gel route. Titanium isopropoxide and tantalum ethoxide were used as precursors and hydroxypropyl cellulose (HPC) was used as a polymeric fugitive agent (PFA) in order to increase the SSA. X-ray diffraction (XRD) and Fourier transform infrared spectroscopy (FTIR) revealed that powders contained both hexagonal δ-Ta2O5 and monoclinic β-Ta2O5 phases, as well as anatase and rutile. It was observed that Ta2O5 retarded anatase-to-rutile transformation. Furthermore, δ → β phase transformation temperature increased... 

The original article contained a mistake in Equation 1. The corrected Equation 1 is shown below: MX+Cx+Kx=f.The original article has been updated © Springer Nature B.V. 2022  

For the present article, a pulsating heat pipe (PHP) is fabricated and tested experimentally by bending a copper tube. The effects of working fluid, heat input, charging ratio, inclination angle, magnets location, and ferrofluid (magnetic nanofluid) volumetric concentration have been investigated on the thermal performance of this PHP. Experimental results show that using ferrofluid as a working fluid improves the thermal performance of the PHP significantly. Moreover, applying a magnetic field on a ferrofluidic PHP reduces its thermal resistance. By changing the inclination angle of the PHP from vertical mode to angles close to the horizontal mode, the present PHP has a constant and...