• Advances in robotics research
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• v.1 no.1
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• pp.61-79
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• 2014

This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model.

• Wind and Structures
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• v.4 no.5
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• pp.383-398
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• 2001

The paper describes the results of the monitoring of an elevated steel water-tank with unusual shape, 85 m high and 40 m wide. The research was carried out analysing both the static and dynamic behaviour under wind actions. The instruments used (some of which were employed for the first time for this project) are described and the data processing procedures are discussed. Comparison between the experimental results and those obtained through a numerical model gives interesting information both on the structural behaviour and on the characterisation of wind actions.

• Proceedings of the Korean Fiber Society Conference
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• 1998.10a
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• pp.290-294
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• 1998

Colour tone, lustre, surface roughness of fabrics are very important factors in pursue of the beauty of external appearance, namely aesthetic appearance, and the dynamic functionality of fabric used to clothe the human body. Drape is one of many factors that influence the aesthetic appearance of fabric and has an outstanding effect on the formal beauty of fabric. For this reason, the measurement and understanding of drape is required to specify the performance of fabric used in clothing. (omitted)

• Biotechnology and Bioprocess Engineering:BBE
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• v.7 no.6
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• pp.331-334
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• 2002

Culture conductivity and on-line NADH fluorescence were used to measure cellular growth in plant cell suspension cultures of Podophyllum hexandrum. An inverse correlation between dry cell weight and medium conductivity was observed during shake flask cultivation. A linear relationship between dry cell weight and culture NADH fluorescence was obtained during the exponential phase of batch cultivation In a bioreactor under the pH stat (pH 6) conditions. It was observed that conductivity measurement were suitable for biomass characterisation under highly dynamic uncontrolled shake flask cultivation conditions. However, if the acid/alkali feeding is done for pH control the conductivity measurement could not be applied. On the other hand the NADH fluorescence measurement allowed online-in situ biomass monitoring of rather heterogenous plant cell suspension cultures in bioreactor even under the most desirable pH stat conditions.

• Structural Monitoring and Maintenance
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• v.1 no.3
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• pp.309-322
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• 2014

Detection of fatigue cracks at an early stage of their development is important in structural health monitoring. The breathing of cracks in a structure generates higher harmonic components of the exciting frequency in the frequency spectrum. Previously, the residual operational deflection shape (R-ODS) method was successfully applied to beams with a single crack. The method is based on the ODSs at the exciting frequency and its higher harmonic components which consider both amplitude and phase information of responses to map the deflection pattern of structures. Although the R-ODS method shows the location of a single crack clearly, its identification for the location of multiple cracks in a structure is not always obvious. Therefore, an improvement to the R-ODS method is presented here to make the identification process distinct for the beams with multiple cracks. Numerical and experimental examples are utilised to investigate the effectiveness of the improved method.

• Smart Structures and Systems
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• v.15 no.6
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• pp.1521-1542
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• 2015

The use of shape memory alloys (SMAs) in dynamical systems has an increasing importance in engineering especially due to their capacity to provide vibration reductions. In this regard, experimental tests are essential in order to show all potentialities of this kind of systems. In this work, SMA springs are incorporated in a dynamical system that consists of a one degree of freedom oscillator connected to a linear spring and a mass, which is also connected to the SMA spring. Two types of springs are investigated defining two distinct systems: a pseudoelastic and a shape memory system. The characterisation of the springs is evaluated by considering differential calorimetry scanning tests and also force-displacement tests at different temperatures. Free and forced vibration experiments are made in order to investigate the dynamical behaviour of the systems. For both systems, it is observed the capability of changing the equilibrium position due to phase transformations leading to hysteretic behaviour, or due to temperature changes which also induce phase transformations and therefore, change in stiffness. Both situations are investigated by promoting temperature changes and also pre-tension of the springs. This article shows several experimental tests that allow one to obtain a general comprehension of the dynamical behaviour of SMA systems. Results show the general thermo-mechanical behaviour of SMA dynamical systems and the obtained conclusions can be applied in distinct situations as in rotor-bearing systems.

• Structural Engineering and Mechanics
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• v.17 no.2
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• pp.215-244
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• 2004

There is an ever-increasing demand for assessment of earthquake effects on transportation structures, emphasised by the crippling consequences of recent earthquakes hitting developed countries reliant on road transportation. In this work, vulnerability functions for RC bridges are derived analytically using advanced material characterisation, high quality earthquake records and adaptive inelastic dynamic analysis techniques. Four limit states are employed, all based on deformational quantities, in line with recent development of deformation-based seismic assessment. The analytically-derived vulnerability functions are then compared to a data set comprising observational damage data from the Northridge (California 1994) and Hyogo-ken Nanbu (Kobe 1995) earthquakes. The good agreement gives some confidence in the derived formulation that is recommended for use in seismic risk assessment. Furthermore, by varying the dimensions of the prototype bridge used in the study, and the span lengths supported by piers, three more bridges are obtained with different overstrength ratios (ratio of design-to-available base shear). The process of derivation of vulnerability functions is repeated and the ensuing relationships compared. The results point towards the feasibility of deriving scaling factors that may be used to obtain the set of vulnerability functions for a bridge with the knowledge of a 'generic' function and the overstrength ratio. It is demonstrated that this simple procedure gives satisfactory results for the case considered and may be used in the future to facilitate the process of deriving analytical vulnerability functions for classes of bridges once a generic relationship is established.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1533-1538
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• 2008

The development of new material systems like Carbon Fiber Reinforced Polymer (CFRP) places ever higher demands on the techniques for non-destructive material characterisation. Image-producing eddy current methods also need to satisfy these demands. Eddy-current imaging of FRP is based on the anisotropic electrical properties of the material investigated. Significant differences in conductivity between carbon fibres, polymer matrix and integrated functional components can be found. The availability of high-resolution sensors enables access to the local distribution of the electromagnetic properties. The static and dynamic procedures for isolating influential characteristics, already in use in eddy-current technology, can now be supplemented by topographical images. The precondition for a successful implementation of the eddy-current procedure is a deeper understanding of the image-generating process which allows correct interpretation of the images obtained.

• Proceedings of the Microbiological Society of Korea Conference
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• 2000.10a
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• pp.119-127
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• 2000

The development and performance of a competitive indirect immunoassay for the quantitative measurement of polychlorinated biphenyl compounds in insulating oils is presented. Reagent preparation and the assay characterisation, optimisation and validation steps are described. The dynamic range of the assay for Aroclors 1254 and 1260 in methanol was $50-800 {\mu}g\;ml^{-1}$ with $50\%$ signal inhibition values of 217 and $ 212 {\mu}g\;ml^{-1}$ respectively. Impending legislation in the UK is likely to decree that oils containing $ >50 {\mu}g\;ml^{-1}$ PCB be considered contaminated. Assay sensitivity increased with the degree of PCB chlorination. The assay of structurally related compounds of environmental concern yielded cross-reactivity values of under $0.6\%$. The immunoassay proved reliable for the analysis of transformer oils containing $>70{\mu}g\;ml^{-1}$ PCB, but over-estimated PCB levels in oils containing $<20{\mu}g\;ml^{-1}$ of the analyte with the oils requiring pre-treatment using either solid-phase extraction techniques or washing with KOH-ethanol/sulphuric acid to remove matrix interferents. The analytical performance of the assay was compared against a commercially available semi-quantitative immunoassay kit for PCBs in soil and water.

• Korea-Australia Rheology Journal
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• v.17 no.4
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• pp.181-190
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• 2005

Rheological characterisation of flocculated kaolinite pulps has been undertaken to elucidate particle interactions underpinning the dewatering behaviour induced by flocculation with polyethylene oxide (PEO), anionic polyacrylamide (PAM A) and their blends. Shear yield stress $(\tau_y)$ analysis indicated that polymer mediated particle interactions were markedly amplified upon shear of PEG based pulps. In contrast, PAM A based pulps showed a significant decrease in yield values upon shear. Steady stress measurements analysed using a modified Ellis model indicated subtle differences between the respective linear viscoelastic plateaus of the pulps. Furthermore, modified shear thinning behaviour was evident in PEG based pulps. Estimation of elastic and viscous moduli (G', G') was made using dynamic stress analysis for comparison with values determined from vane measurements. Despite a noticeable difference in the magnitude of G' between the two methods, similar trends indicating sheared PEG-based pulps to be more elastic than PAM based pulps, were observed. Floc microstructural observations obtained in support of rheological properties indicate that PEG flocculant induces significantly more compact particle aggregation within the clay pulps under shear consistent with the yield stress data, in contrast to PAM A, or indeed unsheared PEG based pulps. Consequentially, sheared PEG based pulps show significantly improved dewatering behaviour. The implications of the results, potential benefits and drawbacks of flocculation with PEG and PAM A are discussed with respect to improvements in current dewatering processes used in the minerals industry.