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Analysis of 4 degree of freedom robotic arms with spasticity patient 4自由度机械臂痉挛患者分析
Pub Date : 2019-07-30 DOI: 10.1063/1.5118132
Ahsan Ali, A. K. Bahrain, M. Billah, K. Kadir, Zulkhairi M. Y. S. Faez A.
This paper introduces the isokinetic measurement in randomly applied on the upper arms spasticity patient. Isokinetic is the stroke patient exercise with assist by the medical robotic technologies to therapeutic, diagnostic and laboratory assessment in constant movement. The fatigue of the spasticity patient is ideally vital to understand to make sure the robotic arms is not over drive during exercise. The repetition exercise may cause of medially fatigue. The model propose can predict early fiber muscle action and effect of a range of pulse durations on muscle fatigue. The Spasticity robotic arms was introduced to maximum in medially fatigue can cause damage of the fiber muscle tissue. Flexor Carpi Ulnaris (FCU), Palmanis Longus (PL), Extensor Digitorum (ED) and Extensor Carpi Radials (ECR) is the important muscle body to analyze. The Spasticity Robot Arms (SRA) was design to assists stroke patient in order to understand the capability of user and to provide high impact rehabilitation exercise. The goal of this research is to propose suitable algorithm in order to control multiple degree of freedom (DOF) to achieve a limited number of pre-defined motor synergies. A set of experiments will be conducted on four number of subjects to verify the Fugl Meyer assessment of the proposed algorithm.This paper introduces the isokinetic measurement in randomly applied on the upper arms spasticity patient. Isokinetic is the stroke patient exercise with assist by the medical robotic technologies to therapeutic, diagnostic and laboratory assessment in constant movement. The fatigue of the spasticity patient is ideally vital to understand to make sure the robotic arms is not over drive during exercise. The repetition exercise may cause of medially fatigue. The model propose can predict early fiber muscle action and effect of a range of pulse durations on muscle fatigue. The Spasticity robotic arms was introduced to maximum in medially fatigue can cause damage of the fiber muscle tissue. Flexor Carpi Ulnaris (FCU), Palmanis Longus (PL), Extensor Digitorum (ED) and Extensor Carpi Radials (ECR) is the important muscle body to analyze. The Spasticity Robot Arms (SRA) was design to assists stroke patient in order to understand the capability of user and to provide high impact rehabilitation exercise. The goal ...
本文介绍了随机应用于上臂痉挛患者的等速运动测量。等速运动是在医疗机器人技术的协助下,中风患者在持续运动中进行治疗、诊断和实验室评估。痉挛患者的疲劳感对确保机械臂在运动中不会过度驱动至关重要。重复练习可能会引起体内疲劳。该模型可以预测肌肉纤维的早期活动和脉冲时间范围对肌肉疲劳的影响。痉挛机械臂被引入到最大的中间疲劳会导致纤维肌肉组织的损伤。尺侧腕屈肌(FCU)、长掌肌(PL)、指伸肌(ED)和桡侧腕伸肌(ECR)是分析的重要肌体。痉挛机械臂(SRA)的设计是为了帮助中风患者了解用户的能力,并提供高冲击康复训练。本研究的目标是提出合适的算法来控制多个自由度(DOF),以实现有限数量的预定义运动协同。将在四组受试者上进行一组实验,以验证所提出算法的Fugl Meyer评估。本文介绍了随机应用于上臂痉挛患者的等速运动测量。等速运动是在医疗机器人技术的协助下,中风患者在持续运动中进行治疗、诊断和实验室评估。痉挛患者的疲劳感对确保机械臂在运动中不会过度驱动至关重要。重复练习可能会引起体内疲劳。该模型可以预测肌肉纤维的早期活动和脉冲时间范围对肌肉疲劳的影响。痉挛机械臂被引入到最大的中间疲劳会导致纤维肌肉组织的损伤。尺侧腕屈肌(FCU)、长掌肌(PL)、指伸肌(ED)和桡侧腕伸肌(ECR)是分析的重要肌体。痉挛机械臂(SRA)的设计是为了帮助中风患者了解用户的能力,并提供高冲击康复训练。目标……
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引用次数: 0
Low-income’s housing affordability in Nigeria: A case of Ado-Ekiti 尼日利亚低收入者的住房负担能力:Ado-Ekiti案例
Pub Date : 2019-07-30 DOI: 10.1063/1.5118061
Anthonia O. Adediran, H. Ali
The complexity in housing affordability issue requires more consideration beyond mere economic viability. To increase life quality and well-being, the percentage of income spent on rent by individual household is essential for consideration. This study attempts to evaluate low income affordability level in Ado-Ekiti, Ekiti State Nigeria. A structures questionnaire was used to obtain data while analysis was done through Statistical packages for social sciences (SPSS). The outcome of the analysis indicated that a larger percentage of the targeted population spends above 30% of their monthly earnings on housing services. This relate with the benchmark set by several scholars, where authors maintained that a cost burden will exist where households spend above 30% on their housing services. This paper then concludes that majority of the dwellers in the study area experience a cost burden as they spend a large percentage of their monthly income on house rent. Hence this adversely affect their ability to meet other living expenses like medical bills, education, clothing, food and son on. Some recommendations are been suggested to improve the low-income housing affordability standard both within and outside the study area.
住房负担能力问题的复杂性需要更多的考虑,而不仅仅是经济可行性。为了提高生活质量和福祉,每个家庭用于租金的收入百分比是必不可少的考虑因素。本研究试图评估尼日利亚埃基蒂州Ado-Ekiti的低收入负担能力水平。使用结构问卷来获取数据,同时通过社会科学统计软件包(SPSS)进行分析。分析结果显示,更多的目标人口每月将超过30%的收入用于房屋服务。这与几位学者设定的基准有关,他们认为,当家庭在住房服务上的支出超过30%时,就会存在成本负担。本文得出的结论是,研究区域的大多数居民都有成本负担,因为他们每月收入的很大一部分用于房租。因此,这对他们支付医疗费、教育、衣食等其他生活费用的能力产生了不利影响。对提高研究区内外的低收入住房负担能力标准提出了一些建议。
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引用次数: 0
High speed end milling of cobalt chromium molybdenum alloy using solid carbide tool under MQL condition 用固体硬质合金刀具在MQL条件下高速铣削钴铬钼合金
Pub Date : 2019-07-30 DOI: 10.1063/1.5118186
Hainol Akbar Zaman, S. Sharif, M. H. Idris, A. S. Mohruni, P. Ndaruhadi
Cobalt chrome molybdenum (CoCrMo) alloy is among the biomedical materials which is considered difficult to cut materials due to their combination of high strength, high toughness, high wear resistance, and poor thermal conductivity. In this study, high speed end milling (HSEM) was performed experimentally to access the machinability of CoCrMo alloy using solid coated and uncoated tools at different cutting speeds of 125, 140 and 155 m/min under the minimum quantity lubricant (MQL) strategy. The axial and radial depth of cut were kept constant 4 mm and 1.5 mm respectively throughout the machining tests. The tool wear, tool life and tool wear mechanism were recorded and analyzed accordingly. It was observed that higher cutting speed significantly reduces the tool life due to rapid tool wear. Coated carbide tool performed better than uncoated carbide tool in terms of tool life for every cutting speed. It was also found that chipping, adhesion and cracks were the dominant wear mechanisms occurred on the cutting edge when high speed end milling of CoCrMo biomedical material.Cobalt chrome molybdenum (CoCrMo) alloy is among the biomedical materials which is considered difficult to cut materials due to their combination of high strength, high toughness, high wear resistance, and poor thermal conductivity. In this study, high speed end milling (HSEM) was performed experimentally to access the machinability of CoCrMo alloy using solid coated and uncoated tools at different cutting speeds of 125, 140 and 155 m/min under the minimum quantity lubricant (MQL) strategy. The axial and radial depth of cut were kept constant 4 mm and 1.5 mm respectively throughout the machining tests. The tool wear, tool life and tool wear mechanism were recorded and analyzed accordingly. It was observed that higher cutting speed significantly reduces the tool life due to rapid tool wear. Coated carbide tool performed better than uncoated carbide tool in terms of tool life for every cutting speed. It was also found that chipping, adhesion and cracks were the dominant wear mechanisms occurred on the cutti...
钴铬钼(CoCrMo)合金具有高强度、高韧性、高耐磨性和导热性差等特点,是生物医用材料中被认为难以切割的材料之一。在本研究中,采用实验方法对CoCrMo合金进行了高速立铣削(HSEM),在最低润滑油量(MQL)策略下,使用固体涂层和非涂层刀具在125、140和155 m/min的不同切削速度下进行切削加工。在整个加工过程中,轴向和径向切割深度分别保持恒定4 mm和1.5 mm。对刀具磨损、刀具寿命和刀具磨损机理进行了记录和分析。观察到,由于刀具的快速磨损,较高的切削速度显着降低了刀具寿命。在各种切削速度下,涂层硬质合金刀具的寿命均优于未涂层硬质合金刀具。高速端铣削CoCrMo生物医用材料时,刃口发生的主要磨损机制是切屑、黏附和裂纹。钴铬钼(CoCrMo)合金具有高强度、高韧性、高耐磨性和导热性差等特点,是生物医用材料中被认为难以切割的材料之一。在本研究中,采用实验方法对CoCrMo合金进行了高速立铣削(HSEM),在最低润滑油量(MQL)策略下,使用固体涂层和非涂层刀具在125、140和155 m/min的不同切削速度下进行切削加工。在整个加工过程中,轴向和径向切割深度分别保持恒定4 mm和1.5 mm。对刀具磨损、刀具寿命和刀具磨损机理进行了记录和分析。观察到,由于刀具的快速磨损,较高的切削速度显着降低了刀具寿命。在各种切削速度下,涂层硬质合金刀具的寿命均优于未涂层硬质合金刀具。切削齿的主要磨损机制为剥落、粘着和裂纹。
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引用次数: 2
Relative importance index (RII) in ranking of quality factors on industrialised building system (IBS) projects in Malaysia 相对重要性指数(RII)在马来西亚工业建筑系统(IBS)项目的质量因素排名
Pub Date : 2019-07-30 DOI: 10.1063/1.5118037
N. S. Azman, M. Z. Ramli, R. Razman, M. Zawawi, I. N. Ismail, M. Isa
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引用次数: 18
Bentonite and marconite for electrical grounding applications from geotechnical engineering perspective 从岩土工程的角度看,膨润土和马孔土在电气接地中的应用
Pub Date : 2019-07-30 DOI: 10.1063/1.5118086
M. Tadza, D. Mohamad, S. Tripathy, R. A. Rahman, M. A. Ismail
Bentonite and marconite are commonly used as soil substitute and filler material for electrical grounding applications in trouble environments. Bentonite is a fine grained highly plastic clay derived from volcanic formation, whereas Marconite is an engineered material in the form of super conductive aggregate derived from coal power production. Both material are used to reduce the electrical resistance between the soil and earth-electrode rod. In this study, a sodium based bentonite, namely MX80 bentonite and Marconite aggregates were characterized and tested to perform as grounding material under varying water contents. After each test, the resistivity of each specimens were measured using a Nelsson 2-point resistivity meter. In addition, aluminum discs were inserted into the specimens to measure the effect of wetting and corrosion induced by both material. Test results indicated that the resistivity behavior of bentonite is greater than that of Marconite. On the contrary, the resistivity of Marconite is far lower than that of MX80 bentonite. The lowest resistivity achieved by Andrassy bentonite was found to be 2.4 Ωm under very wet conditions as compared to 0.44 Ωm in Marconite. Based on the tests results, the resistivity behavior of bentonite is governed by the water content. Water within the pores acts as particle bridging for electrical currents to pass through the bentonite. The resistivity values is lower under liquid state as compared to under plastic or solid state. On the hand, Marconite resistivity behavior remained somewhat unchanged under both dry and wet conditions indicating that interparticle contact is more dominant. Higher corrosion was observed on aluminum discs placed within bentonite specimens due to the availability of water.
膨润土和马孔石常用作土壤替代品和填充材料,用于恶劣环境下的电气接地。膨润土是一种来自火山地层的细粒高塑性粘土,而马孔石是一种来自煤电生产的超导骨料形式的工程材料。这两种材料都用于减少土壤和接地电极棒之间的电阻。在本研究中,对一种钠基膨润土,即MX80膨润土和马孔石聚集体进行了表征,并测试了其在不同含水量下作为接地材料的性能。每次试验后,使用尼尔森2点电阻率仪测量每个试样的电阻率。此外,在试样中插入铝片,以测量两种材料对试样的润湿和腐蚀的影响。试验结果表明,膨润土的电阻率优于马孔土。相反,马孔石的电阻率远低于MX80膨润土。在非常潮湿的条件下,Andrassy膨润土的电阻率最低为2.4 Ωm,而Marconite的电阻率最低为0.44 Ωm。试验结果表明,膨润土的电阻率特性受含水率的影响。孔隙中的水作为电流通过膨润土的粒子桥接。在液态下电阻率值比在塑性或固态下低。另一方面,在干湿条件下,马孔石的电阻率行为基本保持不变,表明颗粒间接触更占优势。由于水的可用性,在放置在膨润土样品中的铝盘上观察到较高的腐蚀。
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引用次数: 7
A review on tool wear optimization of rubberized fly ash geopolymer material 掺胶粉煤灰地聚合物材料刀具磨损优化研究进展
Pub Date : 2019-07-30 DOI: 10.1063/1.5118200
N. Zain, N. Shuaib, M. Abdullah, S. Nasir, F. Tahir
Geopolymer was widely used for development purposes, but only a few were tested for machining purposes. Therefore, there are several attempts of using geopolymer as more eco-friendly material which can be a good replacement of the existing material. The main significance of this study is to observe the machinability rubberized fly ash geopolymer material lathe process. The parameter plays big role in machining of rubberized fly ash geopolymer to obtain the least tool wear, as it apply significant effect on the material. Besides, the success of this result is significant so it can replace the conventional materials used in common machining activities in industry.Geopolymer was widely used for development purposes, but only a few were tested for machining purposes. Therefore, there are several attempts of using geopolymer as more eco-friendly material which can be a good replacement of the existing material. The main significance of this study is to observe the machinability rubberized fly ash geopolymer material lathe process. The parameter plays big role in machining of rubberized fly ash geopolymer to obtain the least tool wear, as it apply significant effect on the material. Besides, the success of this result is significant so it can replace the conventional materials used in common machining activities in industry.
地聚合物被广泛用于开发目的,但只有少数用于机械加工目的。因此,有一些尝试使用地聚合物作为更环保的材料,可以很好地替代现有的材料。本研究的主要意义在于观察加胶粉煤灰地聚合物材料在车削加工过程中的可加工性。该参数对胶化粉煤灰地聚合物材料的影响很大,对其切削加工产生最小的刀具磨损。此外,该结果的成功意义重大,因此它可以取代工业中常见加工活动中使用的传统材料。地聚合物被广泛用于开发目的,但只有少数用于机械加工目的。因此,有一些尝试使用地聚合物作为更环保的材料,可以很好地替代现有的材料。本研究的主要意义在于观察加胶粉煤灰地聚合物材料在车削加工过程中的可加工性。该参数对胶化粉煤灰地聚合物材料的影响很大,对其切削加工产生最小的刀具磨损。此外,该结果的成功意义重大,因此它可以取代工业中常见加工活动中使用的传统材料。
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引用次数: 0
Analysis on structure reliability of solar powered water treatment device (SWAD) prototype 太阳能水处理装置样机结构可靠性分析
Pub Date : 2019-07-30 DOI: 10.1063/1.5118026
I. N. Ismail, Foo Fang Khean, M. Zawawi, N. Zahari, S. Z. Abidin, W. N. Yusairah, A. Zuhdi, M. R. Eqwan, H. Mohamed, M. Z. Ramli, M. Mansor, Fevi Syaifoelida, A. A. Zakaria, M. Isa, D. Mohamad, M. Jaafar, N. A. Rahmat, M. S. A. Rahman
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引用次数: 0
Automated portable RJ45 tester system 自动便携式RJ45测试系统
Pub Date : 2019-07-30 DOI: 10.1063/1.5118115
Z. M. Hussin, M. Amit, L. Tiron, M. Razak, S. Mohammad
This paper presents a portable Registered Jack 45 (RJ45) tester system using a smartphone. The design tester is portable and can be used to test the RJ45 cable. This system can be used to help the network engineer or technician to carry out cable installation and troubleshoot in the telecommunication room. It is used to identify the faulty cables before or after the network installations and also used for installation troubleshooting. Also, it is applicable to avoid any mistakes while connecting the RJ45 to the network cable since all RJ45 units are identical. Basically, this system is comprised of three particular units which are the smartphone, Arduino microcontroller and Android studio software. The Android studio used in this system acts as the main programme while the Arduino acts as the subordinate programme. An Android application is installed in the smartphone to send the message to Arduino to check and test the connectivity of the cable which uses the RJ45. Then, the data is sent back to the main software to determine the cable types of RJ45. The prototype tester has been tested in multiple testing setting and are shown to be able to successfully recognise the cable types.
介绍了一种基于智能手机的便携式注册插孔45 (RJ45)测试仪系统。本设计测试仪便于携带,可用于对RJ45线缆进行测试。该系统可以帮助网络工程师或技术人员在电信机房进行电缆安装和故障排除。用于网络安装前或安装后的故障线缆识别,也用于安装故障处理。同时,由于所有RJ45单元都是相同的,为了避免在连接网线时出现错误,也可以这样做。基本上,该系统由智能手机、Arduino微控制器和Android studio软件三个特定单元组成。本系统采用Android studio作为主程序,Arduino作为从程序。在智能手机中安装一个Android应用程序,将消息发送到Arduino,以检查和测试使用RJ45的电缆的连接性。然后将数据返回给主软件,确定RJ45线缆的类型。原型测试仪已在多个测试设置中进行了测试,并证明能够成功识别电缆类型。
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引用次数: 0
Effect of free surface water level of Kenyir Dam on spillway structure using fluid-structure interaction (FSI) analysis 基于流固耦合分析的肯伊尔大坝自由地表水位对溢洪道结构的影响
Pub Date : 2019-07-30 DOI: 10.1063/1.5118051
M. Radzi, M. N. Nashrudin, M. Zawawi, A. Abas, A. Azman, A. Hassani
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引用次数: 3
Free running loop pendulum for time clock algorithm 自由运行的钟摆时钟算法
Pub Date : 2019-07-30 DOI: 10.1063/1.5118146
M. A. Abas, Ridwan, Salman
Time based control loop in digital algorithm could be accomplished through built-in circuits such as watchdog timer or external device that known as Real Time Clock (RTC). Another option which is simple, fast and easily implemented is by using free run internal coding interval. The accuracy is not as good as compared to RTC but it simplifies a lot of work especially setting up time during interfacing hardware between microcontroller and RTC. Those who experience with the intermittent work with RTC, escaping the choice with something else is always triggered in mind. RTC is good but the process of activating the device must be properly done through hardware and software. Hence this problem initiates a very simple technique that could be used to replace RTC by using free run internal coding. Microcontrollers need 4 clock cycles to execute one line of assembly code. In a simple free control loop for instance 100 assembly codes, it will consume 5 us to complete the execution in 8 MHz oscillator. As long as the time taken to complete a loop is less than a second, the free run loop coding is executed to function as pendulum in mechanical clock. The result from this work shows very marginable run time error and the most important issue is simplicity of constructing the time base circuit gives a very good option.Time based control loop in digital algorithm could be accomplished through built-in circuits such as watchdog timer or external device that known as Real Time Clock (RTC). Another option which is simple, fast and easily implemented is by using free run internal coding interval. The accuracy is not as good as compared to RTC but it simplifies a lot of work especially setting up time during interfacing hardware between microcontroller and RTC. Those who experience with the intermittent work with RTC, escaping the choice with something else is always triggered in mind. RTC is good but the process of activating the device must be properly done through hardware and software. Hence this problem initiates a very simple technique that could be used to replace RTC by using free run internal coding. Microcontrollers need 4 clock cycles to execute one line of assembly code. In a simple free control loop for instance 100 assembly codes, it will consume 5 us to complete the execution in 8 MHz oscillator. As long as th...
数字算法中基于时间的控制回路可以通过内置电路如看门狗定时器或称为实时时钟(RTC)的外部设备来实现。另一个简单、快速和容易实现的选择是使用自由运行的内部编码间隔。精度不如RTC好,但它简化了很多工作,特别是在微控制器和RTC之间连接硬件时的设置时间。那些经历过RTC间歇性工作的人,总是在脑海中触发其他事情来逃避选择。RTC很好,但激活设备的过程必须通过硬件和软件来正确完成。因此,这个问题引发了一种非常简单的技术,可以通过使用自由运行的内部编码来取代RTC。微控制器需要4个时钟周期来执行一行汇编代码。在一个简单的自由控制循环中,例如100个汇编代码,它将消耗5us来完成8mhz振荡器的执行。只要完成一个循环所需的时间少于一秒,自由运行的循环编码就会被执行,就像机械钟中的钟摆一样。结果表明,运行时误差非常小,最重要的问题是时间基电路的简单构造提供了一个很好的选择。数字算法中基于时间的控制回路可以通过内置电路如看门狗定时器或称为实时时钟(RTC)的外部设备来实现。另一个简单、快速和容易实现的选择是使用自由运行的内部编码间隔。精度不如RTC好,但它简化了很多工作,特别是在微控制器和RTC之间连接硬件时的设置时间。那些经历过RTC间歇性工作的人,总是在脑海中触发其他事情来逃避选择。RTC很好,但激活设备的过程必须通过硬件和软件来正确完成。因此,这个问题引发了一种非常简单的技术,可以通过使用自由运行的内部编码来取代RTC。微控制器需要4个时钟周期来执行一行汇编代码。在一个简单的自由控制循环中,例如100个汇编代码,它将消耗5us来完成8mhz振荡器的执行。只要……
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引用次数: 0
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APPLIED PHYSICS OF CONDENSED MATTER (APCOM 2019)
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