This paper presents an aerial robot with a manipulator to implement door opening mission. Although general aerial robots have advantages of flying in the three-dimensional space freely, they don't have any capability of moving to another room when the door is closed. To overcome this problem, we propose a new configuration of an aerial manipulator with perching function, knob-twisting function, and door-pushing function. Perching function can be achieved by integration of door-approach control, the mechanism for perching and attitude-change control. With regard to knob-twisting function, the design concept of a light-weight manipulator generating large enough force to twist the knob is introduced, which is composed of a soft-bag actuator with variable restriction to perform the arbitrary curved trajectory. On the other hand, the door pushing force is aimed to be generated by the lift of the propeller, which is helpful to avoid gaining the additional weight. The validity of the proposed methods is experimentally verified by using the developed prototype.
Among the several functions of the nasal cavity, temperature and humidity adjustments are important for preserving the trachea and lungs. The functions of the nasal cavity have been clarified in experiments investigating the conditions in the nasal cavity. However, the difficulties of noninvasive measurements have rendered nasal cavity simulations an attractive alternative. Data are readily obtained from a simulated result. In this study, airflow, temperature, and humidity transfer in the human nasal cavity were investigated in a nasal cavity wall model of temperature and humidity transport. The simulated result was verified by comparison with experimental data. A reasonable agreement was attained between experimental data and a model incorporating the latent heat effect. The model simulates heat and water exchange in the nasal cavity. In all cases, the temperature and humidity of the inhaled air were adjusted to suitable physiological values. Temperature and humidity gradients were highest at the front of the nasal cavity. The influence of latent heat was clarified by comparing simulation results with and without latent heat under several inhaled air conditions. In the hot-humid inhaled air case, temperature in the Kiesselbach area was increased by latent heat of condensation, and relative humidity declined. In the other inhaled air cases, the temperature in the Kiesselbach area was decreased by latent heat of evaporation, while relative humidity increased. Latent heat effect was particularly influential in the hot inhaled air case.
By integrating the complex pathophysiology of the heart, patient-specific, multi-scale heart simulation could successfully reproduce the response to CRT. With further verification, this technique could be a useful tool in clinical decision making.
Abstract:The difficulties involved in calibration of physically based erosion models have been partly attributable to the lack of robust optimization tools. This paper presents the essential concepts and application to optimize channel and plane parameters in an erosion model, with a global optimization method known as the SCE-UA (Duan et al., 1992. Water Resources Research 28(4): 1015-1031), which has recently shown promise as an effective and efficient optimization method for calibrating watershed models. It is based on the simplex method, and in order to improve its efficiency by making the simplex expand in a direction of more favourable conditions, or contract if a move was taken in a direction of less favourable conditions, new evolution steps have been introduced. The physically based erosion model that was chosen is called WESP (watershed erosion simulation program), developed by Lopes and Lane (1988. In Sediment Budgets, Bordas MP, Walling DE (eds). IAHS Publication no. 174. IAHS: Wallingford). The optimization technique was tested with the field data collected in an experimental watershed located in a semi-arid region of Brazil. On the basis of these results, the recommended erosion parameter values for a semi-arid region are given, which could serve as an initial estimate for other similar areas.
RESUMOO tipo de cobertura vegetal, presente numa área, tem grande influência sobre o escoamento superficial e a produção de sedimentos. O objetivo do presente trabalho é estabelecer uma relação entre o tipo da cobertura vegetal e a erosão do solo nu, mediante uma equação empírica da perda de solo. A equação proposta foi calibrada usando-se dados sintéticos gerados por um modelo físico hidrossedimentológico, cujos parâmetros de erosão foram determinados como valores representativos de uma área desmatada do semi-árido paraibano. Apresenta-se uma comparação entre os valores calculados pela equação e os dados observados em várias parcelas de erosão, as quais apresentavam condições de cobertura vegetal e declividade distintas, localizadas na Bacia Experimental de Sumé, PB. Esta comparação permitiu uma avaliação da influência do tipo de cobertura vegetal sobre a erosão do solo.Palavras-chave: cobertura vegetal, modelo de erosão, semi-árido, produção de sedimentos INFLUENCE OF THE TYPE OF VEGETAL COVER ON SEDIMENT YIELD IN THE SEMIARID REGION OF PARAÍBA STATE ABSTRACTThe type of vegetation cover present in an area, greatly influences the surface runoff as well as the sediment yield. The objective of this paper is to establish a relationship between the type of vegetal cover and erosion by means of an empirical equation for soil loss. The proposed equation was calibrated using synthetic data obtained from a physically-based runoff-erosion model in which the erosion parameter values are representative of a cleared bare-land surface in the semiarid area of Paraíba State. A comparison between the values obtained from the equation and the observed data collected from several erosion plots in the Sumé Experimental Watershed with different conditions of vegetal cover and slope is presented as an evaluation of the influence of the vegetation cover on soil erosion.
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