Barsamian, ST & Thornton, BS 1985, 'Dielectric structure of cells indicated from dc polarization methods', Physics Letters A, vol. 107, no. 8, pp. 414-418.
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Electric polarization measurements on calf thymus cells show the existence of recently predicted dielectric zones which develop progressively within whole living cells when transforming from normal to tumourous. © 1985.
Barsamian, ST, Reid, BL & Thornton, BS 1985, 'Origin of dielectric discreteness during the development of Dacus tryoni and its reversal by a carcinogen', IRCS Medical Science, vol. 13, no. 11, pp. 1103-1104.
BIRD, TS 1985, 'ACCURATE ASYMPTOTIC SOLUTION FOR THE SURFACE FIELD DUE TO APERTURES IN A CONDUCTING CYLINDER', IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION, vol. 33, no. 10, pp. 1108-1117.
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Braun, RM & Downing, B 1985, 'Injection-lock Bandwidth Extension By Control Modulation And Current Hump Slope Detection', Electronics Letters, vol. 21, no. 13, pp. 564-566.
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Burdon, S 1985, 'OPTIMIZING STEEL SALES IN THE AUSTRALIAN CONSUMER GOODS MARKET.', SEAISI Quarterly (South East Asia Iron and Steel Institute), vol. 14, no. 2, pp. 59-64.
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During the last few years the Australian white goods industry has been involved in a major restructuring and rationalisation program which has resulted in fewer, more efficient manufacturers gaining an opportunity to achieve the cost of scale benefits associated with such a move. Manufacturers who survived this shake-out quickly recognised the need to innovate and produce more cost effective products to stimulate and meet market demand while at the same time fend off local and import competition. As a result there has been significant investment in capital equipment to increase productivity and reduce costs. Meanwhile, smart suppliers recognised the part they could play by developing more cost effective products and providing resource input into customer development projects with assistance in areas such as product design, fabrication techniques and material specification. In this paper it is explained how Lysaght recognized the challenge and approached the new opportunities which have evolved within this market.
Moses, RG, Colagiuri, S & Shannon, AG 1985, 'Effectiveness of mass screening for diabetes mellitus using random capillary blood glucose measurements', Medical Journal of Australia, vol. 143, no. 12-13, pp. 544-546.
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The results of 23,228 fingerprick capillary blood glucose tests (the taking of which was coordinates by the Diabetic Association of New South Wales) were reviewed. All non-diabetic persons (n = 860) with a blood glucose result of greater than or equal to 8.0 mmol/L were surveyed and 459 responded (53.4%). The responders were typical of the surveyed group with respect to age and capillary blood glucose level. Sixty-four new cases of diabetes were detected, representing 15.8% of the replies from persons who were not known to have diabetes and 0.28% of the total number of persons screened.
Sedlacek, G, Lopetegui, J, Stutzki, C & Saleh, A 1985, 'Computer Aided Analysis of Space Frames Subjected to Nonlinear Loads.', Bauingenieur Berlin, vol. 60, no. 8, pp. 297-306.
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Two approaches in design of space frame structures are outlined and discussed. The kinematic equations for arbitrary large rotation of beams are formulated by means of rotation vectors. This is the so called displacement method. The other approach uses nonlinear computational algorithms. An iteration procedure was developed using initial stiffness matrix and orthogonal load-deformation-states.
Song, S, Waldron, K & Kinzel, GL 1985, 'Computer-aided Geometric Design Of Legs For A Walking Vehicle', Mechanism And Machine Theory, vol. 20, no. 6, pp. 587-596.
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Vigneswaran, S & Aim, RB 1985, 'The influence of suspended particle size distribution in deep‐bed filtration', AIChE Journal, vol. 31, no. 2, pp. 321-324.
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Vigneswaran, S & Visvanathan, C 1985, 'Mathematical modelling of mobile bed filtration with contact flocculation - filtration arrangement', Effluent & Water Treatment Journal, vol. 25, no. 9, pp. 309-314.
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Mathematical formulation of suspended solids removal in contact-flocculation filtration is complex since both flocculation and suspended solids removal occur within the filter bed itself. In this study, a mathematical formulation based on O'Melia and Alis' model was developed for contact flocculation-filtration incorporating the flocculation phenomena in ideal conditions. This model was then extended to mobile bed filtration with contact flocculation-filtration arrangement and verified with laboratory-scale mobile bed filter experimental results obtained.
Vigneswaran, S, Thiyagaram, M & Aim, RB 1985, 'Mathematical modeling of radial flow filtration and its application to groundwater recharge problems', AIChE Journal, vol. 31, no. 11, pp. 1929-1933.
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Waldron, K, Wang, S & Bolin, S 1985, 'A Study Of The Jacobian Matrix Of Serial Manipulators', Journal Of Mechanisms Transmissions And Automation In Design-transactions Of The ASME, vol. 107, no. 2, pp. 230-238.
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Waldron, KJ, Wang, SL & Bolin, SJ 1985, 'STUDY OF THE JACOBIAN MATRIX OF SERIAL MANIPULATORS.', Journal of mechanisms, transmissions, and automation in design, vol. 107, no. 2, pp. 230-238.
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Inversion of the Jacobian matrix is the critical step in rate decomposition which is used to solve the so-called 'inverse kinematics' problem of robotics. This is the problem of achieving a coordinated motion relative to the fixed reference frame. A general methodology is presented for formulation and manipulation of the Jacobian matrix. The formation is closely tied to the geometry of the system and lends itself to simplification using appropriate coordinate transformations. This is of great importance since it gives a systematic approach to the derivation of efficient, analytical inverses. The method is also applied to the examination of geometrically singular positions. Several important general results relating to the structure of the singularity field are deducible from the structure of the algebraic system.
Webb, SJ & Thornton, BS 1985, 'Dielectric structure and spatial-temporal organisation in cells', Physica Scripta, vol. 32, no. 3, pp. 253-256.
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A cellular timing mechanism is proposed based on the spiralling motion of membranous blocks of molecules as they pass sequentially through dielectric zones within a cell. The zones can change with altered membrane surface conditions causing altered sequences and timing in metabolic processing and can relate to oncogenesis. © 1985 IOP Publishing Ltd.
ZIOLKOWSKI, RW 1985, 'EXACT-SOLUTIONS OF THE WAVE-EQUATION WITH COMPLEX SOURCE LOCATIONS', JOURNAL OF MATHEMATICAL PHYSICS, vol. 26, no. 4, pp. 861-863.
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ZIOLKOWSKI, RW 1985, 'N-SERIES PROBLEMS AND THE COUPLING OF ELECTROMAGNETIC-WAVES TO APERTURES - A RIEMANN-HILBERT APPROACH', SIAM JOURNAL ON MATHEMATICAL ANALYSIS, vol. 16, no. 2, pp. 358-378.
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Bakoss, SL, Burfitt, A, Cridland, L & Heiman, JL 1985, 'MEASURED AND PREDICTED LONG-TERM DEFORMATIONS IN A TALL CONCRETE BUILDING.', Publication SP - American Concrete Institute, pp. 63-94.
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A 120m tall building incorporating both in-situ and precast post-tensioned concrete components was instrumented to observe some aspects of its structural behaviour. The instrumentation includes embedded and surface strain and temperature transducers, survey reference points, wind pressure tappings, and anemometers above the roof of the building to measure wind characteristics. The paper describes the strain and deformation instrumentation and method of data acquisition. The measured long-term vertical strains and deformations in one of the columns are presented and are compared with values predicted by two methods which are suitable for use by designers. Reference is made to the results of an extensive materials testing programme the results of which enabled the assessment of methods of prediction for the long-term creep and shrinkage properties of the concrete.
Ball, JE 1985, 'ROUTING OF UNSTEADY FLOWS IN URBAN DRAINAGE NETWORKS.', National Conference Publication - Institution of Engineers, Australia, pp. 146-150.
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Flow in an urban drainage network is generally unsteady. Analysis of such flows therefore requires the solution of the unsteady flow (Saint Venant) equations. Among the numerical techniques which have been developed for the analysis of unsteady flows is the four-point implicit finite difference scheme commonly referred to as the Amein scheme. Use of the Amein scheme requires the solution of C multiplied by DELTA v equals minus R where C is a large sparse matrix and DELTA v and R are n multiplied by 1 column vectors. The algorithm proposed herein uses the properties of the drainage network to develop an efficient solution of C multiplied by DELTA v equals minus R based upon the partitioning and decomposition of the coefficient matrix C. An example urban drainage network is analysed showing the use of the proposed solution algorithm.
Bird, TS 1985, 'MUTUAL COUPLING IN WAVEGUIDE-FED PARALLEL PLATE LENSES.', IREECON International (Convention Digest) (Institution of Radio and Electronics Engineers Australi, pp. 936-939.
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An element-by-element analysis of mutual coupling in waveguide-fed parallel plate lenses is described which uses solutions for the surface field excited by a magnetic dipole on a concave cylindrical conductor. Coupling coefficients computed by this method are compared with measured results for a circular and a Rotman lens.
Bird, TS & Poulton, GT 1985, 'ENVELOPE-CONSTRAINED PATTERN SYNTHESIS FOR SATELLITE ANTENNAS.', IREECON International (Convention Digest) (Institution of Radio and Electronics Engineers Australi, pp. 567-570.
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Two techniques are compared for contoured beam design for on-board satellite antennas with constraints on both co-polar and cross-polar pattern envelopes. The techniques are based respectively on a penalty function approach and the method of successive projections and are applied to an array-fed single-offset reflector antenna producing a beam covering the south-east region of Australia.
Bolin, SJ & Waldron, KJ 1985, 'SIMULATION OF A ROBOT MANIPULATOR COORDINATED BY A GEOMETRICALLY SIMPLIFIED RATE CONTROL ALGORITHM.', Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University).
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An important concept in the development of manipulator coordination algorithms is the Jacobian matrix. The Jacobian is used to relate the velocity state of the robot hand to the required joint rates. In this paper, coordinate transformation is used to simplify the analytical decomposition of the Jacobian matrix. An analytical decomposition of the Jacobian is employed to determine the joint rate equations and also the singularity conditions for the Unimation PUMA 560 robot.
Burdon, S 1985, 'OPTIMISING STEEL SALES IN THE AUSTRALIAN CONSUMER GOODS MARKET.'.
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During the last few years the Australian white goods industry has been involved in a major restructuring and rationalisation programme which has resulted in fewer, more efficient manufacturers. Manufacturers who have survived have recognised the need to innovate and produce more cost effective products to stimulate market demand and resist local and import competition. As a result there has been significant investment in capital equipment to increase productivity and reduce costs. This paper explains how Lysaght recognised the challenge and approached the new opportunities which have evolved within this market.
Hoang, DB 1985, 'FLOW CONTROL FOR INTEGRATED VOICE-DATA SERVICES IN LOCAL AREA NETWORKS.', National Conference Publication - Institution of Engineers, Australia, pp. 90-94.
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The paper proposes some flow control strategies for integrated voice-data services in local area networks. The strategies involve determining a threshold level, which depends on both voice and data statistics, and taking into account information on the service available in the past. The flow control algorithms proposed are simple and flexible that they can be implemented on a microprocessor-based network interface unit and that they can be applied in other integrated-service systems.
Hoang, DB 1985, 'PACKET SWITCHED EXCHANGE MODELLING AND PERFORMANCE ANALYSIS.', IREECON International (Convention Digest) (Institution of Radio and Electronics Engineers Australi, pp. 779-782.
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A general method for evaluating the performance of a computer network is developed based on queueing models for packet switched exchange (PSE) and for subcommunication networks. The packet switched exchange is modelled by an open network of queues with constraints in such a way that it resembles practical implementation and operation of the switching node. The subcommunication model, which has been developed is incorporated to form a general method for performance analysis of the whole network.
Hoang, DB 1985, 'PACKET SWITCHED NODE MODELLING AND PERFORMANCE ANALYSIS.', pp. 881-886.
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A general method for evaluating the performance of a computer network is developed based on queuing models for the packet-switched nodes and for the subcommunication network. The packet-switched node is modeled by an open network of queues with constraints in such a way that it resembles practical implementation and operation of the switching node. The subcommunication model is then incorporated to provide a general method for performance analysis of the whole network. The model is flexible in that the structure of each node might be different, and the queuing model can easily be tailored according to the actual implementation.
Pery, A, Gardner, JF & Waldron, KJ 1985, 'DESIGN AND TESTING OF A HIGH PERFORMANCE HYDRAULIC POWER SYSTEM FOR A LEGGED LOCOMOTION APPLICATION.', Proceedings of the American Control Conference, pp. 730-736.
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The requirements imposed on the actuation system of an energy-autonomous, six-legged walking vehicle are unique and rigorous. The analysis, design, and testing of such an actuation system for the adaptive suspension vehicle (ASV) at Ohio State University is presented. Special attention is given to the synthesis of the general system configuration, which is a pump-controlled hydraulic system. The selection, design an testing of individual components and systems are discussed. The system developed and designed for the ASV has reasonably large bandwidth, compatible with equivalent familiar valve control systems. This system, although designed for a rather unique application, may eventually find its way into more conventional applications, such as in the heavy-duty robotics field.
Pham, DT & Dissanayake, G 1985, 'FEASIBILITY STUDY OF A VIBRATORY SENSOR FOR LOCATING 3-D OBJECTS.', Proceedings of the International Machine Tool Design and Research Conference, pp. 201-211.
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A novel sensor is investigated which is intended to be mounted at the wrist of a robot to enable it to determine the co-ordinates of a part it has picked up from a stack or tray. The device operates by letting the part vibrate about two orthogonal axes and measuring its inertia-dependent instantaneous velocities and angles of vibration. The mathematical procedures for extracting position and orientation data from these measurements are described. The results of computer simulations carried out to determine guidelines for the design of the device are presented and discussed.
Pham, DT & Dissanayake, MWMG 1985, 'INERTIA-BASED SENSORS WITH ONE AND TWO DEGREES OF FREEDOM FOR LOCATING PARTS.', pp. 223-237.
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Two inertia-based sensors for determining the position and orientation of three-dimensional objects are described. One of them involves letting the objects vibrate about two orthogonal axes simultaneously and measuring the angles and velocities of vibration at various instants of time. In the other sensor, the objects are also vibrated about two axes but the vibrations are performed sequentially and the frequencies of vibration are measured. The mathematical procedures for obtaining the position and orientation of the objects from the measurements are outlined for the second sensor. Results of the computer simulations carried out to assess the feasibility of the latter are presented.
Pham, DT & Dissanayake, MWMG 1985, 'THREE-DEGREE-OF-FREEDOM INERTIAL SENSOR FOR LOCATING PARTS.', pp. 613-629.
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A compromise solution to the problem of economically feeding parts to industrial robots is investigated. The parts are neither accurately presented as in the case of traditional feeding equipment nor jumbled up as in the case of bin-picking machines. Instead, they are semi-ordered into stacks or trays and then unloaded by the robots as needed. The robots are to be equipped with a novel sensor fitted to their wrists for determining the exact coordinates of the parts they have picked up. The device operates by letting the parts vibrate about three orthogonal axes and measuring their inertia-dependent natural frequencies of vibration. The mathematical procedures for extracting position and orientation data from those measurements are described. The results of computer simulations carried out to determine guidelines for the design of the device are presented and discussed.
Song, SM, Lee, JK & Waldron, KJ 1985, 'MOTION STUDY OF TWO AND THREE DIMENSIONAL PANTOGRAPH MECHANISMS.', Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University).
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Coupling of vertical, horizontal and rotory motions in manipulators slows down calculating speed for real time control and lowers system energy efficiency. Pantograph mechanisms are being used as manipulators to remove the coupling of motion. Methods which are used to determine the workspace of pantograph type manipulators are illustrated in an example. Some aspects of structural design are also discussed.
Song, SM, Lu, FH & Waldron, KJ 1985, 'NUMERICAL METHOD IN DETERMINATION OF THE SHORTEST CRANK IN FOUR POSITION BURMESTER SYNTHESIS.', Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University).
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A numerical implementation based on the Newton-Raphson method of solving seven nonlinear equations is presented. A set of eight simultaneous and nonlinear equations is able to eliminate the spurious solutions which give incorrect geometry, and the spurious solutions which have wrong signs of angles are detected by the computer after convergence. The accurate length and position of the shortest crank can then be determined by a few trials.
Tsai, MJ & Waldron, KJ 1985, 'CHARACTERIZATION OF MANIPULATOR WORKSPACE GEOMETRIES.', pp. 887-894.
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Algorithms are presented which permit efficient computation of manipulator workspace volumes, their centroids, moments of inertia and, if necessary, higher moments. These algorithms have been implemented in an interactive computer graphic program permitting rapid evaluation of designated manipulator regional structure geometries. Positions of centroids and moments of inertia can be used as figures of merit characterizing the shape of the workspace.
Vijaykumar, R, Tsai, MJ & Waldron, KJ 1985, 'Geometric optimization of manipulator structures for working volume and dexterity', Proceedings - IEEE International Conference on Robotics and Automation, pp. 228-236.
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© 1985 IEEE. Broadly speaking, the regional structure of a manipulator, which consists of the inboard three joints and the members associated with them, determines the workspace shape and volume. The orientation structure, which, for a six degree of freedom manipulator, consists of the three furthest outboard joints and members, determines the geometric dexterity or orientation potential of the manipulator. It is possible, using straight forward geometric arguments, to determine the optimal dimensions of the regional structure for a given total length. By the use of the spherical counterpart of Grashof's theorem formulated by Freudenstein, it is possible also to show that there is an optimum geometry of the orientation structure.
Waldron, KJ 1985, 'FORCE AND MOTION MANAGEMENT IN LEGGED LOCOMOTION.', Proceedings of the IEEE Conference on Decision and Control, pp. 12-17.
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The control of a legged locomotion system over uneven terrain requires a new approach to coordination. The system has a high degree of static indeterminacy and, because of the stiffness of the structural and actuation systems, has stability problems if position-velocity control is used. The problem has many similarities to that of grasping and manipulating an object in a multifingered hand. The stability problem is removed by controlling actuator force directly, but the necessary computations can be prohibitive. A solution is presented which is moderate in its computational requirements. It is based on an assumption of zero foot interaction forces in the horizontal plane.
Waldron, KJ 1985, 'MECHANICS OF MOBILE ROBOTS.', pp. 533-544.
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The interaction of the mechanics of a mobile platform with control and sensing hardware and software is important to performance in robotic applications. In this paper the basic principles involved will be reviewed, and new material on comparative characterizations will be presented. The application of those principles to a specific example: the Adaptive Suspension Vehicle, will be presented.
Waldron, KJ 1985, 'Mobility and controllability characteristics of mobile robotic platforms', Proceedings - IEEE International Conference on Robotics and Automation, pp. 237-243.
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© 1985 IEEE. Mobile platforms available for use in robotic systems vary enormously in their mobility and in their control characteristics. In particular, the characteristics which are desirable in an autonomous vehicle for unstructured terrain are quite different from those which are optimum in a vehicle for partially structured terrain, such as road following, or for a mobile platform for use in a highly structured factory environment. The controlled degrees of freedom of the platform impact the manner in which it can be used. Platforms with articulated steering are severely limited in situations, such as mobile industrial robot service, in which lateral motion may be desirable.
Waldron, KJ, Brown, TF, Vohnout, V, Kinzel, G & Srinivasan, K 1985, 'TWO EXPERIMENTS ON LEGGED LOCOMOTION.', Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University).
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This paper contains a discussion of the OSU Monopod and the DUWE (Dynamic Unpowered Walking Experiment). These devices were constructed to experimentally verify ideas relating to legged locomotion with low specific resistance. These ideas were incorporated into the design of the Adaptive Suspension Vehicle. The DUWE was also used to explore the mechanics of ballistic leg return and the energetic interactions of the legs and body of a multi-legged machine.
Waldron, KJ, Song, SM, Wang, SL & Vohnout, J 1985, 'MECHANICAL AND GEOMETRIC DESIGN OF THE ADAPTIVE SUSPENSION VEHICLE.', pp. 295-306.
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Some aspects of the mechanical and geometric design of the adaptive suspension vehicle are presented. In particular, there is an emphasis on aspects of the leg design and vehicle geometry, which affect the ability of the vehicle to operate on steep grades or to cross obstacles. A mechanism that maintains the attitude of the foot approximately parallel to the body is described. Geometric aspects of maintaining static stability on steep grades are discussed. Geometric and gait sequence aspects of crossing severe obstacles are also discussed.