This work proposes a new technique to plan enveloping grasps of 2D objects. The method is guided by the idea that the best grasp is the grasp that has a complete and proper contact between the hand and the object. This technique searches for the maximum value of a Grasp Quality Metric (Q) which corresponds to the best enveloping grasp. To find this value, the proposed technique requires the development of two algorithms. The first one generates a grasp for a given object at a specific approach angle, and it is called the Grasp Generator. The second one is called the Search Algorithm. This algorithm explores all approach angles for the best grasp. The proposed method is used for a two-fingered robotic hand with eight degrees of freedom, and it is implemented and tested on a wide variety of 2D objects to show its effectiveness.

Grasp planning is the problem of finding the contact locations and the forces to apply by the fingers on the object surface to grasp it. This work proposes a new technique that solves a simplified version, (2-D), of this planning problem. This technique is used for planning form-closure grasps. In this type of grasp, the fingers surround the object and hold it securely against the palm. It could be used successfully to restrain the object with minimum concern about the applied forces even when the coefficient of friction is small. Instead of using shape primitives or hand preshapes to simplify the problem solution, this work suggests an optimization technique. This technique searches for the maximum value of a Grasp Quality Metric ( ) which corresponds to the best form-closure grasp. To find this value, the proposed technique requires the development of two algorithms. The first one generates a grasp for a given object at a specific approach angle of the robotic hand, and it is called the Grasp Generator. The second one is called the Search Algorithm. This algorithm explores all approach angles for the best grasp. The outputs of this algorithm are the position and the orientation of the palm and the joint angles of the fingers at the best grasp. The proposed method is used for a two-fingered robotic hand with eight degrees of freedom, and it is implemented and tested on a wide variety of 2D objects. The results show the effectiveness of the method to achieve the planning of form-closure grasps of any 2D object.

Grasp planning is the problem of finding the contact locations and the forces to apply by the fingers on the object surface to grasp it. This work proposes a new technique that solves a simplified version, (2-D), of this planning problem. This technique is used for planning form-closure grasps. In this type of grasp, the fingers surround the object and hold it securely against the palm. It could be used successfully to restrain the object with minimum concern about the applied forces even when the coefficient of friction is small. Instead of using shape primitives or hand preshapes to simplify the problem solution, this work suggests an optimization technique. This technique searches for the maximum value of a Grasp Quality Metric ( ) which corresponds to the best form-closure grasp. To find this value, the proposed technique requires the development of two algorithms. The first one generates a grasp for a given object at a specific approach angle of the robotic hand, and it is called the Grasp Generator. The second one is called the Search Algorithm. This algorithm explores all approach angles for the best grasp. The outputs of this algorithm are the position and the orientation of the palm and the joint angles of the fingers at the best grasp. The proposed method is used for a two-fingered robotic hand with eight degrees of freedom, and it is implemented and tested on a wide variety of 2D objects. The results show the effectiveness of the method to achieve the planning of form-closure grasps of any 2D object.

Knowledge of propagation media, typically gathered through physical experiments and simulations, is absolutely critical in successful transceiver design. In the case of medical implants, physical experiments are extremely difficult. Therefore, we rely on simulations in most studies. In this paper, Path Loss (PL) between implanted antennas, as a measure of propagation channel characteristics, is investigated using High Frequency Structure Simulator (HFSS) and Remcom's XFDTD 7 (XF7). An Electrically Coupled Loop Antenna (ECLA) is designed to study PL inside human body models at different frequency bands: Medical Implanted Communication Services (MICS) band (402-405 MHz), Industrial Scientific and Medical (ISM) band (2.4 2.5 GHz) and 3.5 GHz band (3.55-3.65 GHz). The ECLA has dimensions (5×5×3 mm3), (3×3×3 mm3) and (2×2×2 mm3) at MICS, ISM and 3.5 GHz respectively. ECLA performance inside human body models is studied at the allowed frequency bands. The effects of frequency bands, human model electrical properties, and distance between implants on PL are considered. Simulation results are validated with experimental work. Our results show that the ECLA at MICS band has the lowest Specific Absorption Rate (SAR) and the highest allowed input power. Also, the MICS band has the lowest PL inside the human body model, shown to be less than 90 dB in the worst case scenario.

There are many challenges involved with the implanted antenna designs including but not limited to the miniaturization of a wideband antenna and reducing the specific absorption rate, SAR, of a miniaturized antenna. Most of the proposed antennas for implanted applications are electric antennas such as planar inverted-F antenna, PIFA. By miniaturizing the size of an electric antenna the electric field intensity in the antenna near zone will increase resulting in higher SAR. This work is trying to design a miniaturized magnetic type antenna to overcome the SAR limitations for small implanted antennas.

Summary form only given. Improving health care, while managing and reducing costs, requires a more efficient health care system. Adopting smart health-monitoring sensors, in- or on-body, will play a key role in successfully addressing the challenges. Currently, smart health-monitoring sensors and medical devices exist in implantable, ingestible, and wearable forms. On the other hand, artificial organs, such as artificial hearts and limbs, are now becoming a reality to replace unhealthy organs. Together all these devices are about to transform the medical care that once was either unimaginable or was categorized as a science fiction.Given their expected abundance and large number utilization in the future health care, it is imperative that these devices to wirelessly communicate to each other with utmost reliability, security, and efficiency both in power consumption and spectrum utilization. In addition, the coming paradigm shift in spectrum sharing and management calls for a robust cognitive wireless system that is aware of its spectral environment, learns from the environment, and adapts in real-time to its operating parameters with respect to its changing environment and mission objectives. We propose an intra and inter-body cognitive communication system that will be the next generation of body area network to respond to these demands. The proposed cognitive communication system will allow implanted and internal devices to communicate securely and seamlessly with on body medical devices for future healthcare applications. We envision that the intra and inter-body cognitive communication systems will enable a cost-effective in-home medical care by reducing number of admissions and readmissions to a hospital. As the first step, we considered the human body as a sophisticated inhomogeneous lossy communication channel, using extremely small antennas in near-field and far-field regimes. Some preliminary results for the inter-body communication channel characterizati- n will be presented. Challenges and requirements for the intra and inter-body cognitive communication system will also be discussed.

In-body communication channels are of increasing interest for a number of telemetry applications such as Wireless Body Area Network (WBAN). Knowledge of the propagation media is a key step towards a successful transceiver design, and such information is typically gathered by physical experiments. In the case of medical implants, this could be extremely difficult if not impossible. In this paper, the Path Loss (PL) between implanted antennas will be investigated using High Frequency Structure Simulation (HFSS). The PL will be studied using Electrically Coupled Loop Antenna (ECLA) with dimensions (5×5×3mm3), (3×3×3 mm3), and (2×2×2 mm3) at the Medical Implanted Communication Services (MICS) band (402-405 MHz), Industrial Scientific and Medical (ISM) band (2.4-2.5 GHz), and Ultra Wide Band (UWB) communication band (3.5-3.6 GHz) respectively.

Recently there has been a growing interest in the design of implanted antennas for biotelemetry, e-healthcare, and hyperthermia applications. The implanted antenna needs to be extremely small while maintaining a low Specific Absorption Rate (SAR). Most of the proposed antennas for implanted applications are electric field antenna such as Planner Inverted-F Antenna (PIFA). These types of antennas have high near zone electric field intensity and high SAR value. In this work, an Electrically Coupled Loop Antenna (ECLA) is proposed as a magnetic loop antenna, which has a relatively low near zone electric field intensity and therefore, small SAR values. An ECLA is designed in the Medical Implanted Communication Services (MICS) band (402-405 MHz), Industrial Scientific and Medical (ISM) band (2.4-2.5 GHz), and Ultra Wide Band (UWB) communication band (3.5-3.6 GHz) with dimensions (5×5×3mm3), (3×3×3 mm3), and (2×2×2 mm3) respectively. Using High Frequency Structure Simulation (HFSS), the performance of ECLA inside one-layer human body model will be analyzed at three frequency bands.

n this communication, the near-field radiation characteristics of electric and magnetic antennas when surrounded by a lossy dielectric medium are described. This study is relevant for cases such as implanted antennas, submarine or underground communications where the antenna's near field consists of lossy dielectric media such as human tissues, minerals or saline water. Theoretical results for both types of small antennas are presented and expressions to show the differences in stored energy and radiated power in the radian sphere around the antenna are formulated. It is found that magnetic antennas give much better performance when surrounded by a lossy dielectric..

Using simulating models for internal combustion engine cycles is appreciable method for predicting the engines performance for saving the time and the effort. Fuel air ratio and gas variable specific heats are taken into account in the present work. Irreversibilities resulted from nonisentropic compression and expansion processes and heat loss through the cylinder wall are also taken into account in the present model. Finite difference method is applied for estimating the states through the heat addition process and compression and expansion strokes. Computer program is designed for the model includes all the above conditions and the cycle parameters. Experimental test was carried out on a single cylinder constant speed diesel engine to verify the obtained results using the present model. The obtained results show a good agreement with the corresponding data recorded from the experimental tests. Other Comparisons are done with the corresponding results of an actual engine model results which published for gasoline and diesel engines. The obtained results from the model show a good agreement with the corresponding data in researches. The effect of the cycle parameters (inlet air temperature, inlet air pressure, air fuel ratio, compression ratio, and compression and expansion efficiencies) on the power output and thermal efficiency are studied. It is shown that the power and thermal efficiency increase with the increase of compression and expansion efficiencies, inlet air pressure and compression ratio. For gasoline engine cycle the optimum value of compression ratio is around10 to be prevented from detonation, and for diesel the optimum value is around 20. With increasing air fuel ratio the power output increase then decrease and the thermal efficiency increases, so the optimum value of air fuel ratio for gasoline engine cycle is around 13 and for diesel around 15. With increasing the inlet air temperature the power output and thermal efficiency are decreased. The Specific Fuel Consumption decreases with increasing power for the two cycles. The benefit from the research is that optimum parameters for operating are predicted by the model. The obtained results would be more realistic and implemented on the performance evaluation of the internal combustion engine