The Experts below are selected from a list of 15558 Experts worldwide ranked by ideXlab platform
Thierry Fraichard - One of the best experts on this subject based on the ideXlab platform.
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Human Robot Motion: A Shared Effort Approach
2017Co-Authors: José Grimaldo Da Silva Filho, Thierry FraichardAbstract:This paper is about Human Robot Motion (HRM), i.e. the study of how a robot should move among humans. This problem has often been solved by considering persons as moving obstacles, predicting their future trajectories and avoiding these trajectories. In contrast with such an approach, recent works have showed benefits of robots that can move and avoid collisions in a manner similar to persons, what we call human-like motion. One such benefit is that human-like motion was shown to reduce the planning effort for all persons in the environment, given that they tend to solve collision avoidance problems in similar ways. The effort required for avoiding a collision, however, is not shared equally between agents as it varies depending on factors such as visibility and crossing order. Thus, this work tackles HRM using the notion of motion effort and how it should be shared between the robot and the person in order to avoid collisions. To that end our approach learns a robot behavior using Reinforcement Learning that enables it to mutually solve the collision avoidance problem during our simulated trials.
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ICRA - A Short Paper about Motion Safety
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007Co-Authors: Thierry FraichardAbstract:Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is a taken-for-granted and ill-defined notion in the Robotics literature and the primary contribution of this paper is to propose three safety criteria that helps in understanding a number of key aspects related to the motion safety issue. A number of navigation schemes used by robotic systems operating in the real-world are then evaluated with respect to these safety criteria. It is established that, in all cases, they violate one or several of them. Accordingly, motion safety, especially in the presence of moving objects, cannot be guaranteed (in the sense that these robotic systems may end up in a situation where a collision inevitably occurs later in the future). Finally, it is shown that the concept of inevitable collision states introduced by Fraichard and Asama (2004) does respect the three above-mentioned safety criteria and therefore offers a theoretical answer to the motion safety issue.
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A short paper about motion safety
Proceedings - IEEE International Conference on Robotics and Automation, 2007Co-Authors: Thierry FraichardAbstract:Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is a taken-for-granted and ill-defined notion in the Robotics literature and the primary contribution of this paper is to propose three safety criteria that helps in understanding a number of key aspects related to the motion safety issue. A number of navigation schemes used by robotic systems operating in the real-world are then evaluated with respect to these safety criteria. It is established that, in all cases, they violate one or several of them. Accordingly, motion safety, especially in the presence of moving objects, cannot be guaranteed (in the sense that these robotic systems may end up in a situation where a collision inevitably occurs later in the future). Finally, it is shown that the concept of inevitable collision states introduced by Fraichard and Asama (2004) does respect the three above-mentioned safety criteria and therefore offers a theoretical answer to the motion safety issue.
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A Short Report about Motion Safety
2006Co-Authors: Thierry FraichardAbstract:Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is a taken-for-granted and ill-defined notion in the Robotics literature and the primary contribution of this paper is to propose three safety criteria that helps in understanding a number of key aspects related to the motion safety issue. A number of navigation schemes used by robotic systems operating in the real-world are then evaluated with respect to these safety criteria. It is established that, in all cases, they violate one or several of them. Accordingly, motion safety, especially in the presence of moving objects, cannot be guaranteed (in the sense that these robotic systems may end up in a situation where a collision inevitably occurs later in the future). Finally, it is shown that the concept of Inevitable Collision States does respect the three above-mentioned safety criteria and therefore offers a theoretical answer to the motion safety issue.
Syed Nisar Hussain Shah - One of the best experts on this subject based on the ideXlab platform.
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influence of cellulose derivative and ethylene glycol on optimization of lornoxicam transdermal formulation
International Journal of Biological Macromolecules, 2013Co-Authors: Yasser Shahzad, Qalandar Khan, Talib Hussain, Syed Nisar Hussain ShahAbstract:Lornoxicam containing topically applied Lotions were formulated and optimized with the aim to deliver it transdermally. The formulated Lotions were evaluated for pH, viscosity and in vitro permeation studies through silicone membrane using Franz diffusion cells. Data were fitted to linear, quadratic and cubic models and best fit model was selected to investigate the influence of variables, namely hydroxypropyl methylcellulose (HPMC) and ethylene glycol (EG) on permeation of lornoxicam from topically applied Lotion formulations. The best fit quadratic model revealed that low level of HPMC and intermediate level of EG in the formulation was optimum for enhancing the drug flux across silicone membrane. FT-IR analysis confirmed absence of drug–polymer interactions. Selected optimized Lotion formulation was then subjected to accelerated stability testing, sensatory perception testing and in vitro permeation across rabbit skin. The drug flux from the optimized Lotion across rabbit skin was significantly better that that from the control formulation. Furthermore, sensatory perception test rated a higher acceptability while Lotion was stable over stability testing period. Therefore, use of Box–Wilson statistical design successfully elaborated the influence of formulation variables on permeation of lornoxicam form topical formulations, thus, helped in optimization of the Lotion formulation.
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developing an efficacious diclofenac diethylamine transdermal formulation
藥物食品分析, 2012Co-Authors: Syed Nisar Hussain Shah, Yasser Shahzad, Amir Badshah, Victor M Meidan, G MurtazaAbstract:The aim of current study was to develop an efficacious topical formulation of diclofenac diethylamine (DDA), for eventual use as a locally applied analgesic Lotion. A series of Lotions were prepared that incorporated 2% w/v DDA but a variable (1, 2, 3 or 4% v/v) concentration of oleic acid (permeation enhancer)-turpentine oil binary mixture (1:1 v/v). After measurements of each Lotion's visual appearance, viscosity, spreadability, pH and long term stability, a diffusion cell method was employed to quantify DDA permeation from each Lotion across both silicone membranes and rabbit skin. Subsequently, three distinct in vivo animal models were utilised to evaluate each Lotion's induced anti-inflammatory, antinociception and irritancy effects. Lastly, a panel of human volunteers assessed the subjective sensory feel of each Lotion as well as its potential for cutaneous irritancy following a brief application. Upon preparation, all four DDA-containing Lotions (L1, L2, L3 and L4) appeared as clear, colourless, homogenous and aggregate-free solutions. All the Lotions exhibited a pH of ~6.2 with non-significant (p ＞ 0.05) differences between each formulation (data not shown). Increasing the formulation's oleic acid concentration yielded a general trend of mild enhancement of DDA transport across silicone membrane and dramatic improvements of DDA flux through rabbit skin. Application of each of the DDA-containing formulations significantly reduced tissue inflammation in the rabbit model. It was determined that the DDA Lotion containing 4% v/v oleic acid exhibited the best performance overall and that this specific formulation should be the basis for further clinical investigation.
Stewart Andrew Silling - One of the best experts on this subject based on the ideXlab platform.
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force flux and the peridynamic stress tensor
Journal of The Mechanics and Physics of Solids, 2008Co-Authors: Richard B Lehoucq, Stewart Andrew SillingAbstract:The peridynamic model is a framework for continuum mechanics based on the idea that pairs of particles exert forces on each other across a finite distance. The equation of motion in the peridynamic model is an integro-differential equation. In this paper, a notion of a peridynamic stress tensor derived from nonlocal interactions is defined. At any point in the body, this stress tensor is obtained from the forces within peridynamic bonds that geometrically go through the point. The peridynamic equation of motion can be expressed in terms of this stress tensor, and the result is formally identical to the Cauchy equation of motion in the classical model, even though the classical model is a local theory. We also establish that this stress tensor field is unique in a certain function space compatible with finite element approximations.
Yong Qian - One of the best experts on this subject based on the ideXlab platform.
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Sunscreen Performance of Lignin from Different Technical Resources and Their General Synergistic Effect with Synthetic Sunscreens
ACS Sustainable Chemistry & Engineering, 2016Co-Authors: Yong QianAbstract:Five types of industrial lignin are blended with a pure cream and a commercial sunscreen Lotion. Lignin is found to significantly boost their sunscreen performance. Photostability of the lignin-modified Lotions is analyzed. The results show that hydrophobic lignin has better sunscreen performance than hydrophilic counterpart. Sun protection factor (SPF) of the pure cream containing 10% organosolv lignin (OL) reaches 8.66. Small amount of hydrophobic lignin dramatically increases SPF value of the sunscreen Lotions. Adding 1% lignin almost doubles the sun Lotion’s SPF. Addition of 10% OL to the Lotion boosts its SPF from 15 to 91.61. However, it is also found that hydrophilic lignin tends to demulsify the Lotions due to an electrostatic disequilibrium. After 2 h of UV radiation, UV absorbance of all the five lignin-modified sunscreen Lotions increases up to the limit of measuring instrument. All the lignin types studied in this work are found to have a general synergistic effect with sunscreen actives in th...
Miranda A. Farage - One of the best experts on this subject based on the ideXlab platform.
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Evaluating Lotion transfer from products to skin using the behind‐the‐knee test
Skin research and technology : official journal of International Society for Bioengineering and the Skin (ISBS) [and] International Society for Digita, 2010Co-Authors: Miranda A. FarageAbstract:Background/purpose: Adding Lotions or emollients to the surface of a variety of paper products confers a number of benefits to the skin of consumers. A modification of the ‘behind-the-knee (BTK)’ test model was used as a means of measuring the effectiveness of Lotion transfer to the skin. Methods: Two series of feminine protection pads were prepared: (1) identically constructed pads differing only in the amount of Lotion applied to the surface and (2) pads of various compositions to compare the influence of other product characteristics. For the first series, pads were applied for 3 h using the BTK protocol, and Lotion transfer was evaluated. For the second series of products, two sample pads were applied consecutively for 3 h each, and Lotion transfer was evaluated a both time points (e.g., 3 and 6 h). In addition, a clinical in-use study was used to evaluate Lotion transfer for the second product series. Results: In the BTK model using pads of identical composition, Lotion transfer was a function of the amount of Lotion placed on the pad. However, results from the second product series indicated that when pads were prepared using different absorbant materials (supreabsorbent gelling material, or AGM and cellulose), pads with the AGM core transferred Lotion more effectively than pads with a cellulose core. Other product characteristics, i.e., pad thickness and Lotion configuration, did not detectibly influence Lotion transfer. The results of an in-use clinical study conducted on the second series of test products were directionally similar to those from the BTK, but statistical significance was not reached. Conclusions: An adaptation of the BTK test method provides an effective means of evaluating the transfer of Lotion formulations from feminine protection pads at a fraction of the cost of clinical in-use studies.
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Evaluating Lotion transfer to skin from feminine protection products.
Skin research and technology : official journal of International Society for Bioengineering and the Skin (ISBS) [and] International Society for Digita, 2008Co-Authors: Miranda A. FarageAbstract:Background/purpose: Adding Lotions or emollients to the surface of a variety of paper products improves overall consumer comfort. Techniques to measure Lotion transfer to skin are needed. Methods: Two approaches were compared to assess Lotion transfer from impregnated feminine pads: (1) pad application to the popliteal fosssa, an adaptation of the previously described ‘behind-the-knee (BTK)’ test model, and (2) a clinical in-use study in which pads were worn in the usual manner. In both approaches, dressings attached to the skin were used to absorb Lotion transferred from the pad. Lotion transfer was first evaluated after 3 h in both protocols, and then after either 6 h (BTK method) or after and 24 h (clinical use test). Results: In the BTK model, Lotion transfer was a function of both the total amount of Lotion contained on the topsheet and the type of absorbent material in the core of the pad. Pads containing absorbent gelling material transferred Lotion more effectively than pads containing cellulose absorbent cores. In the in-use clinical study, the results were directionally similar, but statistical significance was not reached. Conclusions: An adaptation of the BTK test method provides an effective means of evaluating the transfer of Lotion formulations from feminine protection pads.
