Properties and structure of dynamic robot models for control engineering applicationsStructure et proprietes des modeles dynamiques robotiques a appliquer au controle automatique

Controller design for robotic manipulators requires a fundamental physical understanding of the properties and structure of dynamic robot models. This paper focuses on the Lagrangian formulation which is attractive from both the dynamic modeling and control engineering points-of-view. Physical and mathematical properties and structural characteristics of the complete dynamic robot model are demonstrated. Implications of the model for control system analysis and design are then indicated. Physical interpretation leads naturally to the decomposition of the model into the positioning arm and end-effector subsystems and motivates the application of decentralized control to robotic manipulators. The authors then propose the application of control the positioning arm and artificial intelligence and intelligent sensors to control the end-effector.     

Water quality of Vistonis Lagoon, Northern Greece: seasonal variation and impact of bottom sediments

The aim of this study is to present the seasonal variation of nutrients in the water column and the bottom sediments of Vistonis Lagoon, a hypereutrophic Mediterranean coastal lagoon located in Northern Greece, and to estimate the impact of bottom sediments on the water quality of this lagoon. Nutrient concentrations in the water column and in bottom sediments were determined throughout seven seasonal sampling cruises from May 2003 to October 2004. Physicochemical parameters, such as transparency, temperature, salinity, pH and dissolved oxygen, were measured in situ in the water column using suitable equipment. Nutrient concentrations in bottom water were found generally higher than those in surface water. Nitrogen, mainly as nitrates, and phosphorus are released into the water column from the bottom sediments, especially during the summer period. Anoxia in the bottom water, as well as resuspension of the sediments are the main factors affecting nutrient internal loading in this lagoon. An approximate calculation showed that total phosphorus release was about 80 mg m⁻² d⁻¹ for the period March–August 2004. Vistonis Lagoon restoration will be possible only through the minimization or elimination of both external and internal nutrient loadings.     

Optical switching of electric charge transfer pathways in porphyrin: a light-controlled nanoscale current router

We introduce a novel molecular junction based on a thiol-functionalized porphyrin derivative with two almost energetically degenerate equilibrium configurations. We show that each equilibrium structure defines a pathway of maximal electric charge transfer through the molecular junction and that these two conduction pathways are spatially orthogonal. We further demonstrate computationally how to switch between the two equilibrium structures of the compound by coherent light. The optical switching mechanism is presented in the relevant configuration subspace of the compound, and the corresponding potential and electric dipole surfaces are obtained by ab initio methods. The laser-induced isomerization takes place in two steps in tandem, while each step is induced by a two-photon process. The effect of metallic electrodes on the electromagnetic irradiation driving the optical switching is also investigated. Our study demonstrates the potential for using thiol-functionalized porphyrin derivatives for the development of a light-controlled nanoscale current router.     

Providing rate guarantees for internet application traffic across ATM networks

The TCP⁄IP protocol suite is the standard requirement for all applications that need to communicate over the Internet. As TCP⁄IP applications are unable to specify the QoS parameters needed for most Asynchronous Transfer Mode (ATM) services, they tend to use the unspecified bit rate (UBR) service category when running across ATM networks. The UBR service utilizes any bandwidth that is left unused by the rest of the ATM services. This has led the ATM Forum's Traffic Management Group to define a new service category called guaranteed frame rate (GFR). GFR is intended to provide minimum cell rate guarantees and fair access to excess bandwidth left over from higher-priority services. This article first presents a tutorial overview of GFR and then presents a survey of the research work that has been carried out toward the design and implementation of associated ATM switch mechanisms.     

Multilevel converters for single-phase grid connected photovoltaic systems: an overview

Multilevel voltage source inverters offer several advantages compared to their conventional counterparts. By synthesising the AC output terminal voltage from several levels of DC voltages, staircase waveforms can be produced, which approach the sinusoidal waveform with low harmonic distortion, thus reducing filter requirements. The need of several sources on the DC side of the converter makes multilevel technology attractive for photovoltaic applications. This paper provides an overview on different multilevel topologies and investigates their suitability for single-phase grid connected photovoltaic systems. Several transformerless photovoltaic systems incorporating multilevel converters are compared regarding issues such as component count and stress, system power rating and the influence of the photovoltaic array earth capacitance.     

Effective band gap of Si nanocrystals embedded in SiO2 matrix

Using a formulation of the Hartree-Fock formalism with the potential morphing method in the effective mass approximation, we calculate the effective band gap of Si nanocrystals embedded in SiO2 matrix without the existence of polysilane, as a function of their diameter in the size range 1-3.5 nm. Our results are in better agreement with the experimental data, in comparison with other existing theoretical data. For diameter smaller than 2 nm our results have the same tendency with the existing theoretical results, e.g., the discrepancy between theory and experiment seems to be essential.     

A simple cost-effective sputtering-based method for micropatterning and materials microstructuring

Patterning of semiconductors results in the fabrication of micro- and nano-structures, which are desired in modern technologies. Such a patterning is usually realized with the help of e-beam-, high-energy ion-, X-ray- or laser-assisted techniques, which demand expensive equipments. In this work we present a simple cost-effective method realized via a radio-frequency driven magnetron-sputtering head in high vacuum. The target is a silicon wafer masked with metallic grids. If the grid is magnetic, e.g., nickel, it is attracted by the magnetic forces of the magnetron, otherwise, magnetic clamps are used. Soft sputtering conditions, i.e., 30-100 Watts are used and the result is a well-ordered micropatterning of the surface with nicely formed pits the size of which is entirely determined by the grid size and the depth by the sputtering power and time. The pits are monitored with the help of Optical and Atomic Force Microscopy. If the masked micropatterned silicon wafer is then used as a substrate, the pits may be partially filled by a material. As a first example we present square-like Co microstructures. The magnetic signal of these Co microstructures is recorded with the help of a computer-driven magneto-optic Kerr effect home-made magnetometer. This patterned material may be used in magnetic recording technology. More examples include the formation of Cu-microcolumns and Pt film microframeworks. For the latter ones, an etching process is applied to prepare porous silicon networks with photoluminescence, which may be used in optoelectronics.     

Structure and magnetic properties of hcp and fcc nanocrystalline thin Ni films and nanoparticles produced by radio frequency magnetron sputtering

We report on the growth of thin Ni films by radio frequency magnetron sputtering in Ar-plasma. The growth temperature was about 350 K and the films were deposited on various substrates such as glass, silicon, sapphire and alumina. The thickness of the thinnest films was estimated by the appearance of Kiessig fringes up to about 2theta = 8 degrees in the small-angle X-ray diffraction pattern, as expected for high-quality atomically-flat thin films. With the help of this, a quartz balance system was calibrated and used for measuring the thickness of thicker samples with an accuracy of better than 5%. Structural characterization via X-ray diffraction and high resolution transmission electron microscopy revealed an Ar-gas pressure window, where single phase hcp Ni films may be grown. The magnetic response of the Ni films was checked at room temperature via a newly established and fully automatic polar magneto-optic Kerr effect magnetometer. The hcp films show no magnetic response. Interestingly, the magnetic saturation field of fcc films deposited at low Ar pressure is comparable to the one of bulk Ni, while the one of fcc films deposited at high Ar pressures is decreased, revealing the presence of residual strain in the films. Finally, it is shown that it is possible to form films which contain magnetic Ni fcc nanoparticles in a non-magnetic hcp matrix, i.e., a system interesting for technological applications demanding a single Ni target for its production.