Target following with motion prediction for unmanned surface vehicle operating in cluttered environments

The capability of following a moving target in an environment with obstacles is required as a basic and necessary function for realizing an autonomous unmanned surface vehicle (USV). Many target following scenarios involve a follower and target vehicles that may have different maneuvering capabilities. Moreover, the follower vehicle may not have prior information about the intended motion of the target boat. This paper presents a trajectory planning and tracking approach for following a differentially constrained target vehicle operating in an obstacle field. The developed approach includes a novel algorithm for computing a desired pose and surge speed in the vicinity of the target boat, jointly defined as a motion goal, and tightly integrates it with trajectory planning and tracking components of the entire system. The trajectory planner generates a dynamically feasible, collision-free trajectory to allow the USV to safely reach the computed motion goal. Trajectory planning needs to be sufficiently fast and yet produce dynamically feasible and short trajectories due to the moving target. This required speeding up the planning by searching for trajectories through a hybrid, pose-position state space using a multi-resolution control action set. The search in the velocity space is decoupled from the search for a trajectory in the pose space. Therefore, the underlying trajectory tracking controller computes desired surge speed for each segment of the trajectory and ensures that the USV maintains it. We have carried out simulation as well as experimental studies to demonstrate the effectiveness of the developed approach.     

Al2O3─SiC Composites from Aluminosilicate Precursors

Al₂O₃ and SiC composite materials have been produced from mixtures of aluminosilicates (both natural minerals and synthetic) and carbon as precursor materials. These composites are produced by heating a mixture of kaolinite (or synthetic aluminosilicates) and carbon in stoichiometric proportion above 1550°C, so that only Al₂O₃ and SiC remain as the major phases. A similar process has also been used for synthesizing other composite powders having mixtures of Al₂O₃, SiC, TiC, and ZrO₂ in different proportions (all compounds together or selective mixtures of some of them), as desired. The microstructure of hot-pressed dense compacts, produced from these powders, revealed that the SiC phase is distributed very homogeneously, even occasionally within Al₂O₃ grains on a nanosize scale. The homogeneous distribution of SiC particles within the system produced high fracture toughness of the hot-pressed material (K_IC∼ 7.0 MPa · m^1/2) and having Vicker's hardness values greater than 2000 kgf/mm².     

FORCED CONVECTIVE MASS TRANSFER IN ANNULI

Mass transfer in annuli has been critically examined for various flow situations. The overall mass transfer rate depends on the hydrodynamic regions prevailing in the annular channel as well as on its dimensions. Theoretically consistent correlations are proposed and recommended for both developed and developing boundary layers under laminar and turbulent flow conditions.     

Compositional trend analysis on poly(phenylene ether) based thermoplastic elastomers

Detailed statistical trend analysis of thermoplastic elastomers based on poly (phenylene ether) (PPE), polystyrene (PS), ethylene vinyl acetate (EVA) and styrene‐ethylene‐butylene‐styrene (SEBS) was done through Design Expert software by Stat‐Ease. D optimal crossed design was followed to capture the interaction with the parameters. Effect of blend ratio, vinyl acetate (VA) content of EVA, molecular weight (MW) of SEBS and intrinsic viscosity (IV) of PPE on the blend performance (response) was studied in detail. Design of Experiment (DOE) analysis showed the “optimized formulation” of the blend. Increase in PPE‐polystyrene (PS) content increased tensile strength and modulus of the blend, followed by a decrease in strain at break. However, EVA had a reverse effect on tensile strength and modulus. Strain at break increased significantly with increasing SEBS content in the blend. Graphical and numerical optimization showed that superior mechanical properties (tensile strength, strain at break and modulus) could be achieved at VA content ～ 50% at a particular loading of EVA. Low MW SEBS was found to be more compatible with the other components of the blend. Mechanical properties of the quaternary blend were marginally affected with change in IV of PPE in the range of 0.33 to 0.46. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007     

Analysis of sucrose mono- And diesters prepared from triglycerides containing C12 @#@ C18 Fatty Acids

A quantitative gas liquid Chromatographic method of analysis for sucrose mono- and diesters, prepared from naturally occurring triglycerides, is described. For esters containing predominantly C₁₆C_1s alkyl groups, a common calibration curve was obtained. Calibration standards were prepared by column chromatography using silica gel adsorbent. Methods of analysis for the major impurities present in the sucrose mono- and diesters are also described.     

Melt rheology and morphology of PP/SEBS/PC ternary blend

Melt rheological properties of the ternary blend of isotactic polypropylene (PP), styreneethylene–butylene–styrene terpolymer (SEBS), and polycarbonate (PC), PP/SEBS/PC, are studied in a wide range of composition, such that PP is the matrix and SEBS and PC are the minor components, with the proportion of one varying from 0 to 30% at various fixed compositions of the other. The respective binary blends, PP/SEBS and PP/PC, studied as the reference systems for interpretation of results on the ternary blends yielded interesting new information about the morphology development and its correlation with melt rheological properties of these binary blends. The studies include the measurement of melt rheological properties on a capillary rheometer in the shear rate range 10¹–10⁴ s^?1 at a fixed temperature of 240°C. The data presented as conventional flow curves are analyzed for the effect of blend composition and shear rate on pseudoplasticity, melt viscosity, and melt elasticity, and role of each individual component is identified. Morphology of dispersed phases of these blends is studied through scanning electron microscopy of the cryogenically fractured and suitably etched surfaces. Variations of morphology with blend composition and shear rate showed interesting correlation with melt rheological properties, which are discussed in detail. An important finding of the morphological studies is that in the PP/SEBS/PC ternary blend the SEBS phase forms two types of morphologies depending on the blend composition and shear rate: (i) simple droplets and (ii) boundary layer at the surface of the PC droplets. © 1993 John Wiley & Sons, Inc.     

Morphology of EVA based nanocomposites under shear and extensional flow

Shear and extensional rheological measurements were conducted in conjunction with laser light scattering (LLS) on ethylene‐vinyl acetate copolymer (EVA) nanocomposites. The materials were prepared by melt‐mixing EVA and commercially acquired layered silicates. Wide Angle X‐Ray Scattering (WAXS) was used to ascertain the degree of layer swelling. This could be attributed to the intercalation of polymer chains into the interlayer of the silicates. The nanocomposites prepared were determined to be predominantly intercalated in nature. In shear rheological tests, the nanocomposites exhibited an increase in viscoelastic properties compared to the pure EVA. The extent of this property enhancement was not as pronounced as had been reported in many instances with respect to other polymer nanocomposites. This could be attributed to the absence of a network structure normally observed in an exfoliated system. The extensional rheological tests showed an increase in extensional flow properties. This was confirmed by the LLS, which indicated that the filled systems had higher deformability than the unfilled one. Polym. Eng. Sci. 44:1220–1230, 2004. © 2004 Society of Plastics Engineers.     

Studies in a modified cadoxen solvent

A cadmium ethylenediamine solvent (cadoxen) of modified composition containing 0.5 M sodium hydroxide, 5% cadmium, and 28–30 % ethylenediamine was found to dissolve high molecular cotton materials even under higher ambient temperature conditions as in India. The stability of cellulose solutions in this solvent was still high enough to enable viscosity measurements without exclusion of air. Intrinsic Viscosity values were determined for a large number of cellulosic materials. A study of the kinetics of degradation of cellulosic solutions in cadoxen gave comparatively higher rate constants in nitrogen atmosphere and a higher energy of activation as compared to other alkaline solvents indicating that degradation in cadoxen cannot be considered primarily oxidative in nature.     

Development of antimicrobial polypropylene sutures by graft copolymerization. II. Evaluation of physical properties,drug release,and antimicrobial activity

Polypropylene (PP) sutures are prepared by the simultaneous radiation grafting of 1‐vinylimidazole (VIm) onto PP monofilament sutures. The tenacity slightly decreases whereas the elongation increases with the increase in the degree of grafting. Thermogravimetric analysis shows that the stability of the sutures is enhanced by the grafting process. The grafted sutures have reasonably good water uptake. They are subsequently immobilized with an antimicrobial drug, ciprofloxacin. The modified suture releases the drug over a period of 4–5 days. The antimicrobial activity of the modified suture is determined against Esherichia coli by the zone of inhibition technique. A clear zone of inhibition is observed around the drug‐containing suture. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 103: 3534–3538, 2007     

Kinetics of vinyl polymerization initiated by potassium permanganate/β-hydroxybutyric acid redox system

The aqueous polymerization of acrylamide initiated by potassium permanganate/β-hydroxybutyric acid has been studied volumetrically at 35 ± 0.01°C in an inert medium. The rate of polymerization shows nearly square root dependence on β-hydroxybutyric acid at low concentration (3.12 – 12.5 · 10^?3 mol dm^?3). The order with respect to potassium permanganate has been found to be 0.6 indicating thereby a bimolecular mode of termination. The polymerization rate has been varied linearly at low monomer concentrations i.e. from 2.5 –7.0 · 10^?2 mol dm^?3. The dependence of number average degree of polymerization on the initial rate of polymerization and temperature has been determined. The over-all activation energy has been found to be 51.66 kJ mol^?1. A kinetic reaction scheme is proposed on the basis of experimental results.