Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

Evaluating non-business e-commerce adoption decision processes and gender roles

Non-business e-commerce adoption refers to the use of e-commerce by not-for profit organizations such as religious organizations, government agencies and academic institutions to reduce their expenses or to improve their operations and customer service. Being a new research niche in the field of e-commerce, non-business e-commerce has received very little or no research attention. This has resulted in a very poor understanding of this niche, especially with regards to its adoption facilitators and inhibitors. Based on this impetus, a field survey of Malaysian Universities was conducted to determine the key factors that facilitate non-business EC adoption as well as the role of gender differential. A comprehensive list of potential facilitators for the strategic use of information technology was derived from extant research reports and used to collect data from five public universities in Malaysia. The data were factor-analysed to determine the key underlying dimensions of facilitators. On the basis of the resulting five dimensions namely, relative advantage orientation, network orientation, information efficiency orientation, innovativeness orientation and competitiveness orientation, regression analysis was done to determine the impact of the five dimensions on adoption. Dummy variable was created for gender and applied in the regression analysis in order to estimate the moderation effect of sex typing on the relationship between the resulting dimensions and adoption. Implications of the findings are discussed.     

Inclusions of carbon in ingots of silicon carbide grown by the modified Lely method

The problem of the appearance of carbon inclusions in single-crystal silicon carbide ingots grown by the modified Lely method (the so-called graphitization of the ingot) is analyzed. It is shown that the process of graphitization of the ingot is not related to a deficit of silicon in the growth cell; in contrast, it is excess of silicon at the growth surface that inhibits the ingot growth rate and gives rise to intense corrosion of the graphite fittings.     

Audio Denoising by Time-Frequency Block Thresholding

Removing noise from audio signals requires a nondiagonal processing of time-frequency coefficients to avoid producing ldquomusical noise.rdquo State of the art algorithms perform a parameterized filtering of spectrogram coefficients with empirically fixed parameters. A block thresholding estimation procedure is introduced, which adjusts all parameters adaptively to signal property by minimizing a Stein estimation of the risk. Numerical experiments demonstrate the performance and robustness of this procedure through objective and subjective evaluations.     

宣钢1260 m3高炉扩容大修改造设计

宣钢l260m^3高炉大修改造时将炉容扩大到l350m^3，对高炉本体系统设备及冷却系统、自动控制及检测系统进行了全面的改造更新，在炉腹、炉腰及炉身下部高热负荷区域采用铜冷却壁，取消炉身中上部铸铁冷却壁凸台，并采用薄内衬等先进、适用、可靠、成熟的技术。     

Mechanical properties of iron processed by severe plastic deformation

In the present study, the mechanical properties of Fe processed via severe plastic deformation (equal-channel angular pressing (ECAP)) at room temperature were investigated for the first time. The grain size of annealed Fe, with an initial grain size of about 200 μm, was reduced drastically during ECAP. After eight passes, the grain size reaches 200 to 400 nm, as documented by means of transmission electron microscopy (TEM). The value of microhardness during pressing increases 3 times over that of the starting material after the first pass and increases slightly during subsequent pressing for higher-purity Fe. Examination of the value of microhardness after eight passes as a function of post-ECAP annealing temperature shows a transition from recovery to recrystallization, an observation that resembles the behavior reported for heavily deformed metals and alloys. The tensile and compression behaviors were examined. In tension, a drop in the engineering stress-engineering strain curve beyond maximum load was observed both in the annealed Fe and the ECAP Fe. This drop is related to the neck deformation. The fracture surface, examined by scanning electron microscopy (SEM), shows vein patterns, which is different from the dimples found on the fracture surface of annealed Fe. In compression, an initial strain-hardening region followed by a no-strain-hardening region was observed in the ECAP Fe. The yield strength in tension of the ECAP Fe was observed to be higher than that in compression. The strengthening mechanisms and softening behavior are discussed.     

Hydrocarbon impurities in SiF<Subscript>4</Subscript> and SiH<Subscript>4</Subscript> prepared from it

Using gas chromatography and high-resolution Fourier-transform IR spectroscopy, we have determined the concentrations of C₁–C₄ hydrocarbon impurities in isotopically unmodified silicon tetrafluoride before and after fine purification and in ²⁸Si-enriched SiF₄. The concentrations of C₁–C₄ hydrocarbon impurities in silicon tetrafluoride for SiH₄ synthesis have been shown to correlate with those in the synthesized silane.     

Methane conversion in a plasma created by a periodic-pulsed electron beam and non-self-sustained discharge

The process of methane conversion in a mixture modeling the natural gas under the action of a periodic nanosecond pulsed electron beam and an electron-beam-induced non-self-sustained discharge has been numerically simulated and studied in experiment. The possibility of methane conversion under the action of electric pulses without significant heating of the processed gas mixture is demonstrated for the first time. The main conversion products in experiment were hydrogen, ethylene, and acetylene.