Analysis of exclusively kinetic two-link underactuated mechanical systems

Analysis of exclusively kinetic two-link underactuated mechanical systems is undertaken in this paper. It is first shown that such systems are not full-state feedback linearizable around any equilibrium point. Also, the equilibrium points for which the system is small-time locally controllable (STLC) is at most a one-dimensional submanifold. A concept less restrictive than STLC, termed the small-time local output controllability (STLOC) is introduced, the satisfaction of which guarantees that a chosen configuration output can be controlled at its desired value. It is shown that the class of systems considered is STLOC, if the inertial coupling between the input and output is nonzero. Also, in such a case, the system is nonminimum phase. An example section illustrates all the results presented.     

Action of chelators on solid iron in phosphate-containing aqueous solutions

To study the effect of strong iron-ligands on steel corrosion, mild steel electrodes were immersed in solutions containing 20 mM phosphate buffer (pH=7.2) and between 0.01 mM and 1 M of either the iron(II)-chelators 2,2^′-bipyridine or FerroZine, or the iron(III)-chelators citrate or acetylacetonate. Resulting surface reactions were investigated by quantifying the electrochemical potential (E), the electrochemical polarization resistance (R_p), the corrosion current (I_corr) and the release of iron into solution. The surface was further analyzed by scanning electron microscopy (SEM/SEM-EDAX) and atomic force microscopy. Concentrations of 0.1 mM of any of the chelators led to slight, temporary changes in E, I_corr and R_p. Concentrations of 10 mM resulted in characteristic changes of E, which were the same for all chelators and in the precipitation of FePO₄ in the case of citrate and acetylacetonate, or vivianite [Fe₃(PO₄)₂ · 8H₂O] in the case of bipyridine and FerroZine. Concentrations of 1 mM of both iron(III)-chelators led to a temporary drop of E similar to that found with 0.1 mM chelator. With iron(II)-chelators, E dropped to about −500 mV before oscillating for several days. The amplitudes of the oscillations were up to 200 mV with periods of 30 and 20-25 min for bipyridine and FerroZine, respectively.     

Inductive proximity sensor with a flat coil and a new differential relaxation oscillator

A high-sensitivity flat-coil inductive proximity sensor microsystem has been realized and successfully tested. The flat coil, made with CMOS-compatible post processes, is connected to a versatile differential relaxation oscillator electronic interface. In this new and simple interface, the excitation, the signal extraction and amplification are assured by only one operational amplifier. Experimental results on the microsystem confirm that large output frequency variations occur when a metallic target approaches the sensor.     

Yttria Doping and Sintering of Submicrometer-Grained α-Alumina

The sintering behavior of α-alumina powders doped with magnesia (500 or 1500 ppm) and yttria (0, 500, or 1500 ppm) was investigated using constant-heating-rate dilato-metric experiments. The apparent activation energies for the intermediate stage of sintering were 740, 800, and 870 kJ/mol for 0, 500, and 1500 ppm yttria doping levels, respectively; these were independent of magnesia doping. Yttria-doped powder compacts exhibited systematic anomalous second peaks in the densification rate curves at certain grain sizes which were determined only by yttria doping levels. Before the anomalous peak, with lower yttrium contents at grain boundaries, yttrium in an atomic state delays densification and raises the apparent activation energy. Beyond the peak, with higher yttrium contents at grain boundaries, yttria-rich precipitation delays the densification. Within the peak, yttrium segregation near the saturation level enhances densification.     

Laboratory techniques for evaluating solid oxide fuel cells

The construction of a small solid oxide fuel cell laboratory is described in terms of required materials, measuring techniques and equipment design. Details of various electrode deposition techniques and ways of making contacts to the electrodes are also outlined.     

Experimental study on the effects of the boundary conditions on the deformations of composite plates

In this study, the effects of the boundary conditions on the out-of-plane displacements and through-the-thickness strain distribution of symmetric composite laminated plates are reported. The plates are subjected to bending by a central force and supported by two-line or four-point supports. The out-of-plane displacement field is measured using a full field electronic speckle pattern interferometry technique and the through-the-thickness distribution of the deformations by fibre Bragg gratings, embedded at selected locations during preparation of the plates. The experimental data are correlated with the results from elasticity-based 2D and 3D finite element models of the actual experimental configuration. The results clearly exhibit the effects of the boundary conditions on the deformation behaviour of the plates. Non-linear through-the-thickness strain distributions appear in the thick plate range. Aspects such as force and displacement distributions on the contact areas of both loading and supports are also considered.     

Prediction of the twisting moment and axial force in a circular rubber cylinder for combined extension and torsion based on the logarithmic strain approach

The scope of the present work is the application of a particular class of strain energy function, based on the logarithmic strain, for the prediction of the twisting moment and axial force of a rubber circular cylinder under combined extension and torsion. The strain energy function involves four material parameters three of which are determined by fitting published experimental data from simple tensile and compression tests of natural rubber. One of the parameters of the proposed model has physical meaning, and it is equal to one ninth of the initial modulus of elasticity of the material. Hence, the number of unknown parameters is reduced to three. The logarithmic strain energy function is then applied to a combined extension and torsion problem of a rubber circular cylinder to check its performance for more complicated deformations. The results are compared with corresponding experimental and theoretical solutions available in the literature to validate the proposed model. It is found that the proposed strain energy function apart from predicting the common modes of deformations is also capable to determine more complicated types of deformation. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Very Long SiC‐Based Coaxial Nanocables with Tunable Chemical Composition

We present a simple process for the fabrication of very long SiC‐based coaxial nanocables (NCs). The versatility of this technique is confirmed by the ability to change the chemical composition of the NC outer layers from silica to carbon and boron nitride. The NCs consist of a SiC core approximately 30 nm in diameter with lengths up to several hundred of nanometers. The thickness of the coating is in the range 2–10 nm. The morphology and structural characterization of the NCs is investigated by scanning electron microscopy (SEM) and high‐resolution transmission electron microscopy (HRTEM), respectively, and their chemical composition is probed by electron energy loss spectroscopy (EELS). A vapor–solid growth mechanism is proposed to explain the growth of SiC‐based NCs of various chemical compositions, depending on the chemical nature of the vapor phase. Because of the large quantity of very long and interlaced NCs produced during the synthesis, the macroscopic aspect of the as‐grown material is like a self‐supported felt.     

Intrinsic, thermal and hygroscopic residual stresses in thin gas-barrier films on polymer substrates

Intrinsic, thermal, and hygroscopic contributions to the in-plane residual stress in silicon nitride films on polyimide substrates are identified, based on iso-hygric thermal ramps and isothermal relative humidity jumps, combined with non-linear elastic modeling of the resulting dynamics of film curvature. This approach enables the thermal and hygroscopic properties of thin nitride films to be determined and provides useful input for material and process control.     

Modeling and performance analysis of IP access interface in optical transmission networks with packet switching

The article analyzes the influence of the Internet Protocol (IP) access interface on the packet loss probability and delay times in the optical packet switched network. The network and node model have been proposed, and the structure of the IP access interface, including assembler and holder, have been included in the analysis. It has been shown that the increase of the maximum optical packet sizes, as well as use of the holding feature as contention resolution mechanism, decrease the packet loss probability, but introduce delays at the optical network access points. Modeling and analysis were based on the discrete event simulation assuming self-similar traffic sources. IP packet lengths were modeled using empirical data. This work has been conducted while the author was affiliated with the Telecommunication Laboratory, Swiss Federal Institute of Technology (EPFL-STI-ITOP-TCOM), Lausanne, Switzerland