Flexure control using piezostack actuators: design and implementation

In this paper, the application of high control authority piezostack actuators (PSAs) for active vibration control of large-scale flexible structures is studied. The idea is to add PSAs at appropriate locations of a flexible structure in order to strengthen its stiffness characteristics. In this regard, a flexible link of a macro-micro manipulator system actuated with PSAs is considered. The design of a mechanism for converting the force produced by a PSA to a bending moment is presented and a model for a system consisting of a flexible beam and a PSA is obtained. To this end, the solution of the governing partial differential equation with nonhomogeneous boundary conditions is obtained. Using singular value decomposition of the controllability Grammian of the system, optimum values for actuator parameters are obtained. The experimental results confirm that the suggested method can open up new possibilities in active vibration control of large-scale structures that require a large amount of control authority.     

An Internet-based distributed multiple-telerobot system

Internet-based telerobotic systems have been evolving rapidly in recent years. Using Web-based technology, telerobotic systems have been shown to have an increasing potential for a variety of applications including remote control, manufacturing, surgery, training, and education. In this paper, we present an Internet-based distributed, multiple-telerobot system that enables operators to use remote robots in order to perform cooperative tasks. Several multiple-telerobot demonstration programs have been designed, including a single telerobot training program, a multiple-telerobot "group object-handling" program, and pairs of telerobots serving Internet participants playing with a Rubik's Cube to illustrate Internet-based interaction and collaboration. Experimental tests have been performed on three demonstration programs that are presented in this paper.     

ABSs系统模糊控制器优化设计

已经开发了的ABSs系统改善了突然制动和特别是滑动路面状况时车辆控制。这样的控制目标是在保持车辆合适稳定性及可操纵性和缩短车辆刹车距离情况下在要求的方向增大车轮的牵引力。本文提出了ABSs系统优化的模糊控制器。从保持其车轮滑动值为目标函数获得车轮最大的牵引力和车轮最大的减速度。采用遗传算法优化模糊系统的全部组件。采用误差数整体优化方法收敛接近最优点。仿真结果表明快速收敛和对不同路况的控制器的最好性能。     

Effect of rotor profiles on the torque of a switched-reluctancemotor

The authors examine effects on the torque that simple variations of the standard rotor pole face profile could have, basically from an elementary viewpoint of how the modified profiles affect the distribution and magnitude of the radial and tangential components of the flux density. It is observed that the average torque is mostly affected by changes that alter the dominant radial component, such as changes in the effective air gap length. The other observation that an increase in the average torque can also be obtained by a favorable shift in the torque versus angle characteristics by relatively simple changes of the rotor pole profile is not so well known. Such a shift that reduces the slope of the torque angle characteristic, skewing the curve towards the unaligned position, has two advantages: one is that the phase inductance is at its maximum positive slop and, hence, the maximum torque, when the phase is energized; second, the flatter inductance profile near the aligned position when the phase current is to be commutated would allow a faster drop off of the commutated current and, thus, a smaller negative torque     

Effects of increased supplementation of n-3 fatty acids to transition dairy cows on performance and fatty acid profile in plasma, adipose tissue, and milk fat

The objective of this study was to determine the effects of feeding an increased amount of extruded flaxseed with high proportions of n-3 fatty acids (FA) to transition dairy cows on performance, energy balance, and FA composition in plasma, adipose tissue, and milk fat. Multiparous Israeli-Holstein dry cows (n = 44) at 256 d of pregnancy were assigned to 2 treatments: (1) control cows were fed prepartum a dry-cow diet and postpartum a lactating-cow diet that consisted of 5.8% ether extracts; and (2) extruded flaxseed (EF) cows were supplemented prepartum with 1 kg of extruded flaxseed (7.9% dry matter)/cow per d, and postpartum were fed a diet containing 9.2% of the same supplement. The EF supplement was fed until 100 d in milk. On average, each pre- and postpartum EF cow consumed 160.9 and 376.2 g of C18:3n-3/d, respectively. Postpartum dry matter intake was 3.8% higher in the EF cows. Milk production was 6.4% higher and fat content was 0.4% U lower in the EF group than in the controls, with no differences in fat and protein yields. Energy balance in the EF cows was more positive than in the controls; however, no differences were observed in concentrations of nonesterified fatty acids and glucose in plasma. Compared with controls, EF cows had greater proportions of C18:3n-3 in plasma and adipose tissue. The proportion of n-3 FA in milk fat was 3.7-fold higher in the EF cows, and the n-6:n-3 ratio was decreased from 8.3 in controls to 2.3 in the EF cows. Within-group tests revealed that the C18:3n-3 content in milk fat in the EF cows was negatively correlated with milk fat percentage (r = –0.91) and yield (r = –0.89). However, no decrease in de novo synthesis of less than 16-carbon FA was found in the EF group, whereas C16:0 yields were markedly decreased. It appears that the enrichment of C18:3n-3 in milk fat was limited to approximately 2%, and the potential for increasing this n-3 FA in milk is higher for cows with lower milk fat contents. In conclusion, feeding increased amounts of C18:3n-3 during the transition period enhanced dry matter intake postpartum, increased milk production, decreased milk fat content, and improved energy balance. Increased amounts of EF considerably influenced the FA profile of plasma, adipose tissue, and milk fat. However, the extent of C18:3n-3 enrichment in milk fat was limited and was negatively correlated with milk fat content and yield.     

Swarm Intelligence Approaches for Grid Load Balancing

With the rapid growth of data and computational needs, distributed systems and computational Grids are gaining more and more attention. The huge amount of computations a Grid can fulfill in a specific amount of time cannot be performed by the best supercomputers. However, Grid performance can still be improved by making sure all the resources available in the Grid are utilized optimally using a good load balancing algorithm. This research proposes two new distributed swarm intelligence inspired load balancing algorithms. One algorithm is based on ant colony optimization and the other algorithm is based on particle swarm optimization. A simulation of the proposed approaches using a Grid simulation toolkit (GridSim) is conducted. The performance of the algorithms are evaluated using performance criteria such as makespan and load balancing level. A comparison of our proposed approaches with a classical approach called State Broadcast Algorithm and two random approaches is provided. Experimental results show the proposed algorithms perform very well in a Grid environment. Especially the application of particle swarm optimization, can yield better performance results in many scenarios than the ant colony approach.     

High-fidelity bilateral teleoperation systems and the effect of multimodal haptics.

In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the case where the master interface is not haptics capable, but the slave is equipped with a force sensor. In the context of robotics-assisted soft-tissue surgical applications, we explore through human factors experiments whether slave/environment force measurements can be of any help with regard to improving task performance. The last problem we study is whether slave/environment force information, with and without haptic capability in the master interface, can help improve outcomes under degraded visual conditions.     

Experimental investigation of adverse effect of frost formation on microchannel evaporators,part 1: Effect of fin geometry and environmental effects

This study experimentally investigated the frost growth on louvered folded fins in microchannel heat exchangers when used in outdoor air-source heat pump systems. The effects of surface temperature, fin geometries, and air environmental conditions were studied. The overall aim was to isolate and quantify the effect of geometry from surface temperature effects. Experimental data of frost weight, local frost thickness, air pressure drop across the coils, time of frost–defrost cycles and heat transfer rates were recorded. Data showed that the frosting time and the frost growth rates depended mainly on the local fin surface temperature. Lower fin density was beneficial because it delayed the blockage of the air flow. The fin length and fin depth had minor effects on frosting performance. The air humidity had a fairly significant effect on rate of frost formation while air velocity seemed to have a small effect on the frost growth rate.     

Object detetion and image segmentation using texture pressure energy in parametric active contour models

Abstract

In recent years, Active Contour Models (ACMs) have become powerful tools for object detection and image segmentation in computer vision and image processing applications. This paper presents a new energy function in parametric active contour models for object detection and image segmentation. In the proposed method, a new pressure energy called “texture pressure energy” is added to the energy function of the parametric active contour model to detect and segment a textured object against a textured background. In this scheme, the texture features of the contour are calculated by a moment based method. Then by comparing these features with texture features of the object, the contour curve is expanded or contracted in order to be adapted to the object boundaries. Experimental results show that the proposed method has more efficient and accurate segmenting functionality than the traditional method when both object and background have texture properties.     

A new actuation mechanism for an Interfacial Force Microscope: Design,implementation, and feedback control

In this paper we present development of a sensing and actuation mechanism along with its controller for an Interfacial Force Microscope. The device can be used as a micro-scale force sensor or actuator using a feedback control scheme that regulates the interaction force between the probe tip and the sample. The mechanism is essentially a force balancing system consisting of a torsion bar and two variable gap parallel plate capacitors with a sharp probe attached to the moving plate of one of the capacitors. The capacitors are utilized to measure the air gap distance and act as electrostatic actuators to compensate the force applied to the sensor tip. Given that the system is nonlinear with respect to the control input, a nonlinear feedback linearization scheme coupled with a dynamic output feedback controller is developed and integrated with available measurement and computing hardware. The dynamic controller requires measurement of position information only and provides improved performance when compared to conventional controllers. Experimental studies are conducted for nanoindentation and imaging applications and performance of the controller is evaluated.