Motion Planning by T‐RRT with Potential Function for Vertical Articulated Robots

RRT (rapidly exploring random tree) with random sampling is an effective method for path planning, and is often used for robot manipulators. The RRT has many modified methods for applying various problems and conditions. Particularly, T‐RRT (Transition‐based RRT) one of those has advantage that it is able to adopt arbitrary evaluation function. In this paper, a novel path planning method based on the T‐RRT is proposed for ensuring “quality” of a generated path. Then, its effectiveness is evaluated via comparison with other sampling‐based methods using simulation of the industrial robot having seven DOFs.     

The Dyeing Properties of Monoazo Reactive Disperse Dyes Derived from –Chloro–4–aminoacetophonone on Polyester Fibre Blends

The preparation of monoazo reactive disperse dyes from –chloro–4–aminoacetophenone and the dyeing properties of these dyes on polyester–cotton and polyester–wool blends are reported.     

Piezoelectric Properties of Pb(Mg1/3Nb2/3)O3 PbTiO3 -PbZrO3 Ceramics Modified with Certain Additives

Effects of additives on the piezoelectric properties of Pb(Mg_1/3Nb_2/3)O₃-PbTiO₃-PbZrO₃ ceramics in a perovskite-type structure are described. The tetragonality of Pb(Mg_1/3Nb_2/3)_0.375-Ti_0.375Zr_0.25O₃ ceramics increased with the addition of NiO, Cr₂O₃, or Fe₂O₃ but decreased with the addition of MnO₂ or CoO. The dielectric and piezoelectric properties of the base composition were improved markedly through selection of additives in proper amounts. Addition of NiO yielded a high dielectric constant and planar coupling coefficient for compositions at the morphotropic transition boundary. High mechanical Q -factors and low electrical dissipation factors were obtained by addition of MnO₂. Addition of both NiO and MnO₂ produced a mechanical Q -factor of 2051 and a planar coupling coefficient of 0.553. The resonant frequency of Pb(Mg_1/2Nb_2/3)_0.4375Ti_0.4375 zr_0.125O₃ containing MnO₂ had very low temperature and time dependence. The microstructure indicated that ceramics with a high mechanical Q -factor had a fine, uniform grain structure. Addition of Cr₂O₃ retarded grain growth and addition of MnO₂, NiO, CoO, or Fe₂O₃ promoted grain growth in the ternary system.     

Dyeing Properties of Reactive Cationic Dyes Containing a Vinyl-sulphonvl Group on Acrylic Fibre Blends

The preparation of reactive azo cationic dyes containing a vinylsulphonyl group derived from 2-aminobenzothiazole and its derivatives is described. Their dyeing properties on blends of acrylic–cellulosic, polyester–cellulosic fibre and on cotton and synthetic fibres are investigated. The relationship between absorption spectra and pH of dye solution is assessed.     

Dyeing Properties of Monoazo Dyes Derived from Substituted 2-Aminobenzothiazole-3N-oxides on Various Synthetic-polymer Fibres

The preparation of new monoazo dyes from substituted 2-aminobenzothiazole-3N-oxides and aniline coupling components and their dyeing properties on polyester, cellulose acetate, nylon 6 and acrylic fibres are reported.     

INFORMATION FILTERING FOR EMERGENCY MANAGEMENT

Information filtering is an intelligent function that selects the relevant messages and items of use or interest to the user from a large amount of incoming information. This function has become very important for the rapid development of network technology. This article focuses on information filtering for the management of emergency situations. We believe that special purpose-built "information filtering systems" should be developed to cope with the problem of information overload in emergency management. In this article, we first investigated features of information in emergent situations and then proposed an information filtering system for emergency management. The proposed system is composed of two parts: causal analysis and information classification. A prototype system has been developed and its effectiveness was evaluated by experiments.     

Microstructure analysis of Nd-Fe-B sintered magnets improved by Tb-metal vapour sorption

Behaviours of constituent elements in the Nd-Fe-B sintered magnets improved by Tb-metal vapour sorption have been investigated by using an analytical transmission microscopy. It was found that a triple junction of the grain boundaries consists of fine Nd-O crystalline and amorphous phase. The energy dispersive X-ray spectroscopy (EDS) analysis showed that the amorphous phase mainly consists of Co, Nd and Tb. The Tb-treatment causes the formation of the amorphous Co-Nd(Tb) wetting-layer phase which wraps each Nd₂Fe₁₄B grain. The results suggest that the wrapped structure prevents the nucleation of magnetic reversed domains and then improves significantly the coercivity of the magnet.     

Fault detection in linear discrete dynamic systems by a reduced order generalized-likelihood-ratio method

The detectability by conventional step-hypothesized generalized-likelihood-ratio (SHGLR) method for detection of a parameter change (fault detection) in a linear discrete dynamic system is analysed and it is shown that a weakly-diagnosable-space (WDS) exists for dynamics and sensor faults. Based on the fault detectability, a reduced order SHGLR method is then developed which highly improves the detection rate and speed. In the same framework of the GLR method, another reduced order detection scheme is given, which makes the most use of the information about the input and the state of the system to raise the detectability for faults for the case where the step hypothesis cannot be applied effectively.     

Vapour Pressures and Heats of Sublimation of Some Disperse Dyes

The vapour pressures, latent heats of sublimation and associated entropy changes of anthraquinone and monoazo disperse dyes have been obtained by the transpiration method. These compounds have vapour pressures of 0.0005-0.193 mm Hg over the temperature range of 120–215°C. The heats of sublimation are discussed in terms of their molecular structure.     

Corrosion behavior of hypereutectic Al-23%Si alloy (AC9A) processed by severe plastic deformation

Ultrafine-grained(UFG) hypereutectic Al-23%Si (mass fraction) alloy was achieved through equal-channel angular pressing(EACP) procedure. And the electrochemical properties after various ECAP passes were investigated in neutral NaCl solution. Potentiostatic polarization curves show that the corrosion potential of the ECAPed sample after 4 passes decreases markedly, while the corrosion current density reaches 1.37 times that of the as-cast alloy. However, the φcorr and Jcorr values after 16 passes are improved and approach those of the as-cast alloy. Immersion tests also show that the mass-loss ratio of ECAPed alloy decreases with increasing the pressing pass, which is lowered to 28.7% with the increase of pass number from 4 to 16. Pitting susceptibility of the ECAPed alloy after initial 4 passes is boosted, due to the presence of biggish voids resulted from the breakage of brittle large primary silicon crystals during ECAP. Increasing ECAP pass makes the voids evanesce and results in the homogeneous ultrafine-grained structure, contributing to a higher pitting resistance. These results indicate that enough ECAP passes are beneficial to increasing corrosion resistance of the hypereutectic Al-23%Si alloy.