A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty

Robotic manipulation systems suffer from two main problems in unstructured human environments: uncertainty and clutter. We introduce a planning framework addressing these two issues. The framework plans rearrangement of clutter using non-prehensile actions, such as pushing. Pushing actions are also used to manipulate object pose uncertainty. The framework uses an action library that is derived analytically from the mechanics of pushing and is provably conservative. The framework reduces the problem to one of combinatorial search, and demonstrates planning times on the order of seconds. With the extra functionality, our planner succeeds where traditional grasp planners fail, and works under high uncertainty by utilizing the funneling effect of pushing. We demonstrate our results with experiments in simulation and on HERB, a robotic platform developed at the Personal Robotics Lab at Carnegie Mellon University.     

A robust weakly compressible SPH method and its comparison with an incompressible SPH

This paper presents a comparative study for the weakly compressible (WCSPH) and incompressible (ISPH) smoothed particle hydrodynamics methods by providing numerical solutions for fluid flows over an airfoil and a square obstacle. Improved WCSPH and ISPH techniques are used to solve these two bluff body flow problems. It is shown that both approaches can handle complex geometries using the multiple boundary tangents (MBT) method, and eliminate particle clustering‐induced instabilities with the implementation of a particle fracture repair procedure as well as the corrected SPH discretization scheme. WCSPH and ISPH simulation results are compared and validated with those of a finite element method (FEM). The quantitative comparisons of WCSPH, ISPH and FEM results in terms of Strouhal number for the square obstacle test case, and the pressure envelope, surface traction forces, and velocity gradients on the airfoil boundaries as well as the lift and drag values for the airfoil geometry indicate that the WCSPH method with the suggested implementation produces numerical results as accurate and reliable as those of the ISPH and FEM methods. Copyright © 2011 John Wiley & Sons, Ltd.     

Wind turbine speed control of a contactless piezoelectric wind energy harvester

ABSTRACT

Wind turbine control is an important task to make the electricity generation secure in terms of energy demand and machine safety. It also yields to control the desired power level and optimized energy because of the assignment of turbine speed. The contactless piezoelectric wind energy harvester (CPWEH) used in this study has three piezoelectric layers located around the shaft with 120 degrees apart and they are buckled by the magnetic force without any physical contact. The superiority of this device is to generate energy for low wind speeds such as 1.5 m/s. However, for high speeds, high total harmonic distortions (THDs) govern the waveforms, thus controlling the turbine speed becomes necessary for optimizing the output power. Encouraged by this, a small low inertia dc generator is coupled with the wind turbine, and the generator terminals are connected to a resistor through a power switch to generate a braking torque that opposes to wind speed direction. By controlling the switch properly, turbine speed is ensured to remain within a certain band, which accordingly prevents the turbine from rotating very fast at damaging wind speeds. Several experiments are performed on the developed CPWEH with/without the presented control scheme which prove the existence of promising performance of our proposal.     

Clarification and pasteurisation effects on monomeric anthocyanins and percent polymeric colour of black carrot (Daucus carota L.) juice

Black carrots (BCs) are a rich source of stable anthocyanins (ACNs). The purpose of this study was to evaluate the effects of clarification and pasteurisation on ACNs of black carrot juice (BCJ). Monomeric ACNs, ACN profile and percent polymeric colour were determined during processing of BCJ. While depectinisation and bentonite treatments resulted in 7% and 20% increases in monomeric ACN content of BCJ, respectively, gelatine–kieselsol treatment and pasteurisation resulted in 10% and 3–16% reduction. Percent polymeric colour decreased after clarification, but substantially increased in samples subjected to heat. ACNs of BCJ samples were identified by HPLC–MS. Unclarified BCJ contained cyanidin-3-galactoside-xyloside-glucoside-ferulic acid as the major ACN, followed by cyanidin-3-galactoside-xyloside-glucoside-coumaric acid, and cyanidin-3-galactoside-xyloside-glucoside. After depectinisation, two more ACNs (cyanidin-3-galactoside-xyloside and cyanidin-3-galactoside-xyloside-glucoside-sinapic acid) were also identified. These results indicated that depectinisation and bentonite treatment had positive effect on the colour of BCJ, while gelatin–kieselsol treatment and pasteurisation had negative effect.     

Multi-sink load balanced forwarding with a multi-criteria fuzzy sink selection for video sensor networks

Congestion is a challenging problem in wireless sensor networks, which exacerbates with the high volume of data traffic imposed by video applications such as video surveillance and target tracking. Deployment of multiple sinks is a candidate solution for congestion and is also promising in terms of reliability and energy-efficiency. In order to gain the maximum benefit from multiple sinks, it is essential to distribute the load among them evenly. In this paper, we propose a cross layer geographic forwarding scheme MLBRF (Multi-Sink Load Balanced Reliable Forwarding) which aims to provide reliable and energy efficient video delivery in a multi-sinked sensor network for target tracking. In order to provide load balancing among the sinks, MLBRF proposes a sink selection mechanism based on fuzzy logic for the frame forwarding which evaluates the traffic density in the direction of each sink by combining two dynamic criteria which are the number of contenders and the buffer occupancy levels in the neighborhood with the static distance criterion. The performance of the fuzzy sink selection mechanism is compared using simulation with various sink selection mechanisms. The results show that MLBRF gains the maximum benefit from deploying multiple sinks in terms of reliability, latency and energy efficiency by using the proposed fuzzy sink selection mechanism.     

An eco-friendly process: Predictive modelling of copper adsorption from aqueous solution on Spirulina platensis

The adsorption of copper ions on Spirulina platensis was studied as a function of contact time, initial metal ion concentration, and initial pH regimes. Characterization of this adsorbent was confirmed by FTIR spectrum. Modified Gompertz and Logistic models have not been previously applied for the adsorption of copper. Logistic was the best model to describe experimental kinetic data. This adsorption could be explained by the intra-particle diffusion, which was composed of more than one sorption processes. Langmuir, Freundlich, and Redlich–Peterson were fitted to equilibrium data models. According to values of error functions and correlation coefficient, the Langmuir and Redlich–Peterson models were more appropriate to describe the adsorption of copper ions on S. platensis. The monolayer maximum adsorption capacity of copper ions was determined as 67.93 mg g^?1. Results indicated that this adsorbent had a great potential for removing of copper as an eco-friendly process.     

Neural extension of experimental data to investigate using phosphogypsume in light brick production

In this study, usability of wastes produced in phosphoric acid plants in structural brick manufacture has been investigated. There are several parameters involved in using these wastes in brick production namely the rate of added waste, firing speed and firing temperature. The performance of these parameters can be measured by several criteria such as natural drying shortening, water absorption and weight loss. Therefore, so many experiments are needed to investigate the effects of these parameters on the bricks produced with these wastes. The result of a series of experiments were utilized to achieve this end. The results have shown that the industrial wastes considered improve the performance of the bricks in terms of the criteria mentioned above. However, the results have also shown that further investigations are needed to explore the effects of interim values on the performance of the bricks. To achieve that end, a neural experimental study is adopted. For this purpose, the results of the experiments conducted were used to construct an artificial neural network. The trained and tested network was then used to check the effects of 280 different combinations for each type of material mixtures mentioned. The outcome of these artificial tests have provided the optimal values for the waste addition rate, firing speed and firing temperature based on the four criteria mentioned previously.