Stable neurovisual servoing for robot manipulators

In this paper, we propose a stable neurovisual servoing algorithm for set-point control of planar robot manipulators in a fixed-camera configuration an show that all the closed-loop signals are uniformly ultimately bounded (UUB) and converge exponentially to a small compact set. We assume that the gravity term and Jacobian matrix are unknown. Radial basis function neural networks (RBFNNs) with online real-time learning are proposed for compensating both gravitational forces and errors in the robot Jacobian matrix. The learning rule for updating the neural network weights, similar to a back propagation algorithm, is obtained from a Lyapunov stability analysis. Experimental results on a two degrees of freedom manipulator are presented to evaluate the proposed controller.     

A stacking mechanism for setting bills upright in an automated teller machine

 To deal with circulated bills in various conditions regarding size, shape, and rigidity, we have developed a new bill-stacking cassette that can accept and re-dispense various-sized bills. This cassette stacks the bills upright by using deforming guides and sheet rollers under our newly developed “phase control”. It was experimentally verified by stacking tests that the cassette can handle bills in various conditions; thus, we conclude that the new cassette is practical for stacking circulated bills and re-dispensing them securely. Received: 14 August 2001/Accepted: 11 December 2001     

Azomesogens with 1,2,4-trisubstituted benzene moiety

New mesogenic homologous series having an azo central linkage was synthesized by fixing a rigid 4-methyl phenyl azo group to resorcinol moiety. The terminal and lateral phenolic -OH groups were esterified, one by one, with 4-n-alkoxybenzoyl and acetyl group, respectively. All the twelve homologues synthesized exhibit mesomorphism. The methoxy ton-decyloxy andn-hexadecyloxy derivatives exhibit monotropic nematic mesophase whereas,n-dodecyloxy andn-tetradecyloxy derivatives exhibit enantiotropic nematic mesophase. The mesogenic properties of the present series was compared with those of other structurally related mesogenic series. Paper presented at the 5th National Seminar on Liquid Crystals, University of Jammu, Jammu, December 1997.     

Durability of hygrothermally aged graphite/epoxy woven composite under combined hygrothermal conditions

The objective of this study was to examine the effects of hygrothermal aging on the durability of a graphite/epoxy woven composite material system. The study was part of a larger project in which the objective was to evaluate and model the effects of moisture, temperature, and combined hygrothermal conditions on the strength and life of a graphite/epoxy woven composite material system. The results presented here represent an extension of the work by Patel and Case (Int. J. Fatigue 22 (2000) 809).

The hygrothermal aging consisted of cyclical temperature and moisture variations which were meant to simulate mission conditions for an advanced subsonic aircraft. Durability studies were carried out on the aged material system in the form of fatigue and residual strength testing under humid and elevated temperature environments. Damage mechanisms and failure modes were determined through fatigue testing, residual strength testing, and nondestructive evaluation.

Changes in physical appearance, thermal analysis results, fracture surfaces, and moisture diffusion behavior all supported the idea that the material was affected by the aging process. However, experimental testing also showed that the initial and residual tensile properties of the aged material were virtually unaffected by the imposed environmental aging (as compared to unaged material testing results), except when tested at elevated temperature. At elevated temperature, both the dynamic stiffness and residual strength were noticeably reduced from that at room temperature.     

Surface acoustic wave gas sensor of the sorption type sensitive to the thermal properties of gases

The basic principles of a new surface acoustic wave (SAW) gas sensor are described. Being essentially a sensor of the sorption type, the proposed device possesses certain features of the thermometric SAW sensors and is not only sensitive to the vapors of volatile substances, but capable of detecting gases by their thermal properties as well. In contrast to the known thermometric SAW sensors, the proposed sensor is characterized by high temperature stability and fast response. A variant of the sensor based on a LiNbO₃ SAW delay line is described and some results of the test for detecting propane-butane mixtures are presented.     

Asymptotic stabilization of some equilibria of an underactuated underwater vehicle

The stabilization problem for selected relative equilibria of an underactuated rigid body, modelling a simple underwater vehicle, moving in an ideal fluid is addressed. State feedback control laws achieving local asymptotic stability of a forward motion and of a diving/rising with forward/reverse motion are proposed. The control design exploits the Hamiltonian nature of the system to be controlled and it is based on the so-called interconnection and damping assignment (IDA) procedure. Simulation results complete the work.     

Probabilistic optimality in long-term energy sales

This paper introduces a graphic methodology that makes it possible to compare over a wide range of probabilities the revenues that a generator obtains using different policies to decide how much energy to sell under long-term contracts and how much on the spot market. Examples are based on results for the Colombian Power System     

Approximate channel identification via δ‐signed correlation

A method of approximate channel identification is proposed that is based on a simplification of the correlation estimator. Despite the numerical simplification (no multiplications or additions are required, only comparisons and an accumulator), the performance of the proposed estimator is not significantly worse than that of the standard correlation estimator. A free (user selectable) parameter moves ‘smoothly’ from a situation with small sum‐squared channel estimation error but hard‐to‐identify channel peaks, to one with a larger sum‐squared estimation error but easy‐to‐identify channel peaks. The proposed estimator is shown to be biased and its behaviour is analysed in a number of situations. Applications of the proposed estimator to sparsity detection, symbol timing recovery and to the initialization of blind equalizers are suggested. Copyright © 2002 John Wiley & Sons, Ltd.