A neural network compensator for uncertainties of roboticsmanipulators

A neural network controller for trajectory control of robotic manipulators that is used not to internalize the inverse dynamic model of the controlled object but to compensate only the uncertainties of the robotic manipulator is presented. Its performance is compared with that of the conventional adaptive scheme. The results show the ability of the neural network controller to adapt to unstructured effects. A learning method for the neural network compensator with true teaching signals is shown. The tracking error of the robotic manipulator was greatly reduced when this controller was used     

Morphology of thin anatase coatings prepared from alkoxide solutions containing organic polymer,affecting the photocatalytic decomposition of aqueous acetic acid

Porous anatase coatings were prepared from alkoxide solutions containing organic polymer by a dip-coating technique. The morphology of the coatings, such as pore size, pore distribution and thickness, was controlled. The effects of the morphology of the porous anatase coatings on the photocatalytic activity for the photocatalytic decomposition of aqueous acetic acid were examined.     

Experimental Investigation of the Density of Molten Lead–Bismuth Eutectic

The density of molten Pb–Bi eutectic is measured by the pycnometer method in a temperature range of 410–726 K. The confidence of error of measurement, made up by the systematic and random components, does not exceed 0.1%. The experimental results are compared with the experimental data on the density of a liquid lead–bismuth alloy of eutectic composition available in the literature.     

Shape memory properties of Ni-Ti based melt-spun ribbons

Shape-memory properties of equiatomic NiTi, Ni₄₅Ti₅₀Cu₅, and Ni₂₅Ti₅₀Cu₂₅ ribbons made by melt spinning have been studied by temperature inducing the martensitic transformation under constant tensile loads. Recoverable strains above 4 pct can be obtained under ∼100 MPa loads for the NiTi and Ni₄₅Ti₅₀Cu₅ ribbons, transforming to B19’ martensite. The B19 martensite is formed in the Ni₂₅Ti₅₀Cu₂₅ ribbon after crystallization, and according to the lowering in transformation strain as Cu content increases, the recoverable strain is close to 2.5 pct for ∼150 MPa load. The transformation temperatures exhibit a linear dependence on the applied stress, which can be quantitatively described by means of a Clausius-Clapeyron type equation. The NiTi and Ni₄₅Ti₅₀Cu₅ ribbons exhibited some degree of two-way shape-memory effect (TWSME) after thermomechanical cycling. Texture analyses performed on the different ribbons allow us to better understand the transformation strains obtained in each ribbon. The amounts of shape-memory effect (SME) and nonrecoverable strain shown by the studied ribbons are of the same order as those already observed in bulk materials, which makes melt spinning an ideal substitute to complicated manufacturing processes if really thin samples are needed. However, applicable stresses in melt-spun ribbons are limited by a relatively “premature” brittle fracture caused by irregularities in ribbon thickness.     

Hydrogen absorption by Pd-coated ZrNi prepared by using Barrel-Sputtering System

To improve the durability of hydrogen storage materials against surface poisoning by impurity gases, effectiveness of Pd-coating layer prepared by using a Barrel-Sputtering System was examined for ZrNi powder. The effectiveness of Pd-coating was evaluated by activation temperature, at which Pd/ZrNi poisoned by air could be activated to absorb hydrogen. Characterization of Pd-coated ZrNi (denoted as Pd/ZrNi) by scanning electron microscopy, electron probe microanalysis and X-ray diffraction showed that a uniform Pd-coating layer was formed with the barrel-sputtering system. It was found that the poisoned Pd/ZrNi sample could be activated even at 423 K to absorb hydrogen at room temperature. This exhibits remarkable contrast to bare ZrNi, which could be only activated appreciably above 1073 K. It is concluded that the Pd-coating by barrel sputtering is quite effective to avoid the effect of surface poisoning of powdery hydrogen storage materials. However, the activation at excessively high temperature resulted in the loss of high activity to absorb hydrogen. It was concluded that this phenomenon was associated with reactions between Pd and ZrNi to form PdZr and other byproducts.     

Cytokines and PGE2 modulate the phagocytic function of the beta-glucan receptor in macrophages

Under serum-free conditions the beta-glucan receptor of mouse macrophages mediates phagocytosis of beta-1,3-D-glucan-coated microbeads (diameter 2 microns). IFN-gamma increases the phagocytic function of the beta-glucan receptor in a dose-dependent manner, giving the plateau level at 100 U/ml. Maximum activity appears 9 h after addition of IFN-gamma to the cells. The effect disappears within 24 h. The effect of IFN-gamma may be a result of augmented receptor synthesis since treatment with cycloheximide reduces the phagocytosis. IL-1 also increases the phagocytic function of the beta-glucan receptor giving a dose-dependent response and with the plateau level reached at 10 U/ml. Maximum activity is found 4 h after addition of IL-1 to macrophages. The effect disappears within 24 h. TNF does not alter the phagocytic function of the beta-glucan receptor, but TNF together with IL-1 prolongs the effect of IL-1. PGE2 reduces the phagocytic function of the beta-glucan receptor. Maximum reduction is achieved with 8 ng/ml. Time-course studies show the lowest phagocytic activity 9 h after addition of PGE2 to the cells.     

Supporting real-time and multimedia applications on the Mercuritestbed

This paper describes the distributed system, network and software architecture, the application development environment, the performance, and the early lessons learned on the ATM LAN testbed Mercuri established at the Honeywell Technology Center, to develop distributed multimedia technologies for real-time control applications. We have developed a client-server-based software architecture on Sun Sparcstation-2s connected by a Fore Systems' ASX-100 ATM switch, with video processing handled by Parallax's X Video cards. The architecture enables network-transparent applications and provides simple primitives for multimedia capture, display, transmission, storage, and retrieval. A real-time multimedia-in-the-loop control application was developed as the vehicle for testing the capabilities and performance of the network. Our test measurements focus on the end-user-level performance metrics such as message throughput and round-trip delay as well as video-frame jitter under no-load and load conditions. Our results show that the maximum burst throughput that can be supported at the user level is 48 Mb/s using AAL 5, while round-trip delays for 4-kbyte messages are about 3 ms. Our experience reveals a number of performance bottlenecks and open issues in using commercial ATM switches for practical applications. Our conclusions are outlined     

New possibilities of chemical beneficiation of synnirites

Institute of Geology Siberian Branch, Academy of Sciences of the USSR, Novosibirsk. Translated from Fiziko-Tekhnicheskie Problemy Razrabotki Poleznykh Iskopaemykh, No. 1, pp. 106–109, January-February, 1992.