New approach for swinging up the Furuta pendulum: Theory and experiments

The problem of swinging up inverted pendulums has often been solved by stabilizing a particular class of homoclinic structures present in the dynamics of a physical pendulum. Here, new arguments are suggested to show how other homoclinic curves can be preplanned for dynamics of the passive-link of the robot. This is done by reparameterizing the motions according to geometrical relations among the generalized coordinates, which are known as virtual holonomic constraints. After that, conditions that guarantee the existence of periodic solutions surrounding the planned homoclinic orbits are derived. The corresponding trajectories, in contrast to homoclinic curves, admit efficient design of feedback control laws ensuring exponential orbital stabilization. The method is illustrated by simulations and supported by experimental studies on the Furuta pendulum. The implementation issues are discussed in detail.     

Physical Mechanisms behind the Field‐Cycling Behavior of HfO2‐Based Ferroelectric Capacitors

Novel hafnium oxide (HfO₂)‐based ferroelectrics reveal full scalability and complementary metal oxide semiconductor integratability compared to perovskite‐based ferroelectrics that are currently used in nonvolatile ferroelectric random access memories (FeRAMs). Within the lifetime of the device, two main regimes of wake‐up and fatigue can be identified. Up to now, the mechanisms behind these two device stages have not been revealed. Thus, the main scope of this study is an identification of the root cause for the increase of the remnant polarization during the wake‐up phase and subsequent polarization degradation with further cycling. Combining the comprehensive ferroelectric switching current experiments, Preisach density analysis, and transmission electron microscopy (TEM) study with compact and Technology Computer Aided Design (TCAD) modeling, it has been found out that during the wake‐up of the device no new defects are generated but the existing defects redistribute within the device. Furthermore, vacancy diffusion has been identified as the main cause for the phase transformation and consequent increase of the remnant polarization. Utilizing trap density spectroscopy for examining defect evolution with cycling of the device together with modeling of the degradation results in an understanding of the main mechanisms behind the evolution of the ferroelectric response.     

Guest Editor's Introduction: Capturing Design Knowledge

Capturing software design knowledge is important because it tends to evaporate as software systems evolve. This has severe consequences for many software projects. To counteract this phenomenon, effective, systematic documentation of design knowledge is important. However, many proposed approaches for capturing design knowledge are still experimental or in an early-adoption stage. In this article, we discuss existing and new approaches to deal with parts of the knowledge evaporation problem.     

The Autosar XML Schema and Its Relevance for Autosar Tools

The Autosar standard represents an emerging approach to unifying virtually all aspects of the development workflow of automotive embedded software. The standard features an XML schema used as a basis for interchanging documents containing Autosar model content. Although the schema is primarily for document exchange, it could also be the basis for creating a metamodel. However, a tool metamodel should probably be designed differently.     

Damage tolerance investigations on rails

The paper summarises damage tolerance investigations on railway rails which the authors have carried out in the context of the German-French joint project NOVUM (novel methods for quantitative prediction of rail performance at increased service loads) [Girardi L, Heyder R, Dider L, Boulanger D. IDR2-NOVUM promises lower rail maintenance costs. Railway Gazette Int 2005;(July):439-41[1]]. The investigations include the determination of the crack driving force as a function of the various loading components a rail is subjected to and the simulation of residual lifetime. Features such as the local load input at the rail-wheel interface, dynamic effects and statistical aspects of crack resistance are explicitly taken into account.     

Optima localization by vehicle formations imitating the Nelder-Mead simplex algorithm

In this paper, we address the problem of localizing extrema points and iso-contours of ambient environmental fields (specifically, ocean bottom landscape and underwater plumes) using a networked formation of autonomous underwater vehicles. We propose the use of the Nelder-Mead extension to the basic simplex nonlinear optimization algorithm. In these robust gradient-free strategies, decisions are solely made based on field values measured by the individual vehicles, while measurements are fused and actions decided according to the algorithm. A main goal of this paper is to trigger interest in direct search methods as pertains to this type of robotic problem.     

Facile Fabrication of Ultrafine Copper Nanoparticles in Organic Solvent

A facile chemical reduction method has been developed to fabricate ultrafine copper nanoparticles whose sizes can be controlled down to ca. 1 nm by using poly(N-vinylpyrrolidone) (PVP) as the stabilizer and sodium borohyrdride as the reducing agent in an alkaline ethylene glycol (EG) solvent. Transmission electron microscopy (TEM) results and UV–vis absorption spectra demonstrated that the as-prepared particles were well monodispersed, mostly composed of pure metallic Cu nanocrystals and extremely stable over extended period of simply sealed storage.     

Reconfigurable counter spindle module with integrated device for fast spindle alignment

An upcoming exchange of a machine tool spindle involves a downtime of several days for a cutting machine. This paper presents an innovative counter spindle module which can be replaced in significantly less time. The counter spindle module is developed in a methodical design process and is based on an effective high-precision alignment system, whose functionality and features are described in detail. Furthermore, an appropriate measuring process to identify the present deviation of a main or counter spindle is introduced. Finally, the operational capability and efficiency of the developed spindle alignment system is validated on the basis of the introduced measuring process.